import os
import json
import glob
import argparse
import numpy as np
from tqdm import tqdm
from shapely.geometry import Polygon
from eval_cuboid import prepare_gtdt_pairs
from dataset import cor_2_1d
from misc import post_proc
def layout_2_depth(cor_id, h, w, return_mask=False):
# Convert corners to per-column boundary first
# Up -pi/2, Down pi/2
vc, vf = cor_2_1d(cor_id, h, w)
vc = vc[None, :] # [1, w]
vf = vf[None, :] # [1, w]
assert (vc > 0).sum() == 0
assert (vf < 0).sum() == 0
# Per-pixel v coordinate (vertical angle)
vs = ((np.arange(h) + 0.5) / h - 0.5) * np.pi
vs = np.repeat(vs[:, None], w, axis=1) # [h, w]
# Floor-plane to depth
floor_h = 1.6
floor_d = np.abs(floor_h / np.sin(vs))
# wall to camera distance on horizontal plane at cross camera center
cs = floor_h / np.tan(vf)
# Ceiling-plane to depth
ceil_h = np.abs(cs * np.tan(vc)) # [1, w]
ceil_d = np.abs(ceil_h / np.sin(vs)) # [h, w]
# Wall to depth
wall_d = np.abs(cs / np.cos(vs)) # [h, w]
# Recover layout depth
floor_mask = (vs > vf)
ceil_mask = (vs < vc)
wall_mask = (~floor_mask) & (~ceil_mask)
depth = np.zeros([h, w], np.float32) # [h, w]
depth[floor_mask] = floor_d[floor_mask]
depth[ceil_mask] = ceil_d[ceil_mask]
depth[wall_mask] = wall_d[wall_mask]
assert (depth == 0).sum() == 0
if return_mask:
return depth, floor_mask, ceil_mask, wall_mask
return depth
def test_general(dt_cor_id, gt_cor_id, w, h, losses):
dt_floor_coor = dt_cor_id[1::2]
dt_ceil_coor = dt_cor_id[0::2]
gt_floor_coor = gt_cor_id[1::2]
gt_ceil_coor = gt_cor_id[0::2]
assert (dt_floor_coor[:, 0] != dt_ceil_coor[:, 0]).sum() == 0
assert (gt_floor_coor[:, 0] != gt_ceil_coor[:, 0]).sum() == 0
# Eval 3d IoU and height error(in meter)
N = len(dt_floor_coor)
ch = -1.6
dt_floor_xy = post_proc.np_coor2xy(dt_floor_coor, ch, 1024, 512, floorW=1, floorH=1)
gt_floor_xy = post_proc.np_coor2xy(gt_floor_coor, ch, 1024, 512, floorW=1, floorH=1)
dt_poly = Polygon(dt_floor_xy)
gt_poly = Polygon(gt_floor_xy)
if not gt_poly.is_valid:
print('Skip ground truth invalid (%s)' % gt_path)
return
# 2D IoU
try:
area_dt = dt_poly.area
area_gt = gt_poly.area
area_inter = dt_poly.intersection(gt_poly).area
iou2d = area_inter / (area_gt + area_dt - area_inter)
except:
iou2d = 0
# 3D IoU
try:
cch_dt = post_proc.get_z1(dt_floor_coor[:, 1], dt_ceil_coor[:, 1], ch, 512)
cch_gt = post_proc.get_z1(gt_floor_coor[:, 1], gt_ceil_coor[:, 1], ch, 512)
h_dt = abs(cch_dt.mean() - ch)
h_gt = abs(cch_gt.mean() - ch)
area3d_inter = area_inter * min(h_dt, h_gt)
area3d_pred = area_dt * h_dt
area3d_gt = area_gt * h_gt
iou3d = area3d_inter / (area3d_pred + area3d_gt - area3d_inter)
except:
iou3d = 0
# rmse & delta_1
gt_layout_depth = layout_2_depth(gt_cor_id, h, w)
try:
dt_layout_depth = layout_2_depth(dt_cor_id, h, w)
except:
dt_layout_depth = np.zeros_like(gt_layout_depth)
rmse = ((gt_layout_depth - dt_layout_depth)**2).mean() ** 0.5
thres = np.maximum(gt_layout_depth/dt_layout_depth, dt_layout_depth/gt_layout_depth)
delta_1 = (thres < 1.25).mean()
# Add a result
n_corners = len(gt_floor_coor)
if n_corners % 2 == 1:
n_corners = 'odd'
elif n_corners < 10:
n_corners = str(n_corners)
else:
n_corners = '10+'
losses[n_corners]['2DIoU'].append(iou2d)
losses[n_corners]['3DIoU'].append(iou3d)
losses[n_corners]['rmse'].append(rmse)
losses[n_corners]['delta_1'].append(delta_1)
losses['overall']['2DIoU'].append(iou2d)
losses['overall']['3DIoU'].append(iou3d)
losses['overall']['rmse'].append(rmse)
losses['overall']['delta_1'].append(delta_1)
if __name__ == '__main__':
parser = argparse.ArgumentParser(formatter_class=argparse.ArgumentDefaultsHelpFormatter)
parser.add_argument('--dt_glob',
help='NOTE: Remeber to quote your glob path.'
'Files assumed to be json from inference.py')
parser.add_argument('--gt_glob',
help='NOTE: Remeber to quote your glob path.'
'Files assumed to be txt')
parser.add_argument('--w', default=1024, type=int,
help='GT images width')
parser.add_argument('--h', default=512, type=int,
help='GT images height')
args = parser.parse_args()
# Prepare (gt, dt) pairs
gtdt_pairs = prepare_gtdt_pairs(args.gt_glob, args.dt_glob)
# Testing
losses = dict([
(n_corner, {'2DIoU': [], '3DIoU': [], 'rmse': [], 'delta_1': []})
for n_corner in ['4', '6', '8', '10+', 'odd', 'overall']
])
for gt_path, dt_path in tqdm(gtdt_pairs, desc='Testing'):
# Parse ground truth
with open(gt_path) as f:
gt_cor_id = np.array([l.split() for l in f], np.float32)
# Parse inferenced result
with open(dt_path) as f:
dt = json.load(f)
dt_cor_id = np.array(dt['uv'], np.float32)
dt_cor_id[:, 0] *= args.w
dt_cor_id[:, 1] *= args.h
test_general(dt_cor_id, gt_cor_id, args.w, args.h, losses)
for k, result in losses.items():
iou2d = np.array(result['2DIoU'])
iou3d = np.array(result['3DIoU'])
rmse = np.array(result['rmse'])
delta_1 = np.array(result['delta_1'])
if len(iou2d) == 0:
continue
print('GT #Corners: %s (%d instances)' % (k, len(iou2d)))
print(' 2DIoU : %.2f' % (iou2d.mean() * 100))
print(' 3DIoU : %.2f' % (iou3d.mean() * 100))
print(' RMSE : %.2f' % (rmse.mean()))
print(' delta^1: %.2f' % (delta_1.mean()))
