export CUDA_VISIBLE_DEVICES=0
OUT_DIR=VoxDet_p2_2
CONFIG=VoxDet_test

# lmo
python3 tools/test.py --config configs/voxdet/${CONFIG}.py --out outputs/$OUT_DIR/lmo.pkl \
--checkpoint outputs/VoxDet_p2_2/model_final.pth >> outputs/$OUT_DIR/lmo.txt
# YCB-V
python3 tools/test.py --config configs/voxdet/${CONFIG}.py --out outputs/$OUT_DIR/ycbv.pkl \
--checkpoint outputs/VoxDet_p2_2/model_final.pth \
--cfg-options dataset='ycbv' data.test.ann_file="data/BOP/ycbv/test/scene_gt_coco_all.json" \
data.test.p1_path="data/BOP/ycbv/test_video/" \
data.test.img_prefix="data/BOP/ycbv/test" \
model.D=54 >> outputs/$OUT_DIR/ycbv.txt
# roboTools, this dataset will be released upon acceptance
# python3 tools/test.py --config configs/voxdet/${CONFIG}.py --out outputs/$OUT_DIR/robo.pkl \
# --checkpoint outputs/VoxDet_p2_2/model_final.pth \
# --cfg-options dataset='RoboTools' data.test.ann_file="data/BOP/RoboTools/test/scene_gt_coco_all.json" \
# data.test.p1_path="data/BOP/RoboTools/test_video/" \
# data.test.img_prefix="data/BOP/RoboTools/test" \
# model.D=${d} >> outputs/$OUT_DIR1/robo.txt
done
