예제 #1
0
def main():
    '''
    lxc:
    use_euclidean means the similarity between test embedding and template embedding 
    are computed using Euclidean Distance
    '''
    #use_euclidean = False

    parser = argparse.ArgumentParser()

    parser.add_argument('experiment_name')
    parser.add_argument('evaluation_name')
    parser.add_argument('--eval_cfg', default='eval.cfg', required=False)
    parser.add_argument('--at_step', default=None, required=False)
    arguments = parser.parse_args()
    full_name = arguments.experiment_name.split('/')
    experiment_name = full_name.pop()
    experiment_group = full_name.pop() if len(full_name) > 0 else ''
    evaluation_name = arguments.evaluation_name
    eval_cfg = arguments.eval_cfg
    at_step = arguments.at_step

    workspace_path = os.environ.get('AE_WORKSPACE_PATH')
    train_cfg_file_path = u.get_config_file_path(workspace_path,
                                                 experiment_name,
                                                 experiment_group)
    eval_cfg_file_path = u.get_eval_config_file_path(workspace_path,
                                                     eval_cfg=eval_cfg)

    train_args = configparser.ConfigParser()
    eval_args = configparser.ConfigParser()
    train_args.read(train_cfg_file_path)
    eval_args.read(eval_cfg_file_path)

    #[DATA]
    # target data params
    dataset_name = eval_args.get('DATA', 'DATASET')
    obj_id = eval_args.getint('DATA', 'OBJ_ID')
    scenes = eval(eval_args.get(
        'DATA', 'SCENES')) if len(eval(eval_args.get(
            'DATA',
            'SCENES'))) > 0 else eval_utils.get_all_scenes_for_obj(eval_args)
    cam_type = eval_args.get('DATA', 'cam_type')
    model_type = 'reconst' if dataset_name == 'tless' else ''  # model_type set to reconst only for tless.

    data_params = dataset_params.get_dataset_params(dataset_name,
                                                    model_type=model_type,
                                                    train_type='',
                                                    test_type=cam_type,
                                                    cam_type=cam_type)
    target_models_info = inout.load_yaml(
        data_params['models_info_path'])  # lxc

    # source data params, lxc
    source_dataset_name = 'toyotalight'
    # source_dataset_name = train_args.get('DATA','DATASET') # TODO train args no section DATA
    # source_obj_id = train_args.getint('DATA','OBJ_ID') # TODO train args no section DATA
    source_obj_id = int(train_cfg_file_path[-6:-4])  # TODO workaround
    source_data_params = dataset_params.get_dataset_params(source_dataset_name,
                                                           model_type='',
                                                           train_type='',
                                                           test_type='',
                                                           cam_type='')
    # for tless temporarily.
    # source_data_params = dataset_params.get_dataset_params(source_dataset_name, model_type='', train_type='', test_type='kinect', cam_type='kinect')
    source_models_info = inout.load_yaml(
        source_data_params['models_info_path'])
    print("source_models_info_path:", source_data_params['models_info_path'])
    # 'diameter' is not equal to sqrt(x^2+y^2+z^2) for hinterstoisser, rutgers, tless, tejaniDB. etc.
    # for toyotalight, 'diameter' == sqrt(...).
    target_models_3Dlength = np.linalg.norm([
        target_models_info[obj_id][key]
        for key in ['size_x', 'size_y', 'size_z']
    ])
    source_models_3Dlength = np.linalg.norm([
        source_models_info[source_obj_id][key]
        for key in ['size_x', 'size_y', 'size_z']
    ])

    target_source_length_ratio = target_models_3Dlength / source_models_3Dlength
    print("target_source_length_ratio:", target_source_length_ratio)
    print("source id {:02d}, target id {:02d}".format(source_obj_id, obj_id))
    print('basepath: ', data_params['base_path'])
    #[BBOXES]
    estimate_bbs = eval_args.getboolean('BBOXES', 'ESTIMATE_BBS')
    #[METRIC]
    top_nn = eval_args.getint('METRIC', 'TOP_N')
    #[EVALUATION]
    icp = eval_args.getboolean('EVALUATION', 'ICP')

    evaluation_name = evaluation_name + '_icp' if icp else evaluation_name
    evaluation_name = evaluation_name + '_bbest' if estimate_bbs else evaluation_name

    data = dataset_name + '_' + cam_type if len(cam_type) > 0 else dataset_name

    log_dir = u.get_log_dir(workspace_path, experiment_name, experiment_group)
    ckpt_dir = u.get_checkpoint_dir(log_dir)
    eval_dir = u.get_eval_dir(log_dir, evaluation_name, data)

    # if eval_args.getboolean('EVALUATION','EVALUATE_ERRORS'):
    #     eval_loc.match_and_eval_performance_scores(eval_args, eval_dir)
    #     exit()

    if not os.path.exists(eval_dir):
        os.makedirs(eval_dir)
    shutil.copy2(eval_cfg_file_path, eval_dir)

    print "eval_args: ", eval_args

    codebook, dataset, decoder = factory.build_codebook_from_name(
        experiment_name,
        experiment_group,
        return_dataset=True,
        return_decoder=True)
    dataset.renderer
    gpu_options = tf.GPUOptions(allow_growth=True,
                                per_process_gpu_memory_fraction=0.5)
    config = tf.ConfigProto(gpu_options=gpu_options)

    sess = tf.Session(config=config)
    factory.restore_checkpoint(sess,
                               tf.train.Saver(),
                               ckpt_dir,
                               at_step=at_step)

    if estimate_bbs:
        #Object Detection, seperate from main
        # sys.path.append('/net/rmc-lx0050/home_local/sund_ma/src/SSD_Tensorflow')
        # from ssd_detector import SSD_detector
        # #TODO: set num_classes, network etc.
        # ssd = SSD_detector(sess, num_classes=31, net_shape=(300,300))
        from rmcssd.bin import detector
        ssd = detector.Detector(eval_args.get('BBOXES', 'CKPT'))

    t_errors = []
    R_errors = []
    all_test_visibs = []

    test_embeddings = []
    for scene_id in scenes:

        test_imgs = eval_utils.load_scenes(scene_id, eval_args)
        test_imgs_depth = eval_utils.load_scenes(
            scene_id, eval_args, depth=True) if icp else None

        if estimate_bbs:
            print eval_args.get('BBOXES', 'EXTERNAL')
            if eval_args.get('BBOXES', 'EXTERNAL') == 'False':
                bb_preds = {}
                for i, img in enumerate(test_imgs):
                    print img.shape
                    bb_preds[i] = ssd.detectSceneBBs(img,
                                                     min_score=.2,
                                                     nms_threshold=.45)
                # inout.save_yaml(os.path.join(scene_res_dir,'bb_preds.yml'), bb_preds)
                print bb_preds
            else:
                bb_preds = inout.load_yaml(
                    os.path.join(eval_args.get('BBOXES', 'EXTERNAL'),
                                 '{:02d}.yml'.format(scene_id)))

            test_img_crops, test_img_depth_crops, bbs, bb_scores, visibilities = eval_utils.generate_scene_crops(
                test_imgs, test_imgs_depth, bb_preds, eval_args, train_args)
        else:
            # test_img_crops: each crop contains some bbox(es) for specified object id.
            test_img_crops, test_img_depth_crops, bbs, bb_scores, visibilities = eval_utils.get_gt_scene_crops(
                scene_id, eval_args, train_args)

        if len(test_img_crops) == 0:
            print 'ERROR: object %s not in scene %s' % (obj_id, scene_id)
            exit()

        info = inout.load_info(
            data_params['scene_info_mpath'].format(scene_id))
        Ks_test = [np.array(v['cam_K']).reshape(3, 3) for v in info.values()]

        ######remove
        gts = inout.load_gt(data_params['scene_gt_mpath'].format(scene_id))
        visib_gts = inout.load_yaml(data_params['scene_gt_stats_mpath'].format(
            scene_id, 15))
        #######
        W_test, H_test = data_params['test_im_size']

        icp_renderer = icp_utils.SynRenderer(train_args) if icp else None
        noof_scene_views = eval_utils.noof_scene_views(scene_id, eval_args)

        test_embeddings.append([])

        scene_res_dir = os.path.join(
            eval_dir, '{scene_id:02d}'.format(scene_id=scene_id))
        if not os.path.exists(scene_res_dir):
            os.makedirs(scene_res_dir)

        for view in xrange(
                noof_scene_views
        ):  # for example, LINEMOD ape noof_scene_views = 1236
            try:
                # only a specified object id is selected throughout the whole scene views.
                test_crops, test_crops_depth, test_bbs, test_scores, test_visibs = eval_utils.select_img_crops(
                    test_img_crops[view][obj_id],
                    test_img_depth_crops[view][obj_id] if icp else None,
                    bbs[view][obj_id], bb_scores[view][obj_id],
                    visibilities[view][obj_id], eval_args)
            except:
                print 'no detections'
                continue

            print view
            preds = {}
            pred_views = []
            all_test_visibs.append(test_visibs[0])
            t_errors_crop = []
            R_errors_crop = []

            for i, (test_crop, test_bb, test_score) in enumerate(
                    zip(test_crops, test_bbs, test_scores)):
                # each test_crop is a ground truth patch
                if train_args.getint('Dataset', 'C') == 1:
                    test_crop = cv2.cvtColor(test_crop,
                                             cv2.COLOR_BGR2GRAY)[:, :, None]
                start = time.time()
                '''modify here to change the pose estimation algorithm. lxc'''

                Rs_est, ts_est = codebook.auto_pose6d(
                    sess,
                    test_crop,
                    test_bb,
                    Ks_test[view].copy(),
                    top_nn,
                    train_args,
                    target_source_length_ratio=target_source_length_ratio)
                ae_time = time.time() - start
                run_time = ae_time + bb_preds[view][0][
                    'det_time'] if estimate_bbs else ae_time

                if eval_args.getboolean('PLOT', 'EMBEDDING_PCA'):
                    test_embeddings[-1].append(
                        codebook.test_embedding(sess,
                                                test_crop,
                                                normalized=True))

                # icp = False if view<350 else True
                #TODO:
                Rs_est_old, ts_est_old = Rs_est.copy(), ts_est.copy()
                for p in xrange(top_nn):
                    if icp:
                        start = time.time()
                        # icp only along tz
                        R_est_refined, t_est_refined = icp_utils.icp_refinement(
                            test_crops_depth[i],
                            icp_renderer,
                            Rs_est[p],
                            ts_est[p],
                            Ks_test[view].copy(), (W_test, H_test),
                            depth_only=True,
                            max_mean_dist_factor=5.0)
                        print ts_est[p]
                        print t_est_refined
                        # x,y update,does not change tz:
                        _, ts_est_refined = codebook.auto_pose6d(
                            sess,
                            test_crop,
                            test_bb,
                            Ks_test[view].copy(),
                            top_nn,
                            train_args,
                            depth_pred=t_est_refined[2])
                        # commented by lxc
                        # _, ts_est_refined, _ = codebook.auto_pose6d(sess, test_crop, test_bb, Ks_test[view].copy(), top_nn, train_args,depth_pred=t_est_refined[2])
                        t_est_refined = ts_est_refined[p]
                        # rotation icp, only accepted if below 20 deg change
                        R_est_refined, _ = icp_utils.icp_refinement(
                            test_crops_depth[i],
                            icp_renderer,
                            R_est_refined,
                            t_est_refined,
                            Ks_test[view].copy(), (W_test, H_test),
                            no_depth=True)
                        print Rs_est[p]
                        print R_est_refined
                        icp_time = time.time() - start
                        Rs_est[p], ts_est[p] = R_est_refined, t_est_refined
                    preds.setdefault('ests', []).append({
                        'score': test_score,
                        'R': Rs_est[p],
                        't': ts_est[p]
                    })
                run_time = run_time + icp_time if icp else run_time

                min_t_err, min_R_err = eval_plots.print_trans_rot_errors(
                    gts[view], obj_id, ts_est, ts_est_old, Rs_est, Rs_est_old)
                t_errors_crop.append(min_t_err)
                R_errors_crop.append(min_R_err)

                if eval_args.getboolean('PLOT', 'RECONSTRUCTION'):
                    eval_plots.plot_reconstruction_test(
                        sess, codebook._encoder, decoder, test_crop)
                    # eval_plots.plot_reconstruction_train(sess, decoder, nearest_train_codes[0])
                if eval_args.getboolean('PLOT',
                                        'NEAREST_NEIGHBORS') and not icp:
                    for R_est, t_est in zip(Rs_est, ts_est):
                        pred_views.append(
                            dataset.render_rot(R_est, downSample=2))
                    eval_plots.show_nearest_rotation(pred_views, test_crop,
                                                     view)
                if eval_args.getboolean('PLOT', 'SCENE_WITH_ESTIMATE'):
                    eval_plots.plot_scene_with_estimate(
                        test_imgs[view].copy(),
                        icp_renderer.renderer if icp else dataset.renderer,
                        Ks_test[view].copy(), Rs_est_old[0], ts_est_old[0],
                        Rs_est[0], ts_est[0], test_bb, test_score, obj_id,
                        gts[view], bb_preds[view] if estimate_bbs else None)

                if cv2.waitKey(1) == 32:
                    cv2.waitKey(0)

            t_errors.append(t_errors_crop[np.argmin(
                np.linalg.norm(np.array(t_errors_crop), axis=1))])
            R_errors.append(R_errors_crop[np.argmin(
                np.linalg.norm(np.array(t_errors_crop), axis=1))])

            # save predictions in sixd format
            res_path = os.path.join(scene_res_dir,
                                    '%04d_%02d.yml' % (view, obj_id))
            inout.save_results_sixd17(res_path, preds, run_time=run_time)

    if not os.path.exists(os.path.join(eval_dir, 'latex')):
        os.makedirs(os.path.join(eval_dir, 'latex'))
    if not os.path.exists(os.path.join(eval_dir, 'figures')):
        os.makedirs(os.path.join(eval_dir, 'figures'))
    '''evaluation code
        dataset_renderer renders source object model for evaluation;
        If we need target object model for evaluation, go get a new renderer.
    '''

    if eval_args.getboolean('EVALUATION', 'COMPUTE_ERRORS'):
        eval_calc_errors.eval_calc_errors(eval_args,
                                          eval_dir,
                                          dataset_renderer=dataset.renderer)
    if eval_args.getboolean('EVALUATION', 'EVALUATE_ERRORS'):
        eval_loc.match_and_eval_performance_scores(eval_args, eval_dir)
    '''plot code'''
    cyclo = train_args.getint('Embedding', 'NUM_CYCLO')
    if eval_args.getboolean('PLOT', 'EMBEDDING_PCA'):
        embedding = sess.run(codebook.embedding_normalized)
        eval_plots.compute_pca_plot_embedding(eval_dir,
                                              embedding[::cyclo],
                                              np.array(test_embeddings[0]),
                                              obj_id=obj_id)
    if eval_args.getboolean('PLOT', 'VIEWSPHERE'):
        eval_plots.plot_viewsphere_for_embedding(
            dataset.viewsphere_for_embedding[::cyclo], eval_dir, obj_id=obj_id)
    if eval_args.getboolean('PLOT', 'CUM_T_ERROR_HIST'):
        eval_plots.plot_t_err_hist(np.array(t_errors), eval_dir, obj_id=obj_id)
        eval_plots.plot_t_err_hist2(np.array(t_errors),
                                    eval_dir,
                                    obj_id=obj_id)
    if eval_args.getboolean('PLOT', 'CUM_R_ERROR_HIST'):
        eval_plots.plot_R_err_hist(eval_args, eval_dir, scenes)
        eval_plots.plot_R_err_hist2(np.array(R_errors),
                                    eval_dir,
                                    obj_id=obj_id)
    if eval_args.getboolean('PLOT', 'CUM_VSD_ERROR_HIST'):
        eval_plots.plot_vsd_err_hist(eval_args, eval_dir, scenes)
    if eval_args.getboolean('PLOT', 'VSD_OCCLUSION'):
        eval_plots.plot_vsd_occlusion(eval_args, eval_dir, scenes,
                                      np.array(all_test_visibs))
    if eval_args.getboolean('PLOT', 'R_ERROR_OCCLUSION'):
        eval_plots.plot_re_rect_occlusion(eval_args, eval_dir, scenes,
                                          np.array(all_test_visibs))
    if eval_args.getboolean('PLOT', 'ANIMATE_EMBEDDING_PCA'):
        eval_plots.animate_embedding_path(test_embeddings[0])
    if eval_args.getboolean('PLOT', 'RECONSTRUCTION_TEST_BATCH'):
        eval_plots.plot_reconstruction_test_batch(sess,
                                                  codebook,
                                                  decoder,
                                                  test_img_crops,
                                                  noof_scene_views,
                                                  obj_id,
                                                  eval_dir=eval_dir)
        # plt.show()

        # calculate 6D pose errors
        # print 'exiting ...'
        # eval_calc_errors.eval_calc_errors(eval_args, eval_dir)
        # calculate 6D pose errors

    report = latex_report.Report(eval_dir, log_dir)
    report.write_configuration(train_cfg_file_path, eval_cfg_file_path)
    report.merge_all_tex_files()
    report.include_all_figures()
    report.save(open_pdf=False)
def main():

    parser = argparse.ArgumentParser()

    parser.add_argument('experiment_name')
    parser.add_argument('evaluation_name')
    parser.add_argument('--eval_cfg', default='eval.cfg', required=False)
    parser.add_argument('--at_step', default=None, type=str, required=False)
    parser.add_argument('--model_path', default=None, required=True)
    arguments = parser.parse_args()
    full_name = arguments.experiment_name.split('/')
    experiment_name = full_name.pop()
    experiment_group = full_name.pop() if len(full_name) > 0 else ''
    evaluation_name = arguments.evaluation_name
    eval_cfg = arguments.eval_cfg
    at_step = arguments.at_step
    model_path = arguments.model_path

    workspace_path = os.environ.get('AE_WORKSPACE_PATH')
    log_dir = u.get_log_dir(workspace_path, experiment_name, experiment_group)
    train_cfg_file_path = u.get_train_config_exp_file_path(
        log_dir, experiment_name)
    eval_cfg_file_path = u.get_eval_config_file_path(workspace_path,
                                                     eval_cfg=eval_cfg)

    train_args = configparser.ConfigParser(inline_comment_prefixes="#")
    eval_args = configparser.ConfigParser(inline_comment_prefixes="#")
    train_args.read(train_cfg_file_path)
    eval_args.read(eval_cfg_file_path)

    #[DATA]
    dataset_name = eval_args.get('DATA', 'DATASET')
    obj_id = eval_args.getint('DATA', 'OBJ_ID')
    scenes = eval(eval_args.get(
        'DATA', 'SCENES')) if len(eval(eval_args.get(
            'DATA',
            'SCENES'))) > 0 else eval_utils.get_all_scenes_for_obj(eval_args)
    cam_type = eval_args.get('DATA', 'cam_type')
    data_params = dataset_params.get_dataset_params(dataset_name,
                                                    model_type='',
                                                    train_type='',
                                                    test_type=cam_type,
                                                    cam_type=cam_type)
    #[BBOXES]
    estimate_bbs = eval_args.getboolean('BBOXES', 'ESTIMATE_BBS')
    gt_masks = eval_args.getboolean('BBOXES', 'gt_masks')
    estimate_masks = eval_args.getboolean('BBOXES', 'estimate_masks')

    #[METRIC]
    top_nn = eval_args.getint('METRIC', 'TOP_N')
    #[EVALUATION]
    icp = eval_args.getboolean('EVALUATION', 'ICP')
    gt_trans = eval_args.getboolean('EVALUATION', 'gt_trans')
    iterative_code_refinement = eval_args.getboolean(
        'EVALUATION', 'iterative_code_refinement')

    H_AE = train_args.getint('Dataset', 'H')
    W_AE = train_args.getint('Dataset', 'W')

    evaluation_name = evaluation_name + '_icp' if icp else evaluation_name
    evaluation_name = evaluation_name + '_bbest' if estimate_bbs else evaluation_name
    evaluation_name = evaluation_name + '_maskest' if estimate_masks else evaluation_name
    evaluation_name = evaluation_name + '_gttrans' if gt_trans else evaluation_name
    evaluation_name = evaluation_name + '_gtmasks' if gt_masks else evaluation_name
    evaluation_name = evaluation_name + '_refined' if iterative_code_refinement else evaluation_name

    data = dataset_name + '_' + cam_type if len(cam_type) > 0 else dataset_name

    if at_step is None:
        checkpoint_file = u.get_checkpoint_basefilename(
            log_dir,
            False,
            latest=train_args.getint('Training', 'NUM_ITER'),
            joint=True)
    else:
        checkpoint_file = u.get_checkpoint_basefilename(log_dir,
                                                        False,
                                                        latest=at_step,
                                                        joint=True)
    print(checkpoint_file)
    eval_dir = u.get_eval_dir(log_dir, evaluation_name, data)

    if not os.path.exists(eval_dir):
        os.makedirs(eval_dir)
    shutil.copy2(eval_cfg_file_path, eval_dir)

    codebook, dataset = factory.build_codebook_from_name(experiment_name,
                                                         experiment_group,
                                                         return_dataset=True,
                                                         joint=True)
    dataset._kw['model_path'] = [model_path]
    dataset._kw['model'] = 'cad' if 'cad' in model_path else 'reconst'
    dataset._kw['model'] = 'reconst' if 'reconst' in model_path else 'cad'

    gpu_options = tf.GPUOptions(allow_growth=True,
                                per_process_gpu_memory_fraction=0.5)
    config = tf.ConfigProto(gpu_options=gpu_options)

    sess = tf.Session(config=config)
    saver = tf.train.Saver()
    saver.restore(sess, checkpoint_file)

    t_errors = []
    R_errors = []
    all_test_visibs = []

    external_path = eval_args.get('BBOXES', 'EXTERNAL')

    test_embeddings = []
    for scene_id in scenes:

        test_imgs = eval_utils.load_scenes(scene_id, eval_args)
        test_imgs_depth = eval_utils.load_scenes(
            scene_id, eval_args, depth=True) if icp else None

        if estimate_bbs:
            print(external_path)
            if external_path == 'False':
                bb_preds = {}
                for i, img in enumerate(test_imgs):
                    print((img.shape))
                    bb_preds[i] = ssd.detectSceneBBs(img,
                                                     min_score=.05,
                                                     nms_threshold=.45)
                print(bb_preds)
            else:
                if estimate_masks:
                    bb_preds = inout.load_yaml(
                        os.path.join(
                            external_path,
                            '{:02d}/mask_rcnn_predict.yml'.format(scene_id)))
                    print(list(bb_preds[0][0].keys()))
                    mask_paths = glob.glob(
                        os.path.join(external_path,
                                     '{:02d}/masks/*.npy'.format(scene_id)))
                    maskrcnn_scene_masks = [np.load(mp) for mp in mask_paths]
                else:
                    maskrcnn_scene_masks = None
                    bb_preds = inout.load_yaml(
                        os.path.join(external_path,
                                     '{:02d}.yml'.format(scene_id)))

            test_img_crops, test_img_depth_crops, bbs, bb_scores, visibilities = eval_utils.generate_scene_crops(
                test_imgs,
                test_imgs_depth,
                bb_preds,
                eval_args, (H_AE, W_AE),
                inst_masks=maskrcnn_scene_masks)
        else:
            test_img_crops, test_img_depth_crops, bbs, bb_scores, visibilities = eval_utils.get_gt_scene_crops(
                scene_id,
                eval_args,
                train_args,
                load_gt_masks=external_path if gt_masks else gt_masks)

        if len(test_img_crops) == 0:
            print(('ERROR: object %s not in scene %s' % (obj_id, scene_id)))
            exit()

        info = inout.load_info(
            data_params['scene_info_mpath'].format(scene_id))
        Ks_test = [
            np.array(v['cam_K']).reshape(3, 3) for v in list(info.values())
        ]

        ######remove
        gts = inout.load_gt(data_params['scene_gt_mpath'].format(scene_id))
        visib_gts = inout.load_yaml(data_params['scene_gt_stats_mpath'].format(
            scene_id, 15))
        #######
        W_test, H_test = data_params['test_im_size']

        icp_renderer = icp_utils.SynRenderer(
            train_args, dataset._kw['model_path'][0]) if icp else None
        noof_scene_views = eval_utils.noof_scene_views(scene_id, eval_args)

        test_embeddings.append([])

        scene_res_dir = os.path.join(
            eval_dir, '{scene_id:02d}'.format(scene_id=scene_id))
        if not os.path.exists(scene_res_dir):
            os.makedirs(scene_res_dir)

        for view in range(noof_scene_views):
            try:
                test_crops, test_crops_depth, test_bbs, test_scores, test_visibs = eval_utils.select_img_crops(
                    test_img_crops[view][obj_id],
                    test_img_depth_crops[view][obj_id] if icp else None,
                    bbs[view][obj_id], bb_scores[view][obj_id],
                    visibilities[view][obj_id], eval_args)
            except:
                print('no detections')
                continue

            print(view)
            preds = {}
            pred_views = []
            all_test_visibs.append(test_visibs[0])
            t_errors_crop = []
            R_errors_crop = []

            for i, (test_crop, test_bb, test_score) in enumerate(
                    zip(test_crops, test_bbs, test_scores)):

                start = time.time()
                if train_args.getint('Dataset', 'C') == 1:
                    test_crop = cv2.cvtColor(test_crop,
                                             cv2.COLOR_BGR2GRAY)[:, :, None]
                Rs_est, ts_est, _ = codebook.auto_pose6d(
                    sess,
                    test_crop,
                    test_bb,
                    Ks_test[view].copy(),
                    top_nn,
                    train_args,
                    codebook._get_codebook_name(model_path),
                    refine=iterative_code_refinement)
                Rs_est_old, ts_est_old = Rs_est.copy(), ts_est.copy()
                ae_time = time.time() - start

                if eval_args.getboolean('PLOT', 'EMBEDDING_PCA'):
                    test_embeddings[-1].append(
                        codebook.test_embedding(sess,
                                                test_crop,
                                                normalized=True))

                if eval_args.getboolean('EVALUATION', 'gt_trans'):
                    ts_est = np.empty((top_nn, 3))
                    for n in range(top_nn):
                        smallest_diff = np.inf
                        for visib_gt, gt in zip(visib_gts[view], gts[view]):
                            if gt['obj_id'] == obj_id:
                                diff = np.sum(
                                    np.abs(gt['obj_bb'] -
                                           np.array(visib_gt['bbox_obj'])))
                                if diff < smallest_diff:
                                    smallest_diff = diff
                                    gt_obj = gt.copy()
                                    print('Im there')
                        ts_est[n] = np.array(gt_obj['cam_t_m2c']).reshape(-1)

                try:
                    run_time = ae_time + bb_preds[view][0][
                        'det_time'] if estimate_bbs else ae_time
                except:
                    run_time = ae_time

                for p in range(top_nn):
                    if icp:
                        # note: In the CVPR paper a different ICP was used
                        start = time.time()
                        # depth icp
                        R_est_refined, t_est_refined = icp_utils.icp_refinement(
                            test_crops_depth[i],
                            icp_renderer,
                            Rs_est[p],
                            ts_est[p],
                            Ks_test[view].copy(), (W_test, H_test),
                            depth_only=True,
                            max_mean_dist_factor=5.0)
                        print(t_est_refined)

                        # x,y update,does not change tz:
                        _, ts_est_refined, _ = codebook.auto_pose6d(
                            sess,
                            test_crop,
                            test_bb,
                            Ks_test[view].copy(),
                            top_nn,
                            train_args,
                            codebook._get_codebook_name(model_path),
                            depth_pred=t_est_refined[2],
                            refine=iterative_code_refinement)

                        t_est_refined = ts_est_refined[p]

                        # rotation icp, only accepted if below 20 deg change
                        R_est_refined, _ = icp_utils.icp_refinement(
                            test_crops_depth[i],
                            icp_renderer,
                            R_est_refined,
                            t_est_refined,
                            Ks_test[view].copy(), (W_test, H_test),
                            no_depth=True)
                        print((Rs_est[p]))
                        print(R_est_refined)

                        icp_time = time.time() - start
                        Rs_est[p], ts_est[p] = R_est_refined, t_est_refined

                    preds.setdefault('ests', []).append({
                        'score': test_score,
                        'R': Rs_est[p],
                        't': ts_est[p]
                    })
                run_time = run_time + icp_time if icp else run_time

                min_t_err, min_R_err = eval_plots.print_trans_rot_errors(
                    gts[view], obj_id, ts_est, ts_est_old, Rs_est, Rs_est_old)
                t_errors_crop.append(min_t_err)
                R_errors_crop.append(min_R_err)

                if eval_args.getboolean('PLOT',
                                        'NEAREST_NEIGHBORS') and not icp:
                    for R_est, t_est in zip(Rs_est, ts_est):
                        pred_views.append(
                            dataset.render_rot(R_est, downSample=2))
                    eval_plots.show_nearest_rotation(pred_views, test_crop,
                                                     view)
                if eval_args.getboolean('PLOT', 'SCENE_WITH_ESTIMATE'):
                    eval_plots.plot_scene_with_estimate(
                        test_imgs[view].copy(),
                        icp_renderer.renderer if icp else dataset.renderer,
                        Ks_test[view].copy(), Rs_est_old[0], ts_est_old[0],
                        Rs_est[0], ts_est[0], test_bb, test_score, obj_id,
                        gts[view], bb_preds[view] if estimate_bbs else None)

                if cv2.waitKey(1) == 32:
                    cv2.waitKey(0)

            t_errors.append(t_errors_crop[np.argmin(
                np.linalg.norm(np.array(t_errors_crop), axis=1))])
            R_errors.append(R_errors_crop[np.argmin(
                np.linalg.norm(np.array(t_errors_crop), axis=1))])

            # save predictions in sixd format
            res_path = os.path.join(scene_res_dir,
                                    '%04d_%02d.yml' % (view, obj_id))
            inout.save_results_sixd17(res_path, preds, run_time=run_time)

    if not os.path.exists(os.path.join(eval_dir, 'latex')):
        os.makedirs(os.path.join(eval_dir, 'latex'))
    if not os.path.exists(os.path.join(eval_dir, 'figures')):
        os.makedirs(os.path.join(eval_dir, 'figures'))

    if eval_args.getboolean('EVALUATION', 'COMPUTE_ERRORS'):
        eval_calc_errors.eval_calc_errors(eval_args, eval_dir)
    if eval_args.getboolean('EVALUATION', 'EVALUATE_ERRORS'):
        eval_loc.match_and_eval_performance_scores(eval_args, eval_dir)

    cyclo = train_args.getint('Embedding', 'NUM_CYCLO')
    if eval_args.getboolean('PLOT', 'EMBEDDING_PCA'):
        embedding = sess.run(codebook.embedding_normalized)
        eval_plots.compute_pca_plot_embedding(eval_dir, embedding[::cyclo],
                                              np.array(test_embeddings[0]))
    if eval_args.getboolean('PLOT', 'VIEWSPHERE'):
        eval_plots.plot_viewsphere_for_embedding(
            dataset.viewsphere_for_embedding[::cyclo], eval_dir)
    if eval_args.getboolean('PLOT', 'CUM_T_ERROR_HIST'):
        eval_plots.plot_t_err_hist(np.array(t_errors), eval_dir)
        eval_plots.plot_t_err_hist2(np.array(t_errors), eval_dir)
    if eval_args.getboolean('PLOT', 'CUM_R_ERROR_HIST'):
        eval_plots.plot_R_err_recall(eval_args, eval_dir, scenes)
        eval_plots.plot_R_err_hist2(np.array(R_errors), eval_dir)
    if eval_args.getboolean('PLOT', 'CUM_VSD_ERROR_HIST'):
        try:
            eval_plots.plot_vsd_err_hist(eval_args, eval_dir, scenes)
        except:
            pass
    if eval_args.getboolean('PLOT', 'VSD_OCCLUSION'):
        try:
            eval_plots.plot_vsd_occlusion(eval_args, eval_dir, scenes,
                                          np.array(all_test_visibs))
        except:
            pass
    if eval_args.getboolean('PLOT', 'R_ERROR_OCCLUSION'):
        try:
            eval_plots.plot_re_rect_occlusion(eval_args, eval_dir, scenes,
                                              np.array(all_test_visibs))
        except:
            pass
    if eval_args.getboolean('PLOT', 'ANIMATE_EMBEDDING_PCA'):
        eval_plots.animate_embedding_path(test_embeddings[0])

    report = latex_report.Report(eval_dir, log_dir)
    report.write_configuration(train_cfg_file_path, eval_cfg_file_path)
    report.merge_all_tex_files()
    report.include_all_figures()
    report.save(open_pdf=True)