def debug(self, batch, output, iter_id):
opt = self.opt
wh = output['wh'] if opt.reg_bbox else None
reg = output['reg'] if opt.reg_offset else None
dets = ddd_decode(output['hm'],
output['rot'],
output['dep'],
output['dim'],
wh=wh,
reg=reg,
K=opt.K)
# x, y, score, r1-r8, depth, dim1-dim3, cls
dets = dets.detach().cpu().numpy().reshape(1, -1, dets.shape[2])
calib = batch['meta']['calib'].detach().numpy()
# x, y, score, rot, depth, dim1, dim2, dim3
# if opt.dataset == 'gta':
# dets[:, 12:15] /= 3
dets_pred = ddd_post_process(dets.copy(),
batch['meta']['c'].detach().numpy(),
batch['meta']['s'].detach().numpy(),
calib, opt)
dets_gt = ddd_post_process(
batch['meta']['gt_det'].detach().numpy().copy(),
batch['meta']['c'].detach().numpy(),
batch['meta']['s'].detach().numpy(), calib, opt)
#for i in range(input.size(0)):
for i in range(1):
debugger = Debugger(dataset=opt.dataset,
ipynb=(opt.debug == 3),
theme=opt.debugger_theme)
img = batch['input'][i].detach().cpu().numpy().transpose(1, 2, 0)
img = ((img * self.opt.std + self.opt.mean) * 255.).astype(
np.uint8)
pred = debugger.gen_colormap(
output['hm'][i].detach().cpu().numpy())
gt = debugger.gen_colormap(batch['hm'][i].detach().cpu().numpy())
debugger.add_blend_img(img, pred, 'hm_pred')
debugger.add_blend_img(img, gt, 'hm_gt')
# decode
debugger.add_ct_detection(img,
dets[i],
show_box=opt.reg_bbox,
center_thresh=opt.center_thresh,
img_id='det_pred')
debugger.add_ct_detection(
img,
batch['meta']['gt_det'][i].cpu().numpy().copy(),
show_box=opt.reg_bbox,
img_id='det_gt')
debugger.add_3d_detection(batch['meta']['image_path'][i],
dets_pred[i],
calib[i],
center_thresh=opt.center_thresh,
img_id='add_pred')
debugger.add_3d_detection(batch['meta']['image_path'][i],
dets_gt[i],
calib[i],
center_thresh=opt.center_thresh,
img_id='add_gt')
# debugger.add_bird_view(
# dets_pred[i], center_thresh=opt.center_thresh, img_id='bird_pred')
# debugger.add_bird_view(dets_gt[i], img_id='bird_gt')
debugger.add_bird_views(dets_pred[i],
dets_gt[i],
center_thresh=opt.center_thresh,
img_id='bird_pred_gt')
# debugger.add_blend_img(img, pred, 'out', white=True)
debugger.compose_vis_add(batch['meta']['image_path'][i],
dets_pred[i],
calib[i],
opt.center_thresh,
pred,
'bird_pred_gt',
img_id='out')
# debugger.add_img(img, img_id='out')
if opt.debug == 4:
debugger.save_all_imgs(opt.debug_dir,
prefix='{}'.format(iter_id))
else:
debugger.show_all_imgs(pause=True)
def debug(self, batch, output, iter_id):
opt = self.opt
reg = output['reg'] if opt.reg_offset else None
hm_hp = output['hm_hp'] if opt.hm_hp else None
hp_offset = output['hp_offset'] if opt.reg_hp_offset else None
dets = multi_pose_decode(output['hm'],
output['wh'],
output['hps'],
reg=reg,
hm_hp=hm_hp,
hp_offset=hp_offset,
K=opt.K)
dets = dets.detach().cpu().numpy().reshape(1, -1, dets.shape[2])
dets[:, :, :4] *= opt.input_res / opt.output_res
dets[:, :, 5:39] *= opt.input_res / opt.output_res
dets_gt = batch['meta']['gt_det'].numpy().reshape(1, -1, dets.shape[2])
dets_gt[:, :, :4] *= opt.input_res / opt.output_res
dets_gt[:, :, 5:39] *= opt.input_res / opt.output_res
for i in range(1):
debugger = Debugger(dataset=opt.dataset,
ipynb=(opt.debug == 3),
theme=opt.debugger_theme)
img = batch['input'][i].detach().cpu().numpy().transpose(1, 2, 0)
img = np.clip(((img * opt.std + opt.mean) * 255.), 0,
255).astype(np.uint8)
pred = debugger.gen_colormap(
output['hm'][i].detach().cpu().numpy())
gt = debugger.gen_colormap(batch['hm'][i].detach().cpu().numpy())
debugger.add_blend_img(img, pred, 'pred_hm')
debugger.add_blend_img(img, gt, 'gt_hm')
debugger.add_img(img, img_id='out_pred')
for k in range(len(dets[i])):
if dets[i, k, 4] > opt.center_thresh:
debugger.add_coco_bbox(dets[i, k, :4],
dets[i, k, -1],
dets[i, k, 4],
img_id='out_pred')
debugger.add_coco_hp(dets[i, k, 5:39], img_id='out_pred')
debugger.add_img(img, img_id='out_gt')
for k in range(len(dets_gt[i])):
if dets_gt[i, k, 4] > opt.center_thresh:
debugger.add_coco_bbox(dets_gt[i, k, :4],
dets_gt[i, k, -1],
dets_gt[i, k, 4],
img_id='out_gt')
debugger.add_coco_hp(dets_gt[i, k, 5:39], img_id='out_gt')
if opt.hm_hp:
pred = debugger.gen_colormap_hp(
output['hm_hp'][i].detach().cpu().numpy())
gt = debugger.gen_colormap_hp(
batch['hm_hp'][i].detach().cpu().numpy())
debugger.add_blend_img(img, pred, 'pred_hmhp')
debugger.add_blend_img(img, gt, 'gt_hmhp')
if opt.debug == 4:
debugger.save_all_imgs(opt.debug_dir,
prefix='{}'.format(iter_id))
else:
debugger.show_all_imgs(pause=True)
def debug(self, batch, output, iter_id):
opt = self.opt
reg = output['reg'] if opt.reg_offset else None
dets = ctdet_decode(output['hm'],
output['wh'],
reg=reg,
cat_spec_wh=opt.cat_spec_wh,
K=opt.K)
dets = dets.detach().cpu().numpy().reshape(1, -1, dets.shape[2])
dets[:, :, :4] *= opt.down_ratio
dets_gt = batch['meta']['gt_det'].numpy().reshape(1, -1, dets.shape[2])
dets_gt[:, :, :4] *= opt.down_ratio
for i in range(1):
debugger = Debugger(dataset=opt.dataset,
ipynb=(opt.debug == 3),
theme=opt.debugger_theme)
img = batch['input'][i].detach().cpu().numpy().transpose(1, 2, 0)
img = np.clip(((img * opt.std + opt.mean) * 255.), 0,
255).astype(np.uint8)
pred = debugger.gen_colormap(
output['hm'][i].detach().cpu().numpy())
gt = debugger.gen_colormap(batch['hm'][i].detach().cpu().numpy())
debugger.add_blend_img(img, pred, 'pred_hm')
debugger.add_blend_img(img, gt, 'gt_hm')
debugger.add_img(img, img_id='out_pred')
for k in range(len(dets[i])):
if dets[i, k, 4] > opt.center_thresh:
# add_coco_bbox(bbox, cat, conf=1, show_txt=True, img_id='default'):
debugger.add_coco_bbox(dets[i, k, :4],
dets[i, k, -1],
dets[i, k, 4],
img_id='out_pred')
debugger.add_img(img, img_id='out_gt')
for k in range(len(dets_gt[i])):
if dets_gt[i, k, 4] > opt.center_thresh:
# add_coco_bbox(bbox, cat, conf=1, show_txt=True, img_id='default'):
debugger.add_coco_bbox(dets_gt[i, k, :4],
dets_gt[i, k, -1],
dets_gt[i, k, 4],
img_id='out_gt')
if opt.debug == 4:
debugger.save_all_imgs(opt.debug_dir,
prefix='{}'.format(iter_id))
else:
debugger.show_all_imgs(pause=True)