offset=offset)
ref_list_len = len(ref_id_list)
if count == -1:
count = ref_list_len
#pose_estimate_list_loaded_len = len(pose_estimate_list_loaded)
for i in range(start_count, count):
ref_id = ref_id_list[i]
target_id = target_id_list[i]
SE3_ref_target = Parser.generate_ground_truth_se3(groundtruth_dict,
image_groundtruth_dict,
ref_id,
target_id,
post_process_object=None)
im_greyscale_reference, im_depth_reference = Parser.generate_image_depth_pair_match(
dataset_root, rgb_text, depth_text, match_text, ref_id)
im_greyscale_target, im_depth_target = Parser.generate_image_depth_pair_match(
dataset_root, rgb_text, depth_text, match_text, ref_id)
post_process_gt.post_process_in_mem(SE3_ref_target)
ground_truth_acc = np.matmul(ground_truth_acc, SE3_ref_target)
ground_truth_list.append(ground_truth_acc)
ref_image_list.append((im_greyscale_reference, im_depth_reference))
target_image_list.append((im_greyscale_target, im_depth_target))
#rgb_id_ref = 1305031108.743502
#rgb_id_target = 1305031108.775493
#rgb_id_target = 1305031108.811244
#rgb_id_ref = 1305031119.615017
#rgb_id_target = 1305031119.647903
#rgb_id_ref = 1305031106.675279
#rgb_id_target = 1305031106.711508
image_groundtruth_dict = dict(associate.match(rgb_text, groundtruth_text))
groundtruth_ts_ref = image_groundtruth_dict[rgb_id_ref]
groundtruth_data_ref = associate.return_dictionary_data(
groundtruth_text, groundtruth_ts_ref)
SE3_ref = Parser.generate_se3_from_groundtruth(groundtruth_data_ref)
groundtruth_ts_target = image_groundtruth_dict[rgb_id_target]
groundtruth_data_target = associate.return_dictionary_data(
groundtruth_text, groundtruth_ts_target)
SE3_target = Parser.generate_se3_from_groundtruth(groundtruth_data_target)
SE3_ref_target = SE3.pose_pose_composition_inverse(SE3_ref, SE3_target)
rgb_ref_file_path, depth_ref_file_path = associate.return_rgb_depth_from_rgb_selection(
rgb_text, depth_text, match_text, dataset_root, rgb_id_ref)
rgb_target_file_path, depth_target_file_path = associate.return_rgb_depth_from_rgb_selection(
rgb_text, depth_text, match_text, dataset_root, rgb_id_target)
im_greyscale_reference = cv2.imread(
rgb_ref_file_path, cv2.IMREAD_GRAYSCALE).astype(Utils.image_data_type)