Evaluation

A - Point Cloud Based Metrics

a. Chamfer Distance

\(D_{C}(P, P^*) = \frac{1}{|P|} \sum_{p \in P} d(p, P^*)^2 + \frac{1}{|P'|} \sum_{p^* \in P^*} d(p^*, P)^2\)

scene_point_etk.evaluation.chamfer_distance(point_cloud_1, point_cloud_2)

b. Hausdorff Distance

\(D_{H}(P, P^*) = \max \left\{ \max_{p \in P} d(p, P^*), \max_{p^* \in P^*} d(p^*, P) \right\}\)

scene_point_etk.evaluation.hausdorff_distance(point_cloud_1, point_cloud_2)

c. Modified Hausdorff Distance

\(D_{MH}(P, P^*) = \max \left\{ \frac{1}{|P|} \sum_{p \in P} d(p, P^*), \frac{1}{|P^*|} \sum_{p^* \in P^*} d(p^*, P) \right\}\)

scene_point_etk.evaluation.modified_hausdorff_distance(point_cloud_1, point_cloud_2)

d. Median Point Distance

\(D_{MP}(P, P^*) = \max \left\{ \underset{p \in P}{\text{median}}\ d(p, P^*), \underset{p^* \in P^*}{\text{median}}\ d(p^*, P) \right\}\)

scene_point_etk.evaluation.median_point_distance(point_cloud_1, point_cloud_2)