Quantitative Measurements on Pose Estimation

[fengling666666]

Hi. Do you have the code or can you share the code of quantitative measurements (mESM and mCR) on pose estimation? In utils.eval, you design the pose_eval function for gt_poses and pred_poses. In 3DAP dataset it has 50 ground truth poses for each stuff. When testing, it will generate 200 prediction poses (mentioned in paper). How to calculate the two metrics between 200 pred poses and 50 gt poses based on the pose_eval function?