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update task error

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lorenzo 2019-07-25 18:31:31 +02:00
parent b765fa9340
commit 10874caea0
5 changed files with 29 additions and 27 deletions
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15
monoloco/eval/eval_kitti.py
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@ -25,7 +25,7 @@ class EvalKitti:
CLUSTERS = ('easy', 'moderate', 'hard', 'all', '6', '10', '15', '20', '25', '30', '40', '50', '>50') CLUSTERS = ('easy', 'moderate', 'hard', 'all', '6', '10', '15', '20', '25', '30', '40', '50', '>50')
METHODS = ['m3d', 'geom', 'task_error', '3dop', 'our'] METHODS = ['m3d', 'geom', 'task_error', '3dop', 'our']
HEADERS = ['method', '<0.5', '<1m', '<2m', 'easy', 'moderate', 'hard', 'all'] HEADERS = ['method', '<0.5', '<1m', '<2m', 'easy', 'moderate', 'hard', 'all']
CATEGORIES = ['pedestrian', 'cyclist'] CATEGORIES = ['pedestrian']
def __init__(self, thresh_iou_our=0.3, thresh_iou_m3d=0.3, thresh_conf_m3d=0.3, thresh_conf_our=0.3, def __init__(self, thresh_iou_our=0.3, thresh_iou_m3d=0.3, thresh_conf_m3d=0.3, thresh_conf_our=0.3,
verbose=False, stereo=False): verbose=False, stereo=False):
@ -100,15 +100,14 @@ class EvalKitti:
if out_gt[0]: if out_gt[0]:
out_m3d = self._parse_txts(path_m3d, category, method='m3d') out_m3d = self._parse_txts(path_m3d, category, method='m3d')
out_3dop = self._parse_txts(path_3dop, category, method='3dop') out_3dop = self._parse_txts(path_3dop, category, method='3dop')
# out_md = self._parse_txts(path_md, category, method='md') out_md = self._parse_txts(path_md, category, method='md')
out_md = out_m3d
out_our = self._parse_txts(path_our, category, method='our') out_our = self._parse_txts(path_our, category, method='our')
out_our_stereo = self._parse_txts(path_our_stereo, category, method='our') if self.stereo else [] out_our_stereo = self._parse_txts(path_our_stereo, category, method='our') if self.stereo else []
# Compute the error with ground truth # Compute the error with ground truth
self._estimate_error(out_gt, out_m3d, method='m3d') self._estimate_error(out_gt, out_m3d, method='m3d')
self._estimate_error(out_gt, out_3dop, method='3dop') self._estimate_error(out_gt, out_3dop, method='3dop')
# self._estimate_error(out_gt, out_md, method='md') self._estimate_error(out_gt, out_md, method='md')
self._estimate_error(out_gt, out_our, method='our') self._estimate_error(out_gt, out_our, method='our')
if self.stereo: if self.stereo:
self._estimate_error(out_gt, out_our_stereo, method='our_stereo') self._estimate_error(out_gt, out_our_stereo, method='our_stereo')
@ -126,6 +125,9 @@ class EvalKitti:
print('\n' + category.upper() + ':') print('\n' + category.upper() + ':')
self.show_statistics() self.show_statistics()
# Show/save results
self.printer(show=False)
def printer(self, show): def printer(self, show):
print_results(self.dic_stats, show) print_results(self.dic_stats, show)
@ -214,7 +216,7 @@ class EvalKitti:
if method == 'our': if method == 'our':
self.update_errors(dds_geom[idx], dds_gt[idx_gt], cat, self.errors['geom']) self.update_errors(dds_geom[idx], dds_gt[idx_gt], cat, self.errors['geom'])
self.update_uncertainty(stds_ale[idx], stds_epi[idx], dds[idx], dds_gt[idx_gt], cat) self.update_uncertainty(stds_ale[idx], stds_epi[idx], dds[idx], dds_gt[idx_gt], cat)
dd_task_error = dds_gt[idx_gt] + (get_task_error(dds_gt[idx_gt], mode='mad'))**2 dd_task_error = dds_gt[idx_gt] + (get_task_error(dds_gt[idx_gt]))**2
self.update_errors(dd_task_error, dds_gt[idx_gt], cat, self.errors['task_error']) self.update_errors(dd_task_error, dds_gt[idx_gt], cat, self.errors['task_error'])
elif method == 'our_stereo': elif method == 'our_stereo':
@ -248,8 +250,7 @@ class EvalKitti:
self.update_errors(dds_our[idx], dd_gt, cat, self.errors['our_merged']) self.update_errors(dds_our[idx], dd_gt, cat, self.errors['our_merged'])
self.update_errors(dds_geom[idx], dd_gt, cat, self.errors['geom_merged']) self.update_errors(dds_geom[idx], dd_gt, cat, self.errors['geom_merged'])
self.update_errors(dd_gt + get_task_error(dd_gt, mode='mad'), self.update_errors(dd_gt + get_task_error(dd_gt), dd_gt, cat, self.errors['task_error_merged'])
dd_gt, cat, self.errors['task_error_merged'])
self.update_errors(dds_m3d[indices[0]], dd_gt, cat, self.errors['m3d_merged']) self.update_errors(dds_m3d[indices[0]], dd_gt, cat, self.errors['m3d_merged'])
self.update_errors(dds_3dop[indices[1]], dd_gt, cat, self.errors['3dop_merged']) self.update_errors(dds_3dop[indices[1]], dd_gt, cat, self.errors['3dop_merged'])
self.update_errors(dds_md[indices[2]], dd_gt, cat, self.errors['md_merged']) self.update_errors(dds_md[indices[2]], dd_gt, cat, self.errors['md_merged'])

2
monoloco/utils/__init__.py
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@ -5,4 +5,4 @@ from .kitti import check_conditions, get_category, split_training, parse_ground_
from .camera import xyz_from_distance, get_keypoints, pixel_to_camera, project_3d from .camera import xyz_from_distance, get_keypoints, pixel_to_camera, project_3d
from .logs import set_logger from .logs import set_logger
from .stereo import depth_from_disparity from .stereo import depth_from_disparity
from ..utils.nuscenes import select_categories from ..utils.nuscenes import select_categories

2
monoloco/utils/misc.py
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@ -26,7 +26,7 @@ def append_cluster(dic_jo, phase, xx, dd, kps):
def get_task_error(dd): def get_task_error(dd):
"""Get target error not knowing the gender, modeled through a Gaussian Mixure model""" """Get target error not knowing the gender, modeled through a Gaussian Mixure model"""
mm = 0.0459 mm = 0.046
return dd * mm return dd * mm

15
monoloco/visuals/paper.py
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@ -62,8 +62,8 @@ def paper():
plt.plot(xx, yy_female, '-.', linewidth=1.7, color='darkorange', label='Adult female') plt.plot(xx, yy_female, '-.', linewidth=1.7, color='darkorange', label='Adult female')
plt.plot(xx, yy_male, '-.', linewidth=1.7, color='b', label='Adult male') plt.plot(xx, yy_male, '-.', linewidth=1.7, color='b', label='Adult male')
plt.xlim(np.min(xx), np.max(xx)) plt.xlim(np.min(xx), np.max(xx))
plt.xlabel("Distance from the camera [m]") plt.xlabel("Ground-truth distance from the camera $d_{gt}$ [m]")
plt.ylabel("Localization error due to human height variation [m]") plt.ylabel("Localization error $\hat{e}$ due to human height variation [m]")
plt.legend(loc=(0.01, 0.55)) # Location from 0 to 1 from lower left plt.legend(loc=(0.01, 0.55)) # Location from 0 to 1 from lower left
plt.savefig(os.path.join('docs', 'task_error.png')) plt.savefig(os.path.join('docs', 'task_error.png'))
@ -74,6 +74,7 @@ def target_error(xx, mm):
def gmm(): def gmm():
dist_gmm, dist_male, dist_female = height_distributions() dist_gmm, dist_male, dist_female = height_distributions()
# get_percentile(dist_gmm)
mu_gmm = np.mean(dist_gmm) mu_gmm = np.mean(dist_gmm)
mm_gmm = np.mean(np.abs(1 - mu_gmm / dist_gmm)) mm_gmm = np.mean(np.abs(1 - mu_gmm / dist_gmm))
mm_male = np.mean(np.abs(1 - np.mean(dist_male) / dist_male)) mm_male = np.mean(np.abs(1 - np.mean(dist_male) / dist_male))
@ -136,10 +137,12 @@ def plot_dist(dist_gmm, dist_men, dist_women):
def get_percentile(dist_gmm): def get_percentile(dist_gmm):
dd_gt = 100 dd_gt = 1000
mu_gmm = np.mean(dist_gmm) mu_gmm = np.mean(dist_gmm)
dist_d = dd_gt * mu_gmm / dist_gmm dist_d = dd_gt * mu_gmm / dist_gmm
perc_d, _ = np.nanpercentile(dist_d, [18.5, 81.5]) # Laplace bi => 63% perc_d, _ = np.nanpercentile(dist_d, [18.5, 81.5]) # Laplace bi => 63%
perc_d2, _ = np.nanpercentile(dist_d, [23, 77])
mu_d = np.mean(dist_d) mu_d = np.mean(dist_d)
mm_bi = (mu_d - perc_d) / mu_d # mm_bi = (mu_d - perc_d) / mu_d
mad_d = np.mean(np.abs(dist_d - mu_d)) # mm_test = (mu_d - perc_d2) / mu_d
# mad_d = np.mean(np.abs(dist_d - mu_d))

22
monoloco/visuals/results.py
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@ -6,6 +6,8 @@ import numpy as np
import matplotlib.pyplot as plt import matplotlib.pyplot as plt
from matplotlib.patches import Ellipse from matplotlib.patches import Ellipse
from ..utils import get_task_error
def print_results(dic_stats, show=False): def print_results(dic_stats, show=False):
@ -22,14 +24,13 @@ def print_results(dic_stats, show=False):
x_min = 0 x_min = 0
x_max = 38 x_max = 38
xx = np.linspace(0, 60, 100) xx = np.linspace(0, 60, 100)
mm_gender = 0.0556
excl_clusters = ['all', '50', '>50', 'easy', 'moderate', 'hard'] excl_clusters = ['all', '50', '>50', 'easy', 'moderate', 'hard']
clusters = tuple([clst for clst in dic_stats[phase]['our'] if clst not in excl_clusters]) clusters = tuple([clst for clst in dic_stats[phase]['our'] if clst not in excl_clusters])
yy_gender = target_error(xx, mm_gender) yy_gender = get_task_error(xx)
yy_gps = np.linspace(5., 5., xx.shape[0]) yy_gps = np.linspace(5., 5., xx.shape[0])
plt.figure(0) plt.figure(0)
fig_name = 'results.png' plt.grid(linewidth=0.2)
plt.xlabel("Distance [meters]") plt.xlabel("Distance [meters]")
plt.ylabel("Average localization error [m]") plt.ylabel("Average localization error [m]")
plt.xlim(x_min, x_max) plt.xlim(x_min, x_max)
@ -52,7 +53,7 @@ def print_results(dic_stats, show=False):
if show: if show:
plt.show() plt.show()
else: else:
plt.savefig(os.path.join(dir_out, fig_name)) plt.savefig(os.path.join(dir_out, 'results.png'))
plt.close() plt.close()
# SPREAD b Figure # SPREAD b Figure
@ -67,7 +68,7 @@ def print_results(dic_stats, show=False):
bbs = np.array([dic_stats[phase]['our'][key]['std_ale'] for key in clusters]) bbs = np.array([dic_stats[phase]['our'][key]['std_ale'] for key in clusters])
xxs = get_distances(clusters) xxs = get_distances(clusters)
yys = target_error(np.array(xxs), mm_gender) yys = get_task_error(np.array(xxs))
ax[1].plot(xxs, bbs, marker='s', color='b', label="Spread b") ax[1].plot(xxs, bbs, marker='s', color='b', label="Spread b")
ax[1].plot(xxs, yys, '--', color='lightgreen', label="Task error", linewidth=2.5) ax[1].plot(xxs, yys, '--', color='lightgreen', label="Task error", linewidth=2.5)
yys_up = [rec_c + ar/2 * scale * yy for yy in yys] yys_up = [rec_c + ar/2 * scale * yy for yy in yys]
@ -76,8 +77,8 @@ def print_results(dic_stats, show=False):
bbs_down = [rec_c - ar/2 * scale * bb for bb in bbs] bbs_down = [rec_c - ar/2 * scale * bb for bb in bbs]
if plots_line: if plots_line:
ax[0].plot(xxs, yys_up, '--', color='lightgreen', markersize=5, linewidth=1) ax[0].plot(xxs, yys_up, '--', color='lightgreen', markersize=5, linewidth=1.4)
ax[0].plot(xxs, yys_down, '--', color='lightgreen', markersize=5, linewidth=1) ax[0].plot(xxs, yys_down, '--', color='lightgreen', markersize=5, linewidth=1.4)
ax[0].plot(xxs, bbs_up, marker='s', color='b', markersize=5, linewidth=0.7) ax[0].plot(xxs, bbs_up, marker='s', color='b', markersize=5, linewidth=0.7)
ax[0].plot(xxs, bbs_down, marker='s', color='b', markersize=5, linewidth=0.7) ax[0].plot(xxs, bbs_down, marker='s', color='b', markersize=5, linewidth=0.7)
@ -94,14 +95,11 @@ def print_results(dic_stats, show=False):
plt.legend() plt.legend()
if show: if show:
plt.show() plt.show()
else:
plt.savefig(os.path.join(dir_out, 'spread_bi.png'))
plt.close() plt.close()
def target_error(xx, mm):
"""Multiplication"""
return mm * xx
def get_distances(clusters): def get_distances(clusters):
"""Extract distances as intermediate values between 2 clusters""" """Extract distances as intermediate values between 2 clusters"""