remove y_scale parameter
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lorenzo
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9c547f418b
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@ -88,7 +88,7 @@ If it does not find the file, it will generate images
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with all the predictions without ground-truth matching.
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Below an example with and without ground-truth matching. They have been created (adding or removing `--path_gt`) with:
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`python3 src/main.py predict --networks monoloco --glob docs/002282.png --output_types combined --scale 2 --y_scale 1.85
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`python3 src/main.py predict --networks monoloco --glob docs/002282.png --output_types combined --scale 2
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--model data/models/monoloco-190513-1437.pkl --n_dropout 100 --z_max 30`
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With ground truth matching (only matching people):
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@ -64,8 +64,7 @@ def cli():
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predict_parser.add_argument('--transform', help='transformation for the pose', default='None')
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predict_parser.add_argument('--draw_kps', help='to draw kps in the images', action='store_true')
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predict_parser.add_argument('--predict', help='whether to make prediction', action='store_true')
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predict_parser.add_argument('--z_max', type=int, help='', default=22)
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predict_parser.add_argument('--y_scale', type=float, help='', default=1)
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predict_parser.add_argument('--z_max', type=int, help='maximum meters distance for predictions', default=22)
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predict_parser.add_argument('--n_dropout', type=int, help='Epistemic uncertainty evaluation', default=0)
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predict_parser.add_argument('--combined', help='to print combined images', action='store_true')
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@ -35,7 +35,6 @@ class PredictMonoLoco:
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self.output_path = output_path
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self.device = args.device
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self.draw_kps = args.draw_kps
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self.y_scale = args.y_scale # y_scale = 1.85 for kitti combined
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self.z_max = args.z_max
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self.output_types = args.output_types
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self.show = args.show
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@ -72,8 +71,7 @@ class PredictMonoLoco:
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except (KeyError, TypeError):
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self.dic_names = None
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# kk = [[718.3351, 0., 600.3891], [0., 718.3351, 181.5122], [0., 0., 1.]] # Kitti standard
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#kk = [[1266.4, 0., 816.27], [0, 1266.4, 491.5], [0., 0., 1.]] # Nuscenes standard
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kk = [[1266.4, 0., 816.27], [0, 1266.4, 491.5], [0., 0., 1.]]
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kk = [[1266.4, 0., 816.27], [0, 1266.4, 491.5], [0., 0., 1.]] # Nuscenes standard
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print("Ground-truth annotations for the image not found\n"
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"Using a standard calibration matrix...\n" + '-' * 120)
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@ -151,8 +149,7 @@ class PredictMonoLoco:
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dic_out['uv_shoulders'].append(uv_shoulders[idx])
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if any((xx in self.output_types for xx in ['front', 'bird', 'combined'])):
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printer = Printer(self.image_path, self.output_path, dic_out, kk,
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y_scale=self.y_scale, output_types=self.output_types,
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printer = Printer(self.image_path, self.output_path, dic_out, kk, output_types=self.output_types,
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show=self.show, z_max=self.z_max, epistemic=self.epistemic)
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printer.print()
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@ -17,11 +17,10 @@ class Printer:
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Print results on images: birds eye view and computed distance
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"""
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def __init__(self, image_path, output_path, dic_ann, kk, output_types, y_scale=1, show=False,
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def __init__(self, image_path, output_path, dic_ann, kk, output_types, show=False,
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draw_kps=False, text=True, legend=True, epistemic=False, z_max=30, fig_width=10):
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self.kk = kk
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self.y_scale = y_scale # 1.85 for kitti combined
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self.output_types = output_types
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self.show = show
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self.draw_kps = draw_kps
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@ -57,13 +56,8 @@ class Printer:
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with open(image_path, 'rb') as f:
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self.im = Image.open(f).convert('RGB')
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# Resize image for aesthetic proportions
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if y_scale >= 1.02 or y_scale <= 0.98:
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ww = self.im.size[0]
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hh = self.im.size[1]
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self.im = self.im.resize((ww, round(hh * y_scale)))
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self.uv_camera = (int(self.im.size[0] / 2), self.im.size[1])
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self.hh = self.im.size[1]
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def print(self):
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"""
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@ -79,10 +73,17 @@ class Printer:
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textcolor = 'darkorange'
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color_kps = 'yellow'
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# Initialize combined
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# Resize image for aesthetic proportions in combined visualization
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if 'combined' in self.output_types:
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ww = self.im.size[0]
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hh = self.im.size[1]
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y_scale = ww / (hh * 1.8) # Defined proportion
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self.im = self.im.resize((ww, round(hh * y_scale)))
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print(y_scale)
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width = self.fig_width + 0.6 * self.fig_width
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height = self.fig_width * self.im.size[1] / self.im.size[0]
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print(width)
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print()
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fig_ar_1 = 1.7 # 1.3 before
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width_ratio = 1.9
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ext = '.combined.png'
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@ -98,6 +99,7 @@ class Printer:
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# Initialize front
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elif 'front' in self.output_types:
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y_scale = 1
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width = self.fig_width
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height = self.fig_width * self.im.size[1] / self.im.size[0]
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@ -120,15 +122,15 @@ class Printer:
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for idx, uv in enumerate(self.uv_shoulders):
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if self.draw_kps:
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ax0 = self.show_kps(ax0, self.uv_kps[idx], self.y_scale, radius_kps, color_kps)
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ax0 = self.show_kps(ax0, self.uv_kps[idx], y_scale, radius_kps, color_kps)
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elif min(self.zz_pred[idx], self.zz_gt[idx]) > 0:
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color = cmap((self.zz_pred[idx] % self.z_max) / self.z_max)
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circle = Circle((uv[0], uv[1] * self.y_scale), radius=radius, color=color, fill=True)
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circle = Circle((uv[0], uv[1] * y_scale), radius=radius, color=color, fill=True)
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ax0.add_patch(circle)
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if self.text:
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ax0.text(uv[0]+radius, uv[1] * self.y_scale - radius, str(num),
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ax0.text(uv[0]+radius, uv[1] * y_scale - radius, str(num),
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fontsize=fontsize, color=textcolor, weight='bold')
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num += 1
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@ -160,8 +162,7 @@ class Printer:
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# Create bird or combine it with front)
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if any(xx in self.output_types for xx in ['bird', 'combined']):
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im_height = 375 # TODO change it
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uv_max = np.array([0, im_height, 1])
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uv_max = np.array([0, self.hh, 1])
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xyz_max = self.pixel_to_camera(uv_max, self.kk, self.z_max)
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x_max = abs(xyz_max[0]) # shortcut to avoid oval circles in case of different kk
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@ -212,12 +213,7 @@ class Printer:
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ax1.plot([0, x_max], [0, self.z_max], 'k--')
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ax1.plot([0, -x_max], [0, self.z_max], 'k--')
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ax1.set_ylim(0, self.z_max+1)
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# ax1.set_xmin([-10, 10])
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# ax1.set_ymin([0, 20])
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# x_max_field = min(x_max, z_max / 1.55) # ! Shortcut to avoid oval circles in case of different k
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# plt.axis([-x_max_field, x_max_field, 0, z_max])
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# plt.xticks([])
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# plt.title('Birds eye view')
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ax1.set_xlim(-self.z_max+2, self.z_max-2)
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ax1.set_xlabel("X [m]")
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ax1.set_ylabel("Z [m]")
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