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include epistemic uncertainty in vis limits

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lorenzo 2019-05-24 13:15:47 +02:00
parent 0a56b439d1
commit 1a979d3d4d
3 changed files with 13 additions and 10 deletions
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23
src/visuals/printer.py
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@ -28,7 +28,7 @@ class Printer:
self.text = text
self.epistemic = epistemic
self.legend = legend
self.z_max = z_max
self.z_max = z_max # To include ellipses in the image
self.fig_width = fig_width
from utils.camera import pixel_to_camera, get_depth
@ -38,14 +38,17 @@ class Printer:
# Define the output dir
self.path_out = output_path
# Define the birds eye view
self.xx_gt = [xx[0] for xx in dic_ann['xyz_real']]
self.zz_gt = [xx[2] for xx in dic_ann['xyz_real']]
self.xx_pred = [xx[0] for xx in dic_ann['xyz_pred']]
self.zz_pred = [xx[2] for xx in dic_ann['xyz_pred']]
self.dds_real = dic_ann['dds_real']
# Include the vectors inside the interval given by z_max
self.stds_ale = dic_ann['stds_ale']
self.stds_ale_epi = dic_ann['stds_epi']
self.xx_gt = [xx[0] for xx in dic_ann['xyz_real']]
self.zz_gt = [xx[2] if xx[2] < self.z_max - self.stds_ale_epi[idx] else 0
for idx, xx in enumerate(dic_ann['xyz_real'])]
self.xx_pred = [xx[0] for xx in dic_ann['xyz_pred']]
self.zz_pred = [xx[2] if xx[2] < self.z_max - self.stds_ale_epi[idx] else 0
for idx, xx in enumerate(dic_ann['xyz_pred'])]
self.dds_real = dic_ann['dds_real']
self.uv_centers = dic_ann['uv_centers']
self.uv_shoulders = dic_ann['uv_shoulders']
self.uv_kps = dic_ann['uv_kps']
@ -119,7 +122,7 @@ class Printer:
if self.draw_kps:
ax0 = self.show_kps(ax0, self.uv_kps[idx], self.y_scale, radius_kps, color_kps)
elif self.zz_pred[idx] < self.z_max and 0 < self.zz_gt[idx] < self.z_max:
elif min(self.zz_pred[idx], self.zz_gt[idx]) > 0:
color = cmap((self.zz_pred[idx] % self.z_max) / self.z_max)
circle = Circle((uv[0], uv[1] * self.y_scale), radius=radius, color=color, fill=True)
ax0.add_patch(circle)
@ -163,7 +166,7 @@ class Printer:
x_max = abs(xyz_max[0]) # shortcut to avoid oval circles in case of different kk
for idx, _ in enumerate(self.xx_gt):
if 0 < self.zz_gt[idx] < self.z_max:
if self.zz_gt[idx] > 0:
target = get_target_error(self.dds_real[idx])
angle = get_angle(self.xx_gt[idx], self.zz_gt[idx])
@ -175,7 +178,7 @@ class Printer:
# Print prediction and the real ground truth. Color of prediction depends if ground truth exists
num = 0
for idx, _ in enumerate(self.xx_pred):
if 0 < self.zz_gt[idx] < self.z_max: # only the merging ones and inside the interval
if self.zz_gt[idx] > 0: # only the merging ones and inside the interval
angle = get_angle(self.xx_pred[idx], self.zz_pred[idx])
ellipse_ale = Ellipse((self.xx_pred[idx], self.zz_pred[idx]), width=self.stds_ale[idx] * 2,