registration attempt works, now need to finish evaluation

Richardg706 · Jun 7, 2023 · 5dc7bc5 · 5dc7bc5
1 parent 03c5245
commit 5dc7bc5
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Showing 5 changed files with 7 additions and 5 deletions.
diff --git a/configs/prepare_cfg.yaml b/configs/prepare_cfg.yaml
@@ -3,7 +3,7 @@
 r : [0.2, 0.2, 0.1]
 t : [-0.5, -0.5, -0.5]
 
-voxel_size : 15000
+voxel_size : 5000
 move_to_origin : False
 
 output_folder : 'data'

diff --git a/evaluation_pairwise/__pycache__/__init__.cpython-36.pyc b/evaluation_pairwise/__pycache__/__init__.cpython-36.pyc
diff --git a/evaluation_pairwise/__pycache__/utils.cpython-36.pyc b/evaluation_pairwise/__pycache__/utils.cpython-36.pyc
diff --git a/runner.py b/runner.py
@@ -470,7 +470,7 @@ def evaluate_error(self):
         return 1
 
     def evaluate_against_gt(self):
-        if not self.gt_m:
+        if not self.gt:
             print("Set the ground truth first!")
             self.error = -1
         else:

diff --git a/test_modules/teaser.py b/test_modules/teaser.py
@@ -3,10 +3,10 @@
 from utils.helpers import *
 import pandas as pd 
 from evaluation_pairwise.utils import chamfer_distance
+from copy import deepcopy,copy
 
 def register_fragments(pcd1, pcd2, voxel_size=2, resample_factor=5, verbose=False):
 
-
     dist1 = pcd1.compute_nearest_neighbor_distance()
     dist2 = pcd1.compute_nearest_neighbor_distance()
     #print(dist1, dist2)
@@ -82,8 +82,10 @@ def run(obj1_seg_parts_array, obj2_seg_parts_array, MIN_PCD_SIZE=1000):
     o1s = []
     o2s = [] 
 
-    for o1, pcd_part1 in enumerate(obj1_seg_parts_array):
-        for o2, pcd_part2 in enumerate(obj2_seg_parts_array):
+    for o1, seg_part1 in enumerate(obj1_seg_parts_array):
+        for o2, seg_part2 in enumerate(obj2_seg_parts_array):
+            pcd_part1 = seg_part1.pcd
+            pcd_part2 = seg_part2.pcd
             cur_frag1_size = len(pcd_part1.points)
             cur_frag2_size = len(pcd_part2.points)
             frag1_size.append(cur_frag1_size)