remove y_scale parameter

README.md

@@ -88,7 +88,7 @@ If it does not find the file, it will generate images
 with all the predictions without ground-truth matching.
 
 Below an example with and without ground-truth matching. They have been created (adding or removing `--path_gt`) with:
-`python3 src/main.py predict --networks monoloco --glob docs/002282.png --output_types combined --scale 2 --y_scale 1.85 
+`python3 src/main.py predict --networks monoloco --glob docs/002282.png --output_types combined --scale 2 
 --model data/models/monoloco-190513-1437.pkl --n_dropout 100 --z_max 30`
  
 With ground truth matching (only matching people):

src/main.py

@@ -64,8 +64,7 @@ def cli():
     predict_parser.add_argument('--transform', help='transformation for the pose', default='None')
     predict_parser.add_argument('--draw_kps', help='to draw kps in the images', action='store_true')
     predict_parser.add_argument('--predict', help='whether to make prediction', action='store_true')
-    predict_parser.add_argument('--z_max', type=int, help='', default=22)
+    predict_parser.add_argument('--z_max', type=int, help='maximum meters distance for predictions', default=22)
-    predict_parser.add_argument('--y_scale', type=float, help='', default=1)
     predict_parser.add_argument('--n_dropout', type=int, help='Epistemic uncertainty evaluation', default=0)
     predict_parser.add_argument('--combined', help='to print combined images', action='store_true')
 

src/predict/predict_monoloco.py

@@ -35,7 +35,6 @@ class PredictMonoLoco:
         self.output_path = output_path
         self.device = args.device
         self.draw_kps = args.draw_kps
-        self.y_scale = args.y_scale   # y_scale = 1.85 for kitti combined
         self.z_max = args.z_max
         self.output_types = args.output_types
         self.show = args.show
@@ -72,8 +71,7 @@ class PredictMonoLoco:
         except (KeyError, TypeError):
             self.dic_names = None
             # kk = [[718.3351, 0., 600.3891], [0., 718.3351, 181.5122], [0., 0., 1.]]  # Kitti standard
-            #kk = [[1266.4, 0., 816.27], [0, 1266.4, 491.5], [0., 0., 1.]]  # Nuscenes standard
+            kk = [[1266.4, 0., 816.27], [0, 1266.4, 491.5], [0., 0., 1.]]  # Nuscenes standard
-            kk = [[1266.4, 0., 816.27], [0, 1266.4, 491.5], [0., 0., 1.]]
             print("Ground-truth annotations for the image not found\n"
                   "Using a standard calibration matrix...\n" + '-' * 120)
 
@@ -151,8 +149,7 @@ class PredictMonoLoco:
             dic_out['uv_shoulders'].append(uv_shoulders[idx])
 
         if any((xx in self.output_types for xx in ['front', 'bird', 'combined'])):
-            printer = Printer(self.image_path, self.output_path, dic_out, kk,
+            printer = Printer(self.image_path, self.output_path, dic_out, kk,  output_types=self.output_types,
-                              y_scale=self.y_scale, output_types=self.output_types,
                               show=self.show, z_max=self.z_max, epistemic=self.epistemic)
             printer.print()
 

src/visuals/printer.py

@@ -17,11 +17,10 @@ class Printer:
     Print results on images: birds eye view and computed distance
     """
 
-    def __init__(self, image_path, output_path, dic_ann, kk, output_types, y_scale=1, show=False,
+    def __init__(self, image_path, output_path, dic_ann, kk, output_types, show=False,
                  draw_kps=False, text=True, legend=True, epistemic=False, z_max=30, fig_width=10):
 
         self.kk = kk
-        self.y_scale = y_scale  # 1.85 for kitti combined
         self.output_types = output_types
         self.show = show
         self.draw_kps = draw_kps
@@ -57,13 +56,8 @@ class Printer:
         with open(image_path, 'rb') as f:
             self.im = Image.open(f).convert('RGB')
 
-        # Resize image for aesthetic proportions
-        if y_scale >= 1.02 or y_scale <= 0.98:
-            ww = self.im.size[0]
-            hh = self.im.size[1]
-            self.im = self.im.resize((ww, round(hh * y_scale)))
-
         self.uv_camera = (int(self.im.size[0] / 2), self.im.size[1])
+        self.hh = self.im.size[1]
 
     def print(self):
         """
@@ -79,10 +73,17 @@ class Printer:
         textcolor = 'darkorange'
         color_kps = 'yellow'
 
-        # Initialize combined
+        # Resize image for aesthetic proportions in combined visualization
         if 'combined' in self.output_types:
+            ww = self.im.size[0]
+            hh = self.im.size[1]
+            y_scale = ww / (hh * 1.8)  # Defined proportion
+            self.im = self.im.resize((ww, round(hh * y_scale)))
+            print(y_scale)
             width = self.fig_width + 0.6 * self.fig_width
             height = self.fig_width * self.im.size[1] / self.im.size[0]
+            print(width)
+            print()
             fig_ar_1 = 1.7  # 1.3 before
             width_ratio = 1.9
             ext = '.combined.png'
@@ -98,6 +99,7 @@ class Printer:
 
         # Initialize front
         elif 'front' in self.output_types:
+            y_scale = 1
             width = self.fig_width
             height = self.fig_width * self.im.size[1] / self.im.size[0]
 
@@ -120,15 +122,15 @@ class Printer:
             for idx, uv in enumerate(self.uv_shoulders):
 
                 if self.draw_kps:
-                    ax0 = self.show_kps(ax0, self.uv_kps[idx], self.y_scale, radius_kps, color_kps)
+                    ax0 = self.show_kps(ax0, self.uv_kps[idx], y_scale, radius_kps, color_kps)
 
                 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)
+                    circle = Circle((uv[0], uv[1] * y_scale), radius=radius, color=color, fill=True)
                     ax0.add_patch(circle)
 
                     if self.text:
-                        ax0.text(uv[0]+radius, uv[1] * self.y_scale - radius, str(num),
+                        ax0.text(uv[0]+radius, uv[1] * y_scale - radius, str(num),
                                  fontsize=fontsize, color=textcolor, weight='bold')
                         num += 1
 
@@ -160,8 +162,7 @@ class Printer:
 
         # Create bird or combine it with front)
         if any(xx in self.output_types for xx in ['bird', 'combined']):
-            im_height = 375  # TODO change it
+            uv_max = np.array([0, self.hh, 1])
-            uv_max = np.array([0, im_height, 1])
             xyz_max = self.pixel_to_camera(uv_max, self.kk, self.z_max)
             x_max = abs(xyz_max[0])  # shortcut to avoid oval circles in case of different kk
 
@@ -212,12 +213,7 @@ class Printer:
             ax1.plot([0, x_max], [0, self.z_max], 'k--')
             ax1.plot([0, -x_max], [0, self.z_max], 'k--')
             ax1.set_ylim(0, self.z_max+1)
-            # ax1.set_xmin([-10, 10])
+            ax1.set_xlim(-self.z_max+2, self.z_max-2)
-            # ax1.set_ymin([0, 20])
-            # x_max_field = min(x_max, z_max / 1.55)  # ! Shortcut to avoid oval circles in case of different k
-            # plt.axis([-x_max_field, x_max_field, 0, z_max])
-            # plt.xticks([])
-            # plt.title('Birds eye view')
             ax1.set_xlabel("X [m]")
             ax1.set_ylabel("Z [m]")