From c1531d6d90ae2f57d1d1df1323af9951a878178a Mon Sep 17 00:00:00 2001
From: Guillaume-Duret <guillaume.duret@ec-lyon.fr>
Date: Thu, 18 May 2023 04:00:34 +0200
Subject: [PATCH] evaluation running
---
eval_pose.py | 65 +++++++++++++++++++++++++++++++++-------------------
1 file changed, 42 insertions(+), 23 deletions(-)
diff --git a/eval_pose.py b/eval_pose.py
index 467a4d0..73b5b98 100644
--- a/eval_pose.py
+++ b/eval_pose.py
@@ -8,13 +8,14 @@ import open3d as o3d
import argparse
import os
import sys
-
+from plyfile import PlyData, PlyElement
def read_diameter(object_name):
- filename = f'Generated_Worlds_/Generated/{class_name}/diameter.txt'
+ filename = f'Generated_Worlds_/Generated/{class_name}/{class_name}_diameter.txt'
with open(filename) as f:
diameter_in_cm = float(f.readline())
- return diameter_in_cm * 0.01
+ #return diameter_in_cm * 0.01
+ return diameter_in_cm
def transform_pts_Rt(pts, R, t):
@@ -245,6 +246,7 @@ def eval_pose(r_est, t_est, r_gt, t_gt, pc, k, diameter, sym=False):
if __name__ == '__main__':
ap = argparse.ArgumentParser()
+ ap.add_argument("--path_evaluation", type=str, required=True)
ap.add_argument("-cls_name", "--class_name", type=str,
default='kiwi1',
help="[apple2, apricot, banana1, kiwi1, lemon2, orange2, peach1, pear2]")
@@ -252,57 +254,74 @@ if __name__ == '__main__':
default=False)
args = vars(ap.parse_args())
-
+
class_name = args["class_name"]
symmetry = args["symmetry"]
- basePath = os.path.dirname(
- os.path.realpath(__file__)) + '/Generated_Worlds_/Generated_Worlds_Evaluating/' + class_name
- images_ls, labels_ls, mask_ls, choice_ls = data.getAllValData(class_name)
- print(len(images_ls))
+ basePath = args["path_evaluation"] + "/" + args["class_name"]
+
+ #basePath = os.path.dirname(
+ # os.path.realpath(__file__)) + '/Generated_Worlds_/Generated_Worlds_Evaluating/' + class_name
+
+ #images_ls, labels_ls, mask_ls, choice_ls = data.getAllValData(class_name)
+ #print(len(images_ls))
+
+ pc_path = f'/gpfswork/rech/uli/ubn15wo/guimod/Models/{class_name}/{class_name}.ply'
+ #pcd = o3d.io.read_point_cloud(pc_path)
+ #pc = np.asarray(pcd.points)
+
+ plydata = PlyData.read(pc_path)
+ elm = plydata.elements
+ data = np.asarray(elm[0][:])
+ pc = np.zeros((len(data), 3))
+ print("len(data)", len(data))
+ print("len(pc)", len(pc))
+
+ diameter = read_diameter(class_name)
+ print(diameter)
+ for i in range(len(data)):
+ pc[i][0], pc[i][1], pc[i][2] = data[i][0], data[i][1], data[i][2]
- pc_path = f'/{basePath}/Models/{class_name}.ply'
- pcd = o3d.io.read_point_cloud(pc_path)
- pc = np.asarray(pcd.points)
add_res_ls = []
proj_res_ls = []
count_add = 0
count_iadd = 0
count_proj = 0
+
+ length_data=len(os.listdir(f"{basePath}/Pose_prediction"))
+ print("number of evaluating data :", length_data)
-
-
- for idx in range(len(images_ls)):
+ for files in os.listdir(f"{basePath}/Pose_prediction"):
# ============== Loading Pose ===============
- pose_est = np.load(f'{basePath}/Pose_prediction/{idx}.npy')
+ pose_est = np.load(f'{basePath}/Pose_prediction/{files}')
r_est = pose_est[:3, :3]
- t_est = pose_est[:3, 3]
+ t_est = np.array(pose_est[:3, 3]).reshape(3, 1)
+ print("t_est", t_est)
- pose_gt = np.load(f'{basePath}/Pose_transformed/{idx}.npy')
+ pose_gt = np.load(f'{basePath}/Pose_transformed/{files}')
r_gt = np.array(pose_gt[0:3, 0:3], dtype='float64')
t_gt = np.array(pose_gt[0:3, 3], dtype='float64').reshape(3, 1)
+ print("t_gt", t_gt)
# ============== Evaluation ===============
k = np.array([[543.25272224, 0., 320.25],
[0., 724.33696299, 240.33333333],
- [0., 0., 1.]])
- diameter = read_diameter(class_name)
+ [0., 0., 1.]])
add_res, is_add, proj_res, is_proj, adi_res, is_adi = eval_pose(r_est, t_est, r_gt, t_gt, pc, k, diameter, symmetry)
if is_add:
count_add += 1
-
if is_proj:
count_proj += 1
if is_adi:
count_iadd += 1
- print(f"ADD_Res: {count_add / len(images_ls)}")
- print(f"ADI_Res: {count_iadd / len(images_ls)}")
- print(f"Proj_Res: {count_proj / len(images_ls)}")
+ print(f"ADD_Res: {count_add / length_data}")
+ print(f"ADI_Res: {count_iadd / length_data}")
+ print(f"Proj_Res: {count_proj / length_data}")
print(f"======================")
print("Done")
--
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