Function get_error_in_q

script/feature/misc.py:117–131

Convert Rotation matrix to quaternion, then calculate the location errors. original from PoseNet Paper

(args, dl, model, sample_size, device, batch_size=1)

# # pytorch
def get_error_in_q(args, dl, model, sample_size, device, batch_size=1):
    ''' Convert Rotation matrix to quaternion, then calculate the location errors. original from PoseNet Paper '''
    model.eval()
    
    results = np.zeros((sample_size, 2))
    results, vis_info = compute_error_in_q(args, dl, model, device, results, batch_size)
    median_result = np.median(results,axis=0)
    mean_result = np.mean(results,axis=0)

    # standard log
    print ('Median error {}m and {} degrees.'.format(median_result[0], median_result[1]))
    print ('Mean error {}m and {} degrees.'.format(mean_result[0], mean_result[1]))

    # visualize results
    # vis_pose(vis_info)

def get_render_error_in_q(args, model, sample_size, device, targets, rgbs, poses, batch_size=1):
    ''' use nerf render imgs instead of use real imgs '''