def evaluateForAllThresholds(path_to_dataset, path_to_checkpoint, thresh_params, model_type="multipleRNNs"):
"""
Input:
path_to_dataset: Complete path to the pickle file containing data
path_to_checkpoint: Complete path to the checkpoint to evaluate at
thresh_params: The list of threshold values to evaluate at
model_type: the kind of model to load. This is the same model using which the checkpoint was created
This function evaluates (data,checkpoint) for all the values of threshold specified in thresh_params
"""
test_data = cPickle.load(open(path_to_dataset))
Y_te = test_data["labels"]
X_te = test_data["features"]
actions = []
if test_data.has_key("actions"):
actions = test_data["actions"]
else:
actions = ["end_action", "lchange", "rchange", "lturn", "rturn"]
rnn = []
if model_type == "multipleRNNs":
rnn = loadMultipleRNNsCombined(path_to_checkpoint)
else:
rnn = load(path_to_checkpoint)
precision = []
recall = []
time_before_maneuver = []
for th in thresh_params:
with open("settings.py", "w") as f:
f.write("OUTPUT_THRESH = %f \n" % th)
print "Generating results for th= ", th
predictions = []
errors = 0
N = 0
P = []
Y = []
Time_before_maneuver = []
for xte, yte in zip(X_te, Y_te):
inputD = xte.shape[2]
road_feature_dimension = 4
prediction = []
if model_type == "multipleRNNs":
prediction = rnn.predict_output(
[xte[:, :, (inputD - road_feature_dimension) :], xte[:, :, : (inputD - road_feature_dimension)]],
OutputActionThresh,
)
# [:,:,:(inputD-road_feature_dimension)]
else:
prediction = rnn.predict_output(xte, OutputActionThresh)
# print prediction.T
predictions.append(prediction)
t = np.nonzero(yte - prediction)
# Label 0 is the dummy label. Currently maneuvers are labeled [1..n]
prediction = prediction[:, 0]
yte_ = copy.deepcopy(yte)
actual = yte_[:, 0]
prediction[prediction > 0] -= 1
actual[actual > 0] -= 1
p, anticipation_time = predictManeuver(prediction, actions)
y = actual[-1]
P.append(p)
Y.append(y)
Time_before_maneuver.append(anticipation_time)
result = {"actual": y, "prediction": p, "timeseries": list(prediction)}
# print result.values()
errors += len(t[0])
N += yte.shape[0]
P = np.array(P)
Y = np.array(Y)
Time_before_maneuver = np.array(Time_before_maneuver)
[conMat, p_mat, re_mat, time_mat] = confusionMat(P, Y, Time_before_maneuver)
precision.append(np.mean(np.diag(p_mat)[1:]))
recall.append(np.mean(np.diag(re_mat)[1:]))
time_before_maneuver.append(np.mean(np.divide(np.diag(time_mat)[1:], np.diag(conMat)[1:])))
return np.array(precision), np.array(recall), np.array(time_before_maneuver)
def evaluateForAllThresholds(path_to_dataset,
path_to_checkpoint,
thresh_params,
model_type='multipleRNNs'):
'''
Input:
path_to_dataset: Complete path to the pickle file containing data
path_to_checkpoint: Complete path to the checkpoint to evaluate at
thresh_params: The list of threshold values to evaluate at
model_type: the kind of model to load. This is the same model using which the checkpoint was created
This function evaluates (data,checkpoint) for all the values of threshold specified in thresh_params
'''
test_data = cPickle.load(open(path_to_dataset))
Y_te = test_data['labels']
X_te = test_data['features']
actions = []
if test_data.has_key('actions'):
actions = test_data['actions']
else:
actions = ['end_action', 'lchange', 'rchange', 'lturn', 'rturn']
rnn = []
if model_type == 'multipleRNNs':
rnn = loadMultipleRNNsCombined(path_to_checkpoint)
else:
rnn = load(path_to_checkpoint)
precision = []
recall = []
time_before_maneuver = []
for th in thresh_params:
with open('settings.py', 'w') as f:
f.write('OUTPUT_THRESH = %f \n' % th)
print "Generating results for th= ", th
predictions = []
errors = 0
N = 0
P = []
Y = []
Time_before_maneuver = []
for xte, yte in zip(X_te, Y_te):
inputD = xte.shape[2]
road_feature_dimension = 4
prediction = []
if model_type == 'multipleRNNs':
prediction = rnn.predict_output([
xte[:, :, (inputD - road_feature_dimension):],
xte[:, :, :(inputD - road_feature_dimension)]
], OutputActionThresh)
#[:,:,:(inputD-road_feature_dimension)]
else:
prediction = rnn.predict_output(xte, OutputActionThresh)
#print prediction.T
predictions.append(prediction)
t = np.nonzero(yte - prediction)
# Label 0 is the dummy label. Currently maneuvers are labeled [1..n]
prediction = prediction[:, 0]
yte_ = copy.deepcopy(yte)
actual = yte_[:, 0]
prediction[prediction > 0] -= 1
actual[actual > 0] -= 1
p, anticipation_time = predictManeuver(prediction, actions)
y = actual[-1]
P.append(p)
Y.append(y)
Time_before_maneuver.append(anticipation_time)
result = {
'actual': y,
'prediction': p,
'timeseries': list(prediction)
}
#print result.values()
errors += len(t[0])
N += yte.shape[0]
P = np.array(P)
Y = np.array(Y)
Time_before_maneuver = np.array(Time_before_maneuver)
[conMat, p_mat, re_mat,
time_mat] = confusionMat(P, Y, Time_before_maneuver)
precision.append(np.mean(np.diag(p_mat)[1:]))
recall.append(np.mean(np.diag(re_mat)[1:]))
time_before_maneuver.append(
np.mean(np.divide(np.diag(time_mat)[1:],
np.diag(conMat)[1:])))
return np.array(precision), np.array(recall), np.array(
time_before_maneuver)
def evaluate(path_to_dataset, path_to_checkpoint, model_type="multipleRNNs"):
"""
Input:
path_to_dataset: Complete path to the pickle file containing data
path_to_checkpoint: Complete path to the checkpoint to evaluate at
model_type: the kind of model to load. This is the same model using which the checkpoint was created
Before running this function make sure that the threshold at which you want to evaluate is written in settings.py file.
"""
test_data = cPickle.load(open(path_to_dataset))
Y_te = test_data["labels"]
X_te = test_data["features"]
actions = []
if test_data.has_key("actions"):
actions = test_data["actions"]
else:
actions = ["end_action", "lchange", "rchange", "lturn", "rturn"]
rnn = []
if model_type == "multipleRNNs":
rnn = loadMultipleRNNsCombined(path_to_checkpoint)
else:
rnn = load(path_to_checkpoint)
print "Number of parameters {0}".format(rnn.num_params)
conMat = {}
p_mat = {}
re_mat = {}
time_mat = {}
P = {}
Y = {}
for i in range(10):
P[i] = []
Y[i] = []
conMat[i] = []
p_mat[i] = []
re_mat[i] = []
time_mat[i] = []
i = "best"
P[i] = []
Y[i] = []
conMat[i] = []
p_mat[i] = []
re_mat[i] = []
time_mat[i] = []
Time_before_maneuver = []
for xte, yte in zip(X_te, Y_te):
inputD = xte.shape[2]
road_feature_dimension = 4
prediction = []
if model_type == "multipleRNNs":
prediction = rnn.predict_output(
[xte[:, :, (inputD - road_feature_dimension) :], xte[:, :, : (inputD - road_feature_dimension)]],
OutputActionThresh,
)
# [:,:,:(inputD-road_feature_dimension)]
else:
prediction = rnn.predict_output(xte, OutputActionThresh)
# Label 0 is the dummy label. Currently maneuvers are labeled [1..n]
prediction = prediction[:, 0]
actual = yte[:, 0]
prediction[prediction > 0] -= 1
actual[actual > 0] -= 1
y = actual[-1]
iter_ = 10 - len(prediction)
for p in prediction:
P[iter_].append(p)
Y[iter_].append(y)
iter_ += 1
p, anticipation_time = predictManeuver(prediction, actions)
P["best"].append(p)
Y["best"].append(y)
Time_before_maneuver.append(anticipation_time)
Time_before_maneuver = np.array(Time_before_maneuver)
for k in P.keys():
if len(P[k]) == 0:
continue
P[k] = np.array(P[k])
Y[k] = np.array(Y[k])
[conMat_, p_mat_, re_mat_, time_mat_] = confusionMat(P[k], Y[k], Time_before_maneuver)
conMat[k] = conMat_
p_mat[k] = p_mat_
re_mat[k] = re_mat_
time_mat[k] = time_mat_
return conMat, p_mat, re_mat, time_mat
def evaluate(path_to_dataset, path_to_checkpoint, model_type='multipleRNNs'):
'''
Input:
path_to_dataset: Complete path to the pickle file containing data
path_to_checkpoint: Complete path to the checkpoint to evaluate at
model_type: the kind of model to load. This is the same model using which the checkpoint was created
Before running this function make sure that the threshold at which you want to evaluate is written in settings.py file.
'''
test_data = cPickle.load(open(path_to_dataset))
Y_te = test_data['labels']
X_te = test_data['features']
actions = []
if test_data.has_key('actions'):
actions = test_data['actions']
else:
actions = ['end_action', 'lchange', 'rchange', 'lturn', 'rturn']
rnn = []
if model_type == 'multipleRNNs':
rnn = loadMultipleRNNsCombined(path_to_checkpoint)
else:
rnn = load(path_to_checkpoint)
print "Number of parameters {0}".format(rnn.num_params)
conMat = {}
p_mat = {}
re_mat = {}
time_mat = {}
P = {}
Y = {}
for i in range(10):
P[i] = []
Y[i] = []
conMat[i] = []
p_mat[i] = []
re_mat[i] = []
time_mat[i] = []
i = 'best'
P[i] = []
Y[i] = []
conMat[i] = []
p_mat[i] = []
re_mat[i] = []
time_mat[i] = []
Time_before_maneuver = []
for xte, yte in zip(X_te, Y_te):
inputD = xte.shape[2]
road_feature_dimension = 4
prediction = []
if model_type == 'multipleRNNs':
prediction = rnn.predict_output([
xte[:, :, (inputD - road_feature_dimension):],
xte[:, :, :(inputD - road_feature_dimension)]
], OutputActionThresh)
#[:,:,:(inputD-road_feature_dimension)]
else:
prediction = rnn.predict_output(xte, OutputActionThresh)
# Label 0 is the dummy label. Currently maneuvers are labeled [1..n]
prediction = prediction[:, 0]
actual = yte[:, 0]
prediction[prediction > 0] -= 1
actual[actual > 0] -= 1
y = actual[-1]
iter_ = 10 - len(prediction)
for p in prediction:
P[iter_].append(p)
Y[iter_].append(y)
iter_ += 1
p, anticipation_time = predictManeuver(prediction, actions)
P['best'].append(p)
Y['best'].append(y)
Time_before_maneuver.append(anticipation_time)
Time_before_maneuver = np.array(Time_before_maneuver)
for k in P.keys():
if len(P[k]) == 0:
continue
P[k] = np.array(P[k])
Y[k] = np.array(Y[k])
[conMat_, p_mat_, re_mat_,
time_mat_] = confusionMat(P[k], Y[k], Time_before_maneuver)
conMat[k] = conMat_
p_mat[k] = p_mat_
re_mat[k] = re_mat_
time_mat[k] = time_mat_
return conMat, p_mat, re_mat, time_mat
