Metric compute (1/2): Loader for precomputed YCBV pose tracking result #180
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… aggregation (#181) As the title suggests, this PR adds the metrics that are commonly used in 6DoF pose tracking into our repo. Note that currently the metrics are computed using numpy/scipy/sklearn, so they are not compatible with other JAX transformations (e.g. vmap or jit). This is because many of the methods do not have a ready-to-use JAX equivalent, and implementing one ourselves might not be worthwhile given that we likely only need to compute those scores at the very end of the inference. I'm also including an example of using these scoring function in the [test file here](https://github.com/probcomp/b3d/blob/74c2a50205ec6a90855d3271b22edf571373df75/tests/gen3d/test_metrics.py#L54-L81). They can also be triggered by ```bash pytest tests/gen3d/test_metrics.py ``` Check out the earlier PR #180 for the instruction of obtaining the precomputed FoundationPose tracking results.
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This PR introduces some utility snippets to load the precomputed YCBV results from FoundationPose so that we can make some comparisons.
To fetch the precomputed results, use the
b3d_pullcommand. e.g.This should fetch and place the precomputed results under
assets/shared_data_bucket/foundation_pose_tracking_results.Some examples on how to use this loader can be found in the test file in this PR. It can also be used to make sure that the results are fetched correctly:
I'm going to put together another PR to compute the actual metrics in a bit...