def NMS_unique(iou, corners_unique, scores_unique):
ind_sort = np.argsort([x for x in scores_unique])
bboxes = []
score_list = []
id_list = []
indice = []
iou_prov = []
for i in range(len(corners_unique)):
bbox = corners_unique[ind_sort[i]]
flag = 1
for k in range(i + 1, len(corners_unique)):
#print("index ", ind_sort[i], scores_unique[ind_sort[i]], "index _comp: ", ind_sort[k],
# scores_unique[ind_sort[k]], "IoU: ", provider.box3d_iou(bbox, corners_unique[ind_sort[k]]))
if provider.box3d_iou(bbox, corners_unique[ind_sort[k]])[1] > 0.25:
flag = -1
break
if flag == 1:
bboxes.append(bbox)
indice.append(ind_sort[i])
iou_prov.append(iou[ind_sort[i]])
score_list.append(scores_unique[ind_sort[i]])
for i in range(len(iou_prov) - 1):
iou_prov[i] = 0.0
return iou_prov
def NMS(id_list_frame, pred_box_frame, IoU_frame, segp_sum_frame,
score_list_frame, indice_box_frame):
bboxes_frame = []
score_new_frame = []
iou_new_frame = []
id_new_frame = []
indices_frame = []
# estimate corners for all detections in box
for j in range(len(id_list_frame)):
# estimate 3DIoU for a box with other boxes for a batch
#print("len(corners3d)",len(pred_box_frame[j]))
#print("len(score_list_frame[j])",len(score_list_frame[j]))
bboxes = []
score_list = []
id_list = []
indice = []
iou_prov = []
ind_sort = np.argsort([x * -1.0 for x in score_list_frame[j]])
#print("ind_sort",ind_sort)
for i in range(len(pred_box_frame[j])):
bbox = pred_box_frame[j][ind_sort[i]]
flag = 1
for k in range(i + 1, len(pred_box_frame[j])):
if (np.array_equal(bbox, pred_box_frame[j][ind_sort[k]])):
flag = -1
break
#print("index ",ind_sort[i],score_list_frame[j][ind_sort[i]], "index _comp: ", ind_sort[k], score_list_frame[j][ind_sort[k]],"IoU: ",provider.box3d_iou(bbox,pred_box_frame[j][ind_sort[k]]))
if provider.box3d_iou(bbox,
pred_box_frame[j][ind_sort[k]])[1] > 0.3:
flag = -1
break
if flag == 1:
bboxes.append(bbox)
id_list.append(id_list_frame[j][ind_sort[i]])
indice.append(ind_sort[i])
iou_prov.append(IoU_frame[j][ind_sort[i]])
score_list.append(score_list_frame[j][ind_sort[i]])
#print("boxes size:", len(bboxes))
bboxes_frame.append(bboxes)
indices_frame.append(indice)
score_new_frame.append(score_list)
iou_new_frame.append(iou_prov)
id_new_frame.append(id_list)
return bboxes_frame, score_new_frame, id_new_frame, indices_frame, iou_new_frame
def compare_box_iou(
res,
split,
id_list,
indice_box,
size_residual_GT,
size_class_GT,
heading_res_GT,
heading_class_GT,
center_GT,
score_list,
size_res_list,
size_cls_list,
heading_res_list,
heading_cls_list,
center_list,
segp_list,
seg_list,
):
file1 = open(OUTPUT_FILE + "/" + split + "_" + res + ".txt", "w")
IoU = []
GT_box_list = []
pred_box_list = []
for i in range(len(size_residual_GT)):
GT_box = provider.get_3d_box(
provider.class2size(size_class_GT[i], size_residual_GT[i]),
provider.class2angle(heading_class_GT[i], heading_res_GT[i], 12),
center_GT[i])
pred_box = provider.get_3d_box(
provider.class2size(size_cls_list[i], size_res_list[i]),
provider.class2angle(heading_cls_list[i], heading_res_list[i], 12),
center_list[i])
GT_box_list.append(GT_box)
pred_box_list.append(pred_box)
iou_3d, iou_2d = provider.box3d_iou(pred_box, GT_box)
IoU.append(iou_3d)
file1.write("3D box %f \n" % id_list[i])
file1.write("iou %f ,score %f \n " % (float(iou_3d), score_list[i]))
file1.write("label seg number: %f \n" %
np.count_nonzero(seg_list[i] == 1))
file1.write("det seg number: %f\n" %
np.count_nonzero(segp_list[i] == 1))
#file1.write("correct per seen: %d" %np.sum(seg_list[i] == segp_list[i] )/len(seg_list[i])[0])
file1.write("center: %f , %f, %f\n" %
(center_list[i][0], center_list[i][1], center_list[i][2]))
file1.write("center_GT: %f , %f , %f\n" %
(center_GT[i][0], center_GT[i][1], center_GT[i][2]))
size_pred = provider.class2size(size_cls_list[i], size_res_list[i])
file1.write("size pred: %f , %f , %f\n" %
(size_pred[0], size_pred[1], size_pred[2]))
size_GT = provider.class2size(size_class_GT[i], size_residual_GT[i])
file1.write("size GT: %f, %f , %f\n" %
(size_GT[0], size_GT[1], size_GT[2]))
file1.write(
"rotation pred %f\n" %
provider.class2angle(heading_cls_list[i], heading_res_list[i], 12))
file1.write(
"rotation GT %f\n" %
provider.class2angle(heading_class_GT[i], heading_res_GT[i], 12))
file1.close()
return IoU, GT_box_list, pred_box_list