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fix stereo baselines

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This commit is contained in:
Lorenzo 2020-12-04 11:43:04 +01:00
parent 89d860df2a
commit b0c75cf672
1 changed files with 6 additions and 4 deletions
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10
monstereo/eval/generate_kitti.py
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@ -148,8 +148,10 @@ class GenerateKitti:
all_outputs[key][0] = dic_xyz[key] all_outputs[key][0] = dic_xyz[key]
all_inputs[key] = boxes all_inputs[key] = boxes
path_txt[key] = os.path.join(dir_out[key], basename + '.txt') path_txt[key] = os.path.join(dir_out[key], basename + '.txt')
save_txts(path_txt[key], all_inputs[key], all_outputs[key], params, mode='baseline', cat='cat') save_txts(path_txt[key], all_inputs[key], all_outputs[key], params,
mode='baseline',
cat=cat)
print("\nSaved in {} txt {} annotations. Not found {} images".format(cnt_file, cnt_ann, cnt_no_file)) print("\nSaved in {} txt {} annotations. Not found {} images".format(cnt_file, cnt_ann, cnt_no_file))
@ -177,14 +179,14 @@ class GenerateKitti:
path_image = os.path.join(self.dir_images, basename + '.png') path_image = os.path.join(self.dir_images, basename + '.png')
path_image_r = os.path.join(self.dir_images_r, basename + '.png') path_image_r = os.path.join(self.dir_images_r, basename + '.png')
reid_features = get_reid_features(self.reid_net, boxes, boxes_r, path_image, path_image_r) reid_features = get_reid_features(self.reid_net, boxes, boxes_r, path_image, path_image_r)
dic_zzs, cnt = baselines_association(self.baselines, zzs, keypoints, keypoints_r, reid_features) dic_zzs, cnt = baselines_association(self.baselines['stereo'], zzs, keypoints, keypoints_r, reid_features)
for key in cnt: for key in cnt:
self.cnt_disparity[key] += cnt[key] self.cnt_disparity[key] += cnt[key]
else: else:
self.cnt_no_stereo += 1 self.cnt_no_stereo += 1
dic_zzs = {key: zzs for key in self.baselines} dic_zzs = {key: zzs for key in self.baselines['stereo']}
# Combine the stereo zz with x, y from 2D detection (no MonoLoco involved) # Combine the stereo zz with x, y from 2D detection (no MonoLoco involved)
dic_xyz = defaultdict(list) dic_xyz = defaultdict(list)