Update ibpc_tester.py (opencv#44)

* Update ibpc_tester.py

Inverting scene queries passed to the estimator.

* Update ibpc_tester.py

Removed commented for-loop code

* record and pass only unique object ids in the requesst to the estimator process

Author: veb-101

ibpc_tester/ibpc_tester/ibpc_tester.py

@@ -227,7 +227,8 @@ def main(argv=sys.argv):
         scene_gt = load_scene_gt(
             test_split["scene_gt_rgb_photoneo_tpath"].format(scene_id=scene_id)
         )
-        for img_id, obj_gts in scene_gt.items():
+
+        for img_id, obj_gts in list(scene_gt.items())[::-1]:
             request = GetPoseEstimates.Request()
             request.cameras.append(
                 BOPCamera(scene_dir, "cam1", img_id).to_camera_msg(node, debug_cam_1)
@@ -244,6 +245,9 @@ def main(argv=sys.argv):
             # todo(Yadunund): Load corresponding rgb, depth and polarized image for this img_id.
             for obj_gt in obj_gts:
                 request.object_ids.append(int(obj_gt["obj_id"]))
+
+            request.object_ids = list(set(request.object_ids))
+
             node.get_logger().info(
                 f"Sending request for scene_id {scene_id} img_id {img_id} for objects {request.object_ids}"
             )