58 lines
1.8 KiB
Matlab
58 lines
1.8 KiB
Matlab
gtDir = [database_root biwi_dir];
|
|
seqNames = {'01','02','03','04','05','06','07','08','09', ...
|
|
'10', '11','12','13','14','15','16','17','18','19', ...
|
|
'20', '21','22','23','24'};
|
|
|
|
rotMeanErr = zeros(numel(seqNames),3);
|
|
rotRMS = zeros(numel(seqNames),3);
|
|
rot = cell(1,numel(seqNames));
|
|
rotg = cell(1,numel(seqNames));
|
|
chehra_res = pose_results;
|
|
tic;
|
|
for i=1:numel(seqNames)
|
|
|
|
posesGround = load ([gtDir '/' seqNames{i} '/groundTruthPose.txt']);
|
|
|
|
rotg{i} = posesGround(:,[5 6 7]);
|
|
rot{i} = chehra_res(i).pose * pi / 180;
|
|
rot{i}(:,2) = -rot{i}(:,2);
|
|
|
|
% Correct the first frame so it corresponds to (0,0,0), as slightly
|
|
% different pose might be assumed frontal and this corrects for
|
|
% that
|
|
|
|
% Work out the correction matrix for ground truth
|
|
rot_corr_gt = Euler2Rot(rotg{i}(1,:));
|
|
for r_e = 1:size(rotg{i},1)
|
|
rot_curr_gt = Euler2Rot(rotg{i}(r_e,:));
|
|
rot_new_gt = rot_corr_gt' * rot_curr_gt;
|
|
rotg{i}(r_e,:) = Rot2Euler(rot_new_gt);
|
|
end
|
|
|
|
% Work out the correction matrix for estimates
|
|
rot_corr_est = Euler2Rot(rot{i}(1,:));
|
|
for r_e = 1:size(rot{i},1)
|
|
rot_curr_est = Euler2Rot(rot{i}(r_e,:));
|
|
rot_new_est = rot_corr_est' * rot_curr_est;
|
|
rot{i}(r_e,:) = Rot2Euler(rot_new_est);
|
|
end
|
|
|
|
rotg{i} = rotg{i} * 180 / pi;
|
|
rot{i} = rot{i} * 180 / pi;
|
|
|
|
rotMeanErr(i,:) = mean(abs((rot{i}(:,:)-rotg{i}(:,:))));
|
|
rotRMS(i,:) = sqrt(mean(((rot{i}(:,:)-rotg{i}(:,:))).^2));
|
|
end
|
|
%%
|
|
meanErrors = rotMeanErr;
|
|
allRot = cell2mat(rot');
|
|
allRotg = cell2mat(rotg');
|
|
meanError = mean(abs((allRot(:,:)-allRotg(:,:))));
|
|
|
|
all_errors = abs(allRot-allRotg);
|
|
|
|
rmsError = sqrt(mean(((allRot(:,:)-allRotg(:,:))).^2));
|
|
errorVariance = std(abs((allRot(:,:)-allRotg(:,:))));
|
|
|
|
all_rot_preds = allRot;
|
|
all_rot_gts = allRotg; |