Closed nv-nguyen closed 2 months ago
To test the multiprocessing:
bash bop_toolkit_lib/tests/unit_test.sh
I resolved all reviews and add a comparison with expected outputs. Here is the output in my terminal when running the unit tests (I removed unit tests of YCB-V and T-LESS to make it fast since these two datasets are quite large):
To test eval_bop24_pose.py
script:
python bop_toolkit_lib/tests/eval_bop24_pose_test.py
To test eval_bop24_pose.py
script with "fake" 10.000 false positives:
python bop_toolkit_lib/tests/eval_bop24_pose_test.py --num_false_positives 10000
Adding multiprocessing with 10 workers by default for evaluation script eval_bop19_pose.py. The original script can still be run with argument
--num_worker 1
.I made some unit tests with MegaPose's results.
Here are the run-time comparisons with and without multiprocessing. Note that the scores remains unchanged. The run-time improvement is more significant for large datasets such as T-LESS.
I can do some refactoring to make the code cleaner after this pull-request is accepted.
@thodan @MartinSmeyer @ylabbe