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