model = models[obj_id]
for est_id, est in ests_sorted:
est_errs = []
R_est = est['cam_R_m2c']
t_est = est['cam_t_m2c']
for gt_id, gt in enumerate(scene_gt[im_id]):
if gt['obj_id'] != obj_id:
continue
err = -1.0
R_gt = gt['cam_R_m2c']
t_gt = gt['cam_t_m2c']
if error_type == 'vsd':
err = pose_error.vsd(R_est, t_est, R_gt, t_gt, model,
depth_im, delta, tau, K)
elif error_type == 'add':
err = pose_error.add(R_est, t_est, R_gt, t_gt, model)
elif error_type == 'adi':
err = pose_error.adi(R_est, t_est, R_gt, t_gt, model)
elif error_type == 'cou':
err = pose_error.cou(R_est, t_est, R_gt, t_gt, model,
dp['test_im_size'], K)
elif error_type == 're':
err = pose_error.re(R_est, R_gt)
elif error_type == 'te':
err = pose_error.te(t_est, t_gt)
errs.append([im_id, obj_id, est_id, gt_id, err])
#print('Evaluation time: {}s'.format(time.time() - t))
est_errs = []
R_e = est['R']
t_e = est['t']
errs_gts = {} # Errors w.r.t. GT poses of the same object
for gt_id, gt in enumerate(scene_gt[im_id]):
if gt['obj_id'] != obj_id:
continue
e = -1.0
R_g = gt['cam_R_m2c']
t_g = gt['cam_t_m2c']
if error_type == 'vsd':
e = pose_error.vsd(R_e, t_e, R_g, t_g, models[obj_id],
depth_im, K, vsd_delta, vsd_tau,
vsd_cost)
elif error_type == 'add':
e = pose_error.add(R_e, t_e, R_g, t_g, models[obj_id])
elif error_type == 'adi':
e = pose_error.adi(R_e, t_e, R_g, t_g, models[obj_id])
elif error_type == 'cou':
e = pose_error.cou(R_e, t_e, R_g, t_g, models[obj_id],
dp['test_im_size'], K)
elif error_type == 're':
e = pose_error.re(R_e, R_g)
elif error_type == 'te':
e = pose_error.te(t_e, t_g)
errs_gts[gt_id] = e
est_errs = []
R_e = est['R']
t_e = est['t']
errs_gts = {} # Errors w.r.t. GT poses of the same object
for gt_id, gt in enumerate(scene_gt[im_id]):
if gt['obj_id'] != obj_id:
continue
e = -1.0
R_g = gt['cam_R_m2c']
t_g = gt['cam_t_m2c']
if error_type == 'vsd':
e = pose_error.vsd(R_e, t_e, R_g, t_g, models[obj_id],
depth_im, K, vsd_delta, vsd_tau,
vsd_cost)
elif error_type == 'add':
e = pose_error.add(R_e, t_e, R_g, t_g, models[obj_id])
elif error_type == 'adi':
e = pose_error.adi(R_e, t_e, R_g, t_g, models[obj_id])
elif error_type == 'cou':
e = pose_error.cou(R_e, t_e, R_g, t_g, models[obj_id],
dp['test_im_size'], K)
elif error_type == 're':
e = pose_error.re(R_e, R_g)
elif error_type == 'te':
e = pose_error.te(t_e, t_g)
errs_gts[gt_id] = e