def forward(self, obs_local, valid_points):
# obs_local: <BxHxWx3>
# valid_points: <BxHxW>
self.obs_local = deepcopy(obs_local)
self.valid_points = valid_points
self.pose_est = self.loc_net(self.obs_local)
bs = obs_local.shape[0]
self.obs_local = self.obs_local.view(bs, -1, 3)
self.valid_points = self.valid_points.view(bs, -1)
self.obs_global_est = transform_to_global_AVD(self.pose_est,
self.obs_local)
if self.training:
self.unoccupied_local = sample_unoccupied_point(
self.obs_local, self.n_samples)
self.unoccupied_global = transform_to_global_AVD(
self.pose_est, self.unoccupied_local)
inputs, self.gt = get_M_net_inputs_labels(self.obs_global_est,
self.unoccupied_global)
self.occp_prob = self.occup_net(inputs)
loss = self.compute_loss()
return loss
def __getitem__(self, index):
pcd = self.point_clouds[index, :, :, :] # <HxWx3>
valid_points = self.valid_points[index, :] #<HxW>
if self._trans_by_pose is not None:
pcd = pcd.unsqueeze(0) # <1XHxWx3>
pose = self._trans_by_pose[index, :].unsqueeze(0) # <1x3>
pcd = utils.transform_to_global_AVD(pose, pcd).squeeze(0)
return pcd, valid_points
def get_scores(checkpoint_dir):
saved_json_file = os.path.join(checkpoint_dir, 'opt.json')
train_opt = utils.load_opt_from_json(saved_json_file)
name = train_opt['name']
data_dir = '../../../data/ActiveVisionDataset/' + train_opt[
'data_dir'].split('/')[-1]
subsample_rate = train_opt['subsample_rate']
traj = train_opt['traj']
print(data_dir)
# load ground truth poses
dataset = AVD(data_dir, traj, subsample_rate)
gt_pose = dataset.gt
gt_location = gt_pose[:, :3]
pts = dataset.point_clouds #.numpy()
#np.save("local.npy",pts)
#np.save("pose.npy",gt_pose)
# load predicted poses
pred_file = os.path.join(opt.checkpoint_dir, 'pose_est.npy')
pred_pose = np.load(pred_file)
pred_location = pred_pose[:, :2] * dataset.depth_scale # denormalization
pred_location = add_y_coord_for_evaluation(pred_location)
#print(gt_pose)
print(pred_pose)
ate, aligned_location = utils.compute_ate(pred_location, gt_location)
print('{}, ate: {}'.format(name, ate))
gt_pose[:, :3] = gt_pose[:, :3] / dataset.depth_scale
gt_yaw = np.arccos(
gt_pose[:, 5] /
np.sqrt(gt_pose[:, 3] * gt_pose[:, 3] + gt_pose[:, 5] * gt_pose[:, 5]))
gt_pose_xzth = np.vstack((gt_pose[:, 0], gt_pose[:,
2], -gt_yaw)).transpose()
colors = np.array([[0, 1, 1], [0, 0, 0], [0, 0, 1], [1, 0, 1],
[0.5, 0.5, 0.5], [0, 0.5, 0], [0, 1, 0], [0.5, 0, 0],
[0, 0, 0.5], [0.5, 0.5, 0], [0.5, 0, 0.5], [1, 0, 0],
[0.75, 0.75, 0.75], [0, 0.5, 0.5], [1, 1, 1], [1, 1,
0]])
#path_or = '../../../bk_origin/DeepMapping/'
global_point_cloud_file = os.path.join(opt.checkpoint_dir,
'obs_global_est.npy')
#global_point_cloud_file_or = os.path.join(path_or,global_point_cloud_file[3:])
pcds_ours = utils.load_obs_global_est(global_point_cloud_file, colors)
#pcds_or = utils.load_obs_global_est(global_point_cloud_file_or,colors)
pts_gt = transform_to_global_AVD(gt_pose_xzth, pts).numpy()
#pts_or = np.load(global_point_cloud_file_or)
pts_ours = np.load(global_point_cloud_file)
pts_gt = pts_gt.reshape((16, -1, 3))
print(pt_diff(pts_gt, pts_ours))
print(pt_diff(pts_gt, pts_or))