simplify ground-truth and --show_all

monoloco/network/process.py

@@ -66,26 +66,18 @@ def preprocess_monoloco(keypoints, kk, zero_center=False):
     return kps_out
 
 
-def factory_for_gt(im_size, focal_length=5.7, name=None, path_gt=None, verbose=True):
+def factory_for_gt(im_size, focal_length=5.7, name=None, path_gt=None):
     """Look for ground-truth annotations file and define calibration matrix based on image size """
 
-    try:
+    if path_gt is not None:
+        assert os.path.exists(path_gt), "Ground-truth file not found"
         with open(path_gt, 'r') as f:
             dic_names = json.load(f)
-        if verbose:
-            logger.info('-' * 120 + "\nGround-truth file opened")
-    except (FileNotFoundError, TypeError):
-        if verbose:
-            logger.info('-' * 120 + "\nGround-truth file not found")
-        dic_names = {}
+            kk = dic_names[name]['K']
+            dic_gt = dic_names[name]
 
-    try:
-        kk = dic_names[name]['K']
-        dic_gt = dic_names[name]
-        if verbose:
-            logger.info("Matched ground-truth file!")
-    except KeyError:
-        dic_gt = None
+    # Without ground-truth-file
+    else:
         if im_size[0] / im_size[1] > 2.5:  # KITTI default
             kk = [[718.3351, 0., 600.3891], [0., 718.3351, 181.5122], [0., 0., 1.]]  # Kitti calibration
             logger.info("Using KITTI calibration matrix...")

monoloco/predict.py

@@ -82,6 +82,9 @@ def factory_from_args(args):
     if not args.images:
         raise Exception("no image files given")
 
+    if args.path_gt is None:
+        args.show_all = True
+
     # Models
     dic_models = download_checkpoints(args)
     args.checkpoint = dic_models['keypoints']

monoloco/run.py

@@ -61,8 +61,7 @@ def cli():
     predict_parser.add_argument('--mode', help='keypoints, mono, stereo', default='mono')
     predict_parser.add_argument('--model', help='path of MonoLoco/MonStereo model to load')
     predict_parser.add_argument('--net', help='only to select older MonoLoco model, otherwise use --mode')
-    predict_parser.add_argument('--path_gt', help='path of json file with gt 3d localization',
-                                default='data/arrays/names-kitti-200615-1022.json')
+    predict_parser.add_argument('--path_gt', help='path of json file with gt 3d localization')
     predict_parser.add_argument('--z_max', type=int, help='maximum meters distance for predictions', default=100)
     predict_parser.add_argument('--n_dropout', type=int, help='Epistemic uncertainty evaluation', default=0)
     predict_parser.add_argument('--dropout', type=float, help='dropout parameter', default=0.2)

monoloco/visuals/printer.py

@@ -60,7 +60,6 @@ class Printer:
         self.output_types = args.output_types
         self.z_max = args.z_max  # set max distance to show instances
         self.show_all = args.show_all
-        self.show = args.show_all
         self.save = not args.no_save
 
         # define image attributes
@@ -170,8 +169,7 @@ class Printer:
         # whether to include instances that don't match the ground-truth
         iterator = range(len(self.zz_pred)) if self.show_all else range(len(self.zz_gt))
         if not iterator:
-            print("-" * 110 + '\n' + "! No instances detected, be sure to include file with ground-truth values or "
-                                     "use the command --show_all" + '\n' + "-" * 110)
+            print("-" * 110 + '\n' + '! No instances detected' '\n' + '-' * 110)
 
         # Draw the front figure
         number = dict(flag=False, num=97)