pose_error.cus(R_e, t_e, R_g, t_g, K, ren,
obj_id)
]
else:
e = [1.0]
elif p['error_type'] == 'proj':
e = [
pose_error.proj(R_e, t_e, R_g, t_g, K,
models[obj_id]['pts'])
]
elif p['error_type'] == 'rete':
e = [
pose_error.re(R_e, R_g),
pose_error.te(t_e, t_g)
]
elif p['error_type'] == 're':
e = [pose_error.re(R_e, R_g)]
elif p['error_type'] == 'te':
e = [pose_error.te(t_e, t_g)]
else:
raise ValueError('Unknown pose error function.')
errs[gt_id] = e
# Save the calculated errors.
scene_errs.append({
e = [pose_error.adi(
R_e, t_e, R_g, t_g, models[obj_id]['pts'])]
elif p['error_type'] == 'cus':
if sphere_projections_overlap:
e = [pose_error.cus(
R_e, t_e, R_g, t_g, K, ren, obj_id)]
else:
e = [1.0]
elif p['error_type'] == 'proj':
e = [pose_error.proj(
R_e, t_e, R_g, t_g, K, models[obj_id]['pts'])]
elif p['error_type'] == 'rete':
e = [pose_error.re(R_e, R_g), pose_error.te(t_e, t_g)]
elif p['error_type'] == 're':
e = [pose_error.re(R_e, R_g)]
elif p['error_type'] == 'te':
e = [pose_error.te(t_e, t_g)]
else:
raise ValueError('Unknown pose error function.')
errs[gt_id] = e
# Save the calculated errors.
scene_errs.append({
'im_id': im_id,
