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Test

We provide the our checkpoints in data preparation. In addition, you need make sure you download the matching data from data preparation. You need modify the checkpoint path for both pre-trained denoiser and verifier in the script.

sh ./scripts/inference.sh

We only support batch size equal to one for testing. The inference results of pose parameter are stored in ./output/denoiser/{experiemnt_name}/inference/{inference_dir}. You can use these saved results to do visualization later.

Evaluation

By running with the checkpoints we provided in the data preparation guide, the expected results are:

────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────
       Test metric             DataLoader 0
────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────
      eval/part_acc         0.7018406391143799
       eval/rmse_r           38.46787643432617
       eval/rmse_t          0.07968249917030334
      eval/shape_cd         0.0065745091997087
────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────

Visualization

We will upload visualization code as soon as possible.