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change to-1 to to_world

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hofee
2024-09-19 00:20:26 +08:00
parent 935069d68c
commit 8d5d6d5df4
3 changed files with 29 additions and 31 deletions
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10
core/evaluation.py
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@@ -20,7 +20,7 @@ class PoseDiff:
rot_angle_list = []
trans_dist_list = []
for output, data in zip(output_list, data_list):
gt_pose_9d = data['best_to_1_pose_9d']
gt_pose_9d = data['best_to_world_pose_9d']
pred_pose_9d = output['pred_pose_9d']
gt_rot_6d = gt_pose_9d[:, :6]
gt_trans = gt_pose_9d[:, 6:]
@@ -62,10 +62,10 @@ class ConverageRateIncrease:
voxel_threshold_list = data["voxel_threshold"]
filter_degree_list = data["filter_degree"]
first_frame_to_world = data["first_frame_to_world"]
pred_n_to_1_pose_mats = torch.eye(4, device=pred_pose_9ds.device).unsqueeze(0).repeat(pred_pose_9ds.shape[0], 1, 1)
pred_n_to_1_pose_mats[:,:3,:3] = PoseUtil.rotation_6d_to_matrix_tensor_batch(pred_pose_9ds[:, :6])
pred_n_to_1_pose_mats[:,:3,3] = pred_pose_9ds[:, 6:]
pred_n_to_world_pose_mats = torch.matmul(first_frame_to_world, pred_n_to_1_pose_mats)
pred_n_to_world_pose_mats = torch.eye(4, device=pred_pose_9ds.device).unsqueeze(0).repeat(pred_pose_9ds.shape[0], 1, 1)
pred_n_to_world_pose_mats[:,:3,:3] = PoseUtil.rotation_6d_to_matrix_tensor_batch(pred_pose_9ds[:, :6])
pred_n_to_world_pose_mats[:,:3,3] = pred_pose_9ds[:, 6:]
pred_n_to_world_pose_mats = torch.matmul(first_frame_to_world, pred_n_to_world_pose_mats)
for idx in range(len(scanned_cr)):
model_points_normals = model_points_normals_list[idx]
scanned_view_pts = scanned_view_pts_list[idx]