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baselines/grasping/GSNet/graspnetAPI/docs/source/example_eval.rst

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+.. _example_eval:
+
+Evaluation
+==========
+
+Data Preparation
+^^^^^^^^^^^^^^^^
+
+The first step of evaluation is to prepare your own results.
+You need to run your code and generate a `GraspGroup` for each image in each scene.
+Then call the `save_npy` function of `GraspGroup` to dump the results.
+
+To generate a `GraspGroup` and save it, you can directly input a 2D numpy array for the `GraspGroup` class:
+::
+
+  gg=GraspGroup(np.array([[score_1, width_1, height_1, depth_1, rotation_matrix_1(9), translation_1(3), object_id_1],
+                          [score_2, width_2, height_2, depth_2, rotation_matrix_2(9), translation_2(3), object_id_2],
+                          ...,
+                          [score_N, width_N, height_N, depth_N, rotation_matrix_N(9), translation_N(3), object_id_N]]
+                ))
+  gg.save_npy(save_path)
+
+where your algorithm predicts N grasp poses for an image. For the `object_id`, you can simply input `0`. For the meaning of other entries, you should refer to the doc for Grasp Label Format-API Loaded Labels
+
+The file structure of dump folder should be as follows:
+
+::
+
+    |-- dump_folder
+        |-- scene_0100
+        |   |-- kinect                  
+        |   |   |
+        |   |   --- 0000.npy to 0255.npy
+        |   |    
+        |   --- realsense
+        |       |
+        |       --- 0000.npy to 0255.npy
+        |
+        |-- scene_0101
+        |
+        ...
+        |
+        --- scene_0189
+
+You can choose to generate dump files for only one camera, there will be no error for doing that.
+
+Evaluation API
+^^^^^^^^^^^^^^
+
+Get GraspNetEval instances.
+
+.. literalinclude:: ../../examples/exam_eval.py
+    :lines: 4-17
+
+Evaluate A Single Scene
+-----------------------
+
+.. literalinclude:: ../../examples/exam_eval.py
+    :lines: 19-23
+
+Evaluate All Scenes
+-------------------
+
+.. literalinclude:: ../../examples/exam_eval.py
+    :lines: 25-27
+
+Evaluate 'Seen' Split
+---------------------
+
+.. literalinclude:: ../../examples/exam_eval.py
+    :lines: 29-31
+
+