From 45bb9df86363b2b4dab0c64e8017b7bb46e13cc5 Mon Sep 17 00:00:00 2001
From: lorenzo <lorenzo.bertoni@yahoo.it>
Date: Tue, 21 May 2019 11:44:50 +0200
Subject: [PATCH] add class variables

---
 src/eval/kitti_eval.py | 11 +++++------
 1 file changed, 5 insertions(+), 6 deletions(-)

diff --git a/src/eval/kitti_eval.py b/src/eval/kitti_eval.py
index 0a58d54..182a043 100644
--- a/src/eval/kitti_eval.py
+++ b/src/eval/kitti_eval.py
@@ -18,6 +18,7 @@ class KittiEval:
     - 3DOP
     - MonoDepth
     """
+    CLUSTERS = ('easy', 'moderate', 'hard', 'all', '6', '10', '15', '20', '25', '30', '40', '50', '>50')
     dic_stds = defaultdict(lambda: defaultdict(list))
     dic_stats = defaultdict(lambda: defaultdict(lambda: defaultdict(lambda: defaultdict(float))))
     dic_cnt = defaultdict(int)
@@ -46,8 +47,6 @@ class KittiEval:
         assert os.path.exists(self.dir_m3d) and os.path.exists(self.dir_our) \
                and os.path.exists(self.dir_3dop)
 
-        self.clusters = ['easy', 'moderate', 'hard', 'all', '6', '10', '15', '20', '25', '30', '40', '50', '>50']
-
         self.dic_thresh_iou = {'m3d': thresh_iou_m3d, '3dop': thresh_iou_m3d, 'md': thresh_iou_our, 'our': thresh_iou_our}
         self.dic_thresh_conf = {'m3d': thresh_conf_m3d, '3dop': thresh_conf_m3d, 'our': thresh_conf_our}
 
@@ -93,7 +92,7 @@ class KittiEval:
         # Update statistics of mean and max and uncertainty
 
         for key in self.errors:
-            for clst in self.clusters[:-2]:  # M3d and pifpaf does not have annotations above 40 meters
+            for clst in self.CLUSTERS[:-2]:  # M3d and pifpaf does not have annotations above 40 meters
                 get_statistics(self.dic_stats['test'][key], self.errors[key][clst], clst, self.dic_stds, key)
 
         # Print statistics
@@ -111,7 +110,7 @@ class KittiEval:
             self.errors[key]['<1m'].extend(zeros)
             self.errors[key]['<2m'].extend(zeros)
 
-            for clst in self.clusters[:-9]:
+            for clst in self.CLUSTERS[:-9]:
                 print(" {} Average error in cluster {}: {:.2f} with a max error of {:.1f}, "
                       "for {} annotations"
                       .format(key, clst, self.dic_stats['test'][key]['mean'][clst], self.dic_stats['test'][key]['max'][clst],
@@ -326,7 +325,7 @@ class KittiEval:
         """Compute and save errors between a single box and the gt box which match"""
 
         diff = abs(dd - dd_gt)
-        clst = find_cluster(dd_gt, self.clusters)
+        clst = find_cluster(dd_gt, self.CLUSTERS)
         errors['all'].append(diff)
         errors[cat].append(diff)
         errors[clst].append(diff)
@@ -349,7 +348,7 @@ class KittiEval:
 
     def update_uncertainty(self, std_ale, std_epi, dd, dd_gt, cat):
 
-        clst = find_cluster(dd_gt, self.clusters)
+        clst = find_cluster(dd_gt, self.CLUSTERS)
         self.dic_stds['ale']['all'].append(std_ale)
         self.dic_stds['ale'][clst].append(std_ale)
         self.dic_stds['ale'][cat].append(std_ale)