From 632e138cd177890f3669c095ced451cd26704055 Mon Sep 17 00:00:00 2001
From: lorenzo <lorenzo.bertoni@yahoo.it>
Date: Tue, 21 May 2019 11:41:47 +0200
Subject: [PATCH] add function for statistics

---
 src/eval/kitti_eval.py | 41 +++++++++++++++++++++--------------------
 1 file changed, 21 insertions(+), 20 deletions(-)

diff --git a/src/eval/kitti_eval.py b/src/eval/kitti_eval.py
index 1069da5..0a58d54 100644
--- a/src/eval/kitti_eval.py
+++ b/src/eval/kitti_eval.py
@@ -56,11 +56,10 @@ class KittiEval:
         _, self.set_val = split_training(names_gt, path_train, path_val)
 
     def run(self):
-
-        """Evaluate Monoloco methods on ALP and ALE metrics"""
-        cnt_gt = 0
+        """Evaluate Monoloco performances on ALP and ALE metrics"""
 
         # Iterate over each ground truth file in the training set
+        cnt_gt = 0
         for name in self.set_val:
             path_gt = os.path.join(self.dir_gt, name)
             path_m3d = os.path.join(self.dir_m3d, name)
@@ -91,24 +90,11 @@ class KittiEval:
                 self._compare_error(boxes_m3d, dds_m3d, boxes_3dop, dds_3dop, boxes_md, dds_md, boxes_our, dds_our,
                                    boxes_gt, dds_gt, truncs_gt, occs_gt, dds_geom)
 
-        # Save statistics
+        # 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
-                self.dic_stats['test'][key]['mean'][clst] = \
-                    sum(self.errors[key][clst]) / float(len(self.errors[key][clst]))
-                self.dic_stats['test'][key]['max'][clst] = max(self.errors[key][clst])
-                self.dic_stats['test'][key]['cnt'][clst] = len(self.errors[key][clst])
-
-            if key == 'our':
-                for clst in self.clusters[:-2]:
-                    self.dic_stats['test'][key]['std_ale'][clst] = \
-                        sum(self.dic_stds['ale'][clst]) / float(len(self.dic_stds['ale'][clst]))
-                    self.dic_stats['test'][key]['std_epi'][clst] = \
-                        sum(self.dic_stds['epi'][clst]) / float(len(self.dic_stds['epi'][clst]))
-                    self.dic_stats['test'][key]['interval'][clst] = \
-                        sum(self.dic_stds['interval'][clst]) / float(len(self.dic_stds['interval'][clst]))
-                    self.dic_stats['test'][key]['at_risk'][clst] = \
-                        sum(self.dic_stds['at_risk'][clst]) / float(len(self.dic_stds['at_risk'][clst]))
+                get_statistics(self.dic_stats['test'][key], self.errors[key][clst], clst, self.dic_stds, key)
 
         # Print statistics
         print(" Number of GT annotations: {} ".format(cnt_gt))
@@ -398,6 +384,20 @@ class KittiEval:
             # self.dic_stds['at_risk'][clst].append(0)
             # self.dic_stds['at_risk'][cat].append(0)
 
+def get_statistics(dic_stats, errors, clst, dic_stds, key):
+
+    """Update statistics of a cluster"""
+    dic_stats['mean'][clst] = sum(errors) / float(len(errors))
+    dic_stats['max'][clst] = max(errors)
+    dic_stats['cnt'][clst] = len(errors)
+
+    if key == 'our':
+        dic_stats['std_ale'][clst] = sum(dic_stds['ale'][clst]) / float(len(dic_stds['ale'][clst]))
+        dic_stats['std_epi'][clst] = sum(dic_stds['epi'][clst]) / float(len(dic_stds['epi'][clst]))
+        dic_stats['interval'][clst] = sum(dic_stds['interval'][clst]) / float(len(dic_stds['interval'][clst]))
+        dic_stats['at_risk'][clst] = sum(dic_stds['at_risk'][clst]) / float(len(dic_stds['at_risk'][clst]))
+
+
 def find_cluster(dd, clusters):
     """Find the correct cluster. The first and the last one are not numeric"""
 
@@ -405,4 +405,5 @@ def find_cluster(dd, clusters):
         if dd <= int(clst):
             return clst
 
-    return clusters[-1]
\ No newline at end of file
+    return clusters[-1]
+