Evaluation

[eduardramon]

This PRs easies the evaluation process, which is now reduced to a single line of code:

mesh_gt, images, masks, cameras = h3ds.load_scene(scene_id)
mesh_pred, landmarks_pred = your_reconstruction_method(images, masks, cameras)
chamfer_gt_pred, chamfer_pred_gt, mesh_gt, mesh_pred_aligned =  h3ds.evaluate_scene(scene_id, mesh_pred, landmarks_pred)

The PR includes the following changes:

• The evaluation method evaluate_scene. It performs a coarse_alignment using the provided landmarks (optional), a fine alignment using ICP, and computes the chamfer distance (CD) in both directions. If a region_id is provided, the ICP is used only using this region and the CDs are computed only in this region as well.
•  Now meshes are handled with an internal Mesh class to avoid. This avoids the reordering in the vertices observed using Trimesh.
• Methods for aligning meshes (coarse and ICP) and for transforming them.
•  A method error_to_color to easily compute heatmaps.
•  An update of the examples/evaluation.py script.
•  An image showing the position of each landmark.
• An update of the README.md documentation.

[albertorb]

👏🏿 🚀

[a-canela]

👌🏽 👌🏽

[eduardramon]

point identifier -> point index