def testAccumulateHistogram(self):
metadata = kitti_metadata.KITTIMetadata()
num_per_class = np.arange(metadata.NumClasses()) + 1
statistics = [
1 * np.ones(shape=(np.sum(num_per_class)), dtype=np.int32),
2 * np.ones(shape=(np.sum(2 * num_per_class)), dtype=np.int32)
]
statistics = np.concatenate(statistics)
labels = []
for i, n in enumerate(num_per_class):
labels.extend([i] * n)
for i, n in enumerate(num_per_class):
labels.extend([i] * 2 * n)
labels = np.array(labels)
assert len(statistics) == len(labels)
metrics_params = breakdown_metric.BreakdownMetric.Params().Set(
metadata=metadata)
test_breakdown_metric = breakdown_metric.ByDifficulty(metrics_params)
test_breakdown_metric._AccumulateHistogram(
statistics=statistics, labels=labels)
for class_index, n in enumerate(num_per_class):
self.assertEqual(n, test_breakdown_metric._histogram[1, class_index])
self.assertEqual(2 * n, test_breakdown_metric._histogram[2, class_index])
def __init__(self, params):
super(WaymoAPMetrics, self).__init__(params)
self._waymo_metric_config = _BuildWaymoMetricConfig(
self.metadata, self.params.box_type,
self.params.waymo_breakdown_metrics)
# Add APH metric.
metrics_params = breakdown_metric.ByDifficulty.Params().Set(
metadata=self.metadata,
ap_key='ap_ha_weighted',
pr_key='pr_ha_weighted')
self._breakdown_metrics['aph'] = breakdown_metric.ByDifficulty(
metrics_params)
# Compute extra breakdown metrics.
breakdown_names = config_util.get_breakdown_names_from_config(
self._waymo_metric_config)
waymo_params = WaymoBreakdownMetric.Params().Set(
metadata=self.metadata, breakdown_list=breakdown_names[1:])
self._breakdown_metrics['waymo'] = WaymoBreakdownMetric(waymo_params)
def __init__(self, params):
"""Initialize the metrics."""
self.params = params.Copy()
self._is_eval_complete = False
self._groundtruth = {} # keyed by class id.
self._prediction = {} # keyed by class id.
self._str_to_imgid = {}
self._iou_thresholds = self.params.metadata.IoUThresholds()
self.metadata = self.params.metadata
assert self.params.box_type in ['2d', '3d']
# We must always include ByDifficulty.
metrics_params = breakdown_metric.ByDifficulty.Params().Set(
metadata=self.metadata)
self._breakdown_metrics = {
'difficulty': breakdown_metric.ByDifficulty(metrics_params)
}
for breakdown_metric_name in self.params.breakdown_metrics:
self._breakdown_metrics[breakdown_metric_name] = (
breakdown_metric.ByName(breakdown_metric_name)(metrics_params))