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finish PoseDiff and NBVDataset

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hofee
2024-08-30 19:21:18 +08:00
parent be5a2d57fa
commit f58360c0c0
5 changed files with 57 additions and 33 deletions
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8
core/evaluation.py
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@@ -6,7 +6,7 @@ import PytorchBoot.namespace as namespace
def get_view_data(cam_pose, scene_name):
pass
@stereotype.evaluation_method("pose_diff", comment="not tested")
@stereotype.evaluation_method("pose_diff")
class PoseDiff:
def __init__(self, _):
pass
@@ -16,7 +16,7 @@ class PoseDiff:
rot_angle_list = []
trans_dist_list = []
for output, data in zip(output_list, data_list):
gt_pose_9d = data['nbv_cam_pose']
gt_pose_9d = data['best_to_1_pose_9d']
pred_pose_9d = output['pred_pose_9d']
gt_rot_6d = gt_pose_9d[:, :6]
gt_trans = gt_pose_9d[:, 6:]
@@ -49,9 +49,9 @@ class ConverageRateIncrease:
cr_diff_list = []
for output, data in zip(output_list, data_list):
scanned_cr = data['scanned_coverages_rate']
gt_cr = data["nbv_coverage_rate"]
gt_cr = data["best_coverage_rate"]
scene_name_list = data['scene_name']
scanned_view_pts_list = data['scanned_views_pts']
scanned_view_pts_list = data['scanned_pts']
pred_pose_9ds = output['pred_pose_9d']
pred_rot_mats = PoseUtil.rotation_6d_to_matrix_tensor_batch(pred_pose_9ds[:, :6])
pred_pose_mats = torch.cat([pred_rot_mats, pred_pose_9ds[:, 6:]], dim=-1)