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fix hardcoded ycbv, some issues with panda batch and cosy eval doc
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# Evaluating CosyPose | ||
# CosyPose single view evaluation | ||
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Please make sure you followed the steps relative to the evaluation in the main readme. | ||
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Please run the following command to evaluate on YCBV dataset | ||
To evaluate on YCBV dataset: | ||
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``` | ||
python -m happypose.pose_estimators.cosypose.cosypose.scripts.run_full_cosypose_eval_new detector_run_id=bop_pbr coarse_run_id=coarse-bop-ycbv-pbr--724183 refiner_run_id=refiner-bop-ycbv-pbr--604090 ds_names=["ycbv.bop19"] result_id=ycbv-debug detection_coarse_types=["detector"] | ||
python -m happypose.pose_estimators.cosypose.cosypose.scripts.run_full_cosypose_eval_new detector_run_id=bop_pbr coarse_run_id=coarse-bop-ycbv-pbr--724183 refiner_run_id=refiner-bop-ycbv-pbr--604090 ds_names=["ycbv.bop19"] result_id=ycbv-debug detection_coarse_types=["detector"] inference.renderer=bullet inference.n_workers=0 | ||
``` | ||
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The other BOP datasets are supported as long as you download the correspond models. | ||
To change the renderer from bullet (originally used by cosypose) to panda3d: | ||
``` | ||
python -m happypose.pose_estimators.cosypose.cosypose.scripts.run_full_cosypose_eval_new detector_run_id=bop_pbr coarse_run_id=coarse-bop-ycbv-pbr--724183 refiner_run_id=refiner-bop-ycbv-pbr--604090 ds_names=["ycbv.bop19"] result_id=ycbv-debug detection_coarse_types=["detector"] inference.renderer=panda3d inference.n_workers=1 | ||
``` | ||
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To evaluate on other datasets, change ["ycbv.bop19"] to e.g. ["tless.bop19"]. | ||
To evaluate on a collection of datasets, change "ycbv.bop19" to e.g. ["ycbv.bop19", "lmo.bop19", "tless.bop19"]. |
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