def geometric_eval()

in contactopt/geometric_eval.py [0:0]

• 20 lines of code
• 1 McCabe index (conditional complexity)

def geometric_eval(ho_test, ho_gt):
    """
    Computes many statistics about ground truth and HO

    Note that official HO-3D metrics are available here, but they only consider the hand, and I think they do too much alignment
    https://github.com/shreyashampali/ho3d/blob/master/eval.py

    :param ho_test: hand-object under test
    :param ho_gt: ground-truth hand-object
    :return: dictionary of stats
    """
    stats = dict()
    stats['unalign_hand_verts'] = util.calc_l2_err(ho_gt.hand_verts, ho_test.hand_verts, axis=1)
    stats['unalign_hand_joints'] = util.calc_l2_err(ho_gt.hand_joints, ho_test.hand_joints, axis=1)
    stats['unalign_obj_verts'] = util.calc_l2_err(ho_gt.obj_verts, ho_test.obj_verts, axis=1)

    root_test = ho_test.hand_joints[0, :]
    root_gt = ho_gt.hand_joints[0, :]

    stats['rootalign_hand_joints'] = util.calc_l2_err(ho_gt.hand_joints - root_gt, ho_test.hand_joints - root_test, axis=1)
    stats['rootalign_obj_verts'] = util.calc_l2_err(ho_gt.obj_verts - root_gt, ho_test.obj_verts - root_test, axis=1)

    obj_cent_gt = ho_gt.obj_verts.mean(0)
    obj_cent_test = ho_test.obj_verts.mean(0)
    stats['objalign_hand_joints'] = util.calc_l2_err(ho_gt.hand_joints - obj_cent_gt, ho_test.hand_joints - obj_cent_test, axis=1)

    hand_joints_align_gt = np_apply_tform(ho_gt.hand_joints, get_hand_align_tform(ho_gt.hand_joints))
    hand_joints_align_test = np_apply_tform(ho_test.hand_joints, get_hand_align_tform(ho_test.hand_joints))
    hand_verts_align_gt = np_apply_tform(ho_gt.hand_verts, get_hand_align_tform(ho_gt.hand_joints))
    hand_verts_align_test = np_apply_tform(ho_test.hand_verts, get_hand_align_tform(ho_test.hand_joints))

    stats['handalign_hand_joints'] = util.calc_l2_err(hand_joints_align_gt, hand_joints_align_test, axis=1)
    stats['handalign_hand_verts'] = util.calc_l2_err(hand_verts_align_gt, hand_verts_align_test, axis=1)

    stats['verts'] = ho_gt.obj_verts.shape[0]

    return stats