charles/monoloco
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remove psm

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This commit is contained in:
lorenzo 2019-05-13 15:09:33 +02:00
parent cd551a17a8
commit ed0fa7662e
1 changed files with 2 additions and 10 deletions
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src/eval/kitti_eval.py
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@ -34,7 +34,6 @@ class KittiEval:
self.dir_m3d = os.path.join('data', 'kitti', 'm3d') self.dir_m3d = os.path.join('data', 'kitti', 'm3d')
self.dir_3dop = os.path.join('data', 'kitti', '3dop') self.dir_3dop = os.path.join('data', 'kitti', '3dop')
self.dir_md = os.path.join('data', 'kitti', 'monodepth') self.dir_md = os.path.join('data', 'kitti', 'monodepth')
self.dir_psm = os.path.join('data', 'kitti', 'psm')
self.dir_our = os.path.join('data', 'kitti', 'monoloco') self.dir_our = os.path.join('data', 'kitti', 'monoloco')
path_val = os.path.join('splits', 'kitti_val.txt') path_val = os.path.join('splits', 'kitti_val.txt')
dir_logs = os.path.join('data', 'logs') dir_logs = os.path.join('data', 'logs')
@ -49,8 +48,7 @@ class KittiEval:
self.clusters = ['easy', 'moderate', 'hard', 'all', '6', '10', '15', '20', '25', '30', '40', '50', '>50'] self.clusters = ['easy', 'moderate', 'hard', 'all', '6', '10', '15', '20', '25', '30', '40', '50', '>50']
self.dic_thresh_iou = {'m3d': thresh_iou_m3d, '3dop': thresh_iou_m3d, 'md': thresh_iou_our, self.dic_thresh_iou = {'m3d': thresh_iou_m3d, '3dop': thresh_iou_m3d, 'md': thresh_iou_our, 'our': thresh_iou_our}
'psm': thresh_iou_our, 'our': thresh_iou_our}
self.dic_thresh_conf = {'m3d': thresh_conf_m3d, '3dop': thresh_conf_m3d, 'our': thresh_conf_our} self.dic_thresh_conf = {'m3d': thresh_conf_m3d, '3dop': thresh_conf_m3d, 'our': thresh_conf_our}
self.dic_cnt = defaultdict(int) self.dic_cnt = defaultdict(int)
@ -82,7 +80,6 @@ class KittiEval:
path_our = os.path.join(self.dir_our, name) path_our = os.path.join(self.dir_our, name)
path_3dop = os.path.join(self.dir_3dop, name) path_3dop = os.path.join(self.dir_3dop, name)
path_md = os.path.join(self.dir_md, name) path_md = os.path.join(self.dir_md, name)
path_psm = os.path.join(self.dir_psm, name)
boxes_gt = [] boxes_gt = []
truncs_gt = [] # Float from 0 to 1 truncs_gt = [] # Float from 0 to 1
occs_gt = [] # Either 0,1,2,3 fully visible, partly occluded, largely occluded, unknown occs_gt = [] # Either 0,1,2,3 fully visible, partly occluded, largely occluded, unknown
@ -105,25 +102,20 @@ class KittiEval:
boxes_m3d, dds_m3d = self.parse_txts(path_m3d, method='m3d') boxes_m3d, dds_m3d = self.parse_txts(path_m3d, method='m3d')
boxes_3dop, dds_3dop = self.parse_txts(path_3dop, method='3dop') boxes_3dop, dds_3dop = self.parse_txts(path_3dop, method='3dop')
boxes_md, dds_md = self.parse_txts(path_md, method='md') boxes_md, dds_md = self.parse_txts(path_md, method='md')
boxes_psm, dds_psm = self.parse_txts(path_psm, method='psm')
boxes_our, dds_our, stds_ale, stds_epi, kk_list, dds_geom, xyzs, xy_kps = \ boxes_our, dds_our, stds_ale, stds_epi, kk_list, dds_geom, xyzs, xy_kps = \
self.parse_txts(path_our, method='our') self.parse_txts(path_our, method='our')
if len(boxes_our) > 0 and len(boxes_psm) == 0:
aa = 5
# Compute the error with ground truth # Compute the error with ground truth
self.estimate_error_base(boxes_m3d, dds_m3d, boxes_gt, dds_gt, truncs_gt, occs_gt, method='m3d') self.estimate_error_base(boxes_m3d, dds_m3d, boxes_gt, dds_gt, truncs_gt, occs_gt, method='m3d')
self.estimate_error_base(boxes_3dop, dds_3dop, boxes_gt, dds_gt, truncs_gt, occs_gt, method='3dop') self.estimate_error_base(boxes_3dop, dds_3dop, boxes_gt, dds_gt, truncs_gt, occs_gt, method='3dop')
self.estimate_error_base(boxes_md, dds_md, boxes_gt, dds_gt, truncs_gt, occs_gt, method='md') self.estimate_error_base(boxes_md, dds_md, boxes_gt, dds_gt, truncs_gt, occs_gt, method='md')
self.estimate_error_base(boxes_psm, dds_psm, boxes_gt, dds_gt, truncs_gt, occs_gt, method='psm')
self.estimate_error_our(boxes_our, dds_our, stds_ale, stds_epi, kk_list, dds_geom, xyzs, xy_kps, self.estimate_error_our(boxes_our, dds_our, stds_ale, stds_epi, kk_list, dds_geom, xyzs, xy_kps,
boxes_gt, dds_gt, truncs_gt, occs_gt, dic_fin, name) boxes_gt, dds_gt, truncs_gt, occs_gt, dic_fin, name)
# Iterate over all the files together to find a pool of common annotations # Iterate over all the files together to find a pool of common annotations
self.compare_error(boxes_m3d, dds_m3d, boxes_3dop, dds_3dop, boxes_md, dds_md, boxes_our, dds_our, self.compare_error(boxes_m3d, dds_m3d, boxes_3dop, dds_3dop, boxes_md, dds_md, boxes_our, dds_our,
boxes_psm, dds_psm, boxes_gt, dds_gt, truncs_gt, occs_gt, dds_geom) boxes_gt, dds_gt, truncs_gt, occs_gt, dds_geom)
# Save statistics # Save statistics
for key in self.errors: for key in self.errors: