success

baselines/grasping/GSNet/graspnetAPI/examples/exam_eval.py

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+__author__ = 'mhgou'
+__version__ = '1.0'
+
+# GraspNetAPI example for evaluate grasps for a scene.
+# change the graspnet_root path
+import numpy as np
+from graspnetAPI import GraspNetEval
+
+####################################################################
+graspnet_root = '/home/gmh/graspnet' # ROOT PATH FOR GRASPNET
+dump_folder = '/home/gmh/git/rgbd_graspnet/dump_affordance_iounan/' # ROOT PATH FOR DUMP
+####################################################################
+
+sceneId = 121
+camera = 'kinect'    
+ge_k = GraspNetEval(root = graspnet_root, camera = 'kinect', split = 'test')
+ge_r = GraspNetEval(root = graspnet_root, camera = 'realsense', split = 'test')
+
+# eval a single scene
+print('Evaluating scene:{}, camera:{}'.format(sceneId, camera))
+acc = ge_k.eval_scene(scene_id = sceneId, dump_folder = dump_folder)
+np_acc = np.array(acc)
+print('mean accuracy:{}'.format(np.mean(np_acc)))
+
+# # eval all data for kinect
+# print('Evaluating kinect')
+# res, ap = ge_k.eval_all(dump_folder, proc = 24)
+
+# # eval 'seen' split for realsense
+# print('Evaluating realsense')
+# res, ap = ge_r.eval_seen(dump_folder, proc = 24)