From 3af8f07d7241cb92ae2975a7a1cbaea2ae7c4449 Mon Sep 17 00:00:00 2001 From: Mederic Fourmy Date: Thu, 25 Apr 2024 11:35:16 +0200 Subject: [PATCH] Update eval teaserpp --- docs/book/megapose/evaluate.md | 19 +------------------ 1 file changed, 1 insertion(+), 18 deletions(-) diff --git a/docs/book/megapose/evaluate.md b/docs/book/megapose/evaluate.md index c1adf1ec..012a8979 100644 --- a/docs/book/megapose/evaluate.md +++ b/docs/book/megapose/evaluate.md @@ -2,28 +2,11 @@ Please make sure you followed the steps relative to the evaluation in the main readme. -## TEASER++ - -You will first need to install [TEASER++](https://github.com/MIT-SPARK/TEASER-plusplus) if you want to use the depth for MegaPose. -To do so, please run the following commands to install it : - -``` -# Go to HappyPose root directory -apt install -y cmake libeigen3-dev libboost-all-dev -conda activate happypose -mamba install compilers -c conda-forge -pip install open3d -mkdir /build && cd /build && git clone https://github.com/MIT-SPARK/TEASER-plusplus.git -cd TEASER-plusplus && mkdir build && cd build -cmake -DTEASERPP_PYTHON_VERSION=3.9 .. && make teaserpp_python -cd python && pip install . -``` - ## Evaluating with Megapose detector Run a detector part of Megapose pipeline to detect bounding boxes in the image dataset at run-time. ``` -python -m happypose.pose_estimators.megapose.scripts.run_full_megapose_eval detector_run_id=bop_pbr coarse_run_id=coarse-rgb-906902141 refiner_run_id=refiner-rgb-653307694 ds_names=[ycbv.bop19,lmo.bop19,tless.bop19,tudl.bop19,icbin.bop19,hb.bop19,itodd.bop19] result_id=detector_1posehyp detection_coarse_types=[["detector","SO3_grid"]] inference.n_pose_hypotheses=1 skip_inference=false run_bop_eval=true +python -m happypose.pose_estimators.megapose.scripts.run_full_megapose_eval detector_run_id=bop_pbr coarse_run_id=coarse-rgb-906902141 refiner_run_id=refiner-rgb-653307694 ds_names=[ycbv.bop19,lmo.bop19,tless.bop19,tudl.bop19,icbin.bop19,hb.bop19,itodd.bop19,hope.bop19] result_id=detector_1posehyp detection_coarse_types=[["detector","SO3_grid"]] inference.n_pose_hypotheses=1 skip_inference=false run_bop_eval=true ``` ## Evaluating with external detections