Function compute_metrics_for_rgbd_images

pointersect/inference/infer.py:794–1420

Compare a list of rgbd_images, create gif, compute difference from ref_rgbd_image if given. Note we assume the camera used to capture the rgbd images are the same. Args: rgbd_images: list of rgbd_image to compare. ref_rgbd_image: reference rgbd i

(
        rgbd_images: T.List[RGBDImage],
        ref_rgbd_image: RGBDImage,
        ref_mesh: Mesh = None,
        names: T.List[str] = None,
        rgb_metric: T.List[str] = 'psnr',
        depth_metric: T.List[str] = 'rmse',
        normal_metric: T.List[str] = 'avg_angle',
        hit_metric: T.List[str] = 'accuracy',
        pcd_metric: T.List[str] = [],
        filtered_pcd_metric: T.List[str] = [],
        th_dot_product: float = 0.5,  # (less than 60 degree)
        output_filename: str = None,
)

def compute_metrics_for_rgbd_images(
        rgbd_images: T.List[RGBDImage],
        ref_rgbd_image: RGBDImage,
        ref_mesh: Mesh = None,
        names: T.List[str] = None,
        rgb_metric: T.List[str] = 'psnr',
        depth_metric: T.List[str] = 'rmse',
        normal_metric: T.List[str] = 'avg_angle',
        hit_metric: T.List[str] = 'accuracy',
        pcd_metric: T.List[str] = [],
        filtered_pcd_metric: T.List[str] = [],
        th_dot_product: float = 0.5,  # (less than 60 degree)
        output_filename: str = None,
) -> T.Dict[str, T.Any]:
    """
    Compare a list of rgbd_images, create gif, compute difference from ref_rgbd_image if given.
    Note we assume the camera used to capture the rgbd images are the same.

    Args:
        rgbd_images:
            list of rgbd_image to compare.
        ref_rgbd_image:
            reference rgbd image to compute the error against
        names:
            name of the rgbd_images. If None, it will become their indexes.
        rgb_metric:
            'psnr'
        depth_metric:
            'rmse',
        normal_metric:
            'avg_angle'
        hit_metric:
            'accuracy'
        pcd_metric:
            'rmse_signed_distance' (need ref_mesh to be given)
            'max_signed_distance' (need ref_mesh to be given)
            'rmse_distance' (need ref_mesh to be given)
            'max_distance' (need ref_mesh to be given)

    Returns:
        rgb_err_dicts:
            name -> error dict for rgb (metric_name -> val (b,q)). err_dict will be None if input/gt not presented
        depth_err_dicts:
            name -> error dict for deoth (metric_name -> val (b,q)). err_dict will be None if input/gt not presented
        normal_err_dicts:
            name -> error dict for normal (metric_name -> val (b,q)). err_dict will be None if input/gt not presented
        hit_err_dicts:
            name -> error dict for hit (metric_name -> val (b,q)). err_dict will be None if input/gt not presented
        pcd_err_dicts:
            name -> error dict for pcd (metric_name -> val (b,q)). err_dict will be None if input/gt not presented

    Procedure:
        - before adding the name to the image, compute the error to the reference
        - create tmp rgb, depth, normal_w, hit_map if not None.  If one content is None, skip the image
    """
    assert ref_rgbd_image is not None

    if isinstance(rgb_metric, str):