def eval_one_epoch(sess, ops, num_votes=1, topk=1):
is_training = False
# Make sure batch data is of same size
cur_batch_data = np.zeros((BATCH_SIZE,NUM_POINT,TEST_DATASET.num_channel()))
cur_batch_label = np.zeros((BATCH_SIZE), dtype=np.int32)
total_correct = 0
total_seen = 0
loss_sum = 0
batch_idx = 0
shape_ious = []
total_seen_class = [0 for _ in range(NUM_CLASSES)]
total_correct_class = [0 for _ in range(NUM_CLASSES)]
while TEST_DATASET.has_next_batch():
batch_data, batch_label = TEST_DATASET.next_batch(augment=False)
bsize = batch_data.shape[0]
print('Batch: %03d, batch size: %d'%(batch_idx, bsize))
# for the last batch in the epoch, the bsize:end are from last batch
cur_batch_data[0:bsize,...] = batch_data
cur_batch_label[0:bsize] = batch_label
batch_pred_sum = np.zeros((BATCH_SIZE, NUM_CLASSES)) # score for classes
for vote_idx in range(num_votes):
# Shuffle point order to achieve different farthest samplings
shuffled_indices = np.arange(NUM_POINT)
np.random.shuffle(shuffled_indices)
if FLAGS.normal:
rotated_data = provider.rotate_point_cloud_by_angle_with_normal(cur_batch_data[:, shuffled_indices, :],
vote_idx/float(num_votes) * np.pi * 2)
else:
rotated_data = provider.rotate_point_cloud_by_angle(cur_batch_data[:, shuffled_indices, :],
vote_idx/float(num_votes) * np.pi * 2)
feed_dict = {ops['pointclouds_pl']: rotated_data,
ops['labels_pl']: cur_batch_label,
ops['is_training_pl']: is_training}
loss_val, pred_val = sess.run([ops['loss'], ops['pred']], feed_dict=feed_dict)
batch_pred_sum += pred_val
pred_val = np.argmax(batch_pred_sum, 1)
correct = np.sum(pred_val[0:bsize] == batch_label[0:bsize])
total_correct += correct
total_seen += bsize
loss_sum += loss_val
batch_idx += 1
for i in range(bsize):
l = batch_label[i]
total_seen_class[l] += 1
total_correct_class[l] += (pred_val[i] == l)
log_string('eval mean loss: %f' % (loss_sum / float(batch_idx)))
log_string('eval accuracy: %f'% (total_correct / float(total_seen)))
log_string('eval avg class acc: %f' % (np.mean(np.array(total_correct_class)/np.array(total_seen_class,dtype=np.float))))
class_accuracies = np.array(total_correct_class)/np.array(total_seen_class,dtype=np.float)
for i, name in enumerate(SHAPE_NAMES):
log_string('%10s:\t%0.3f' % (name, class_accuracies[i]))
def eval_one_epoch(config, sess, ops, topk=1, epoch=0):
is_training = False
# Make sure batch data is of same size
cur_batch_data = np.zeros(
(config.batch_size, config.num_points, TEST_DATASET.num_channel()))
cur_batch_label = np.zeros((config.batch_size), dtype=np.int32)
total_correct = 0
total_seen = 0
loss_sum = 0
batch_idx = 0
shape_ious = []
predictions = []
labels = []
while TEST_DATASET.has_next_batch():
batch_data, batch_label = TEST_DATASET.next_batch(augment=False)
bsize = batch_data.shape[0]
# for the last batch in the epoch, the bsize:end are from last batch
cur_batch_data[0:bsize, ...] = batch_data
cur_batch_label[0:bsize] = batch_label
batch_pred_sum = np.zeros(
(config.batch_size, config.num_classes)) # score for classes
for vote_idx in range(config.num_votes):
# Shuffle point order to achieve different farthest samplings
shuffled_indices = np.arange(config.num_points)
np.random.shuffle(shuffled_indices)
if config.normal:
rotated_data = provider.rotate_point_cloud_by_angle_with_normal(
cur_batch_data[:, shuffled_indices, :],
vote_idx / float(config.num_votes) * np.pi * 2)
else:
rotated_data = provider.rotate_point_cloud_by_angle(
cur_batch_data[:, shuffled_indices, :],
vote_idx / float(config.num_votes) * np.pi * 2)
feed_dict = {
ops['pointclouds_pl']: rotated_data,
ops['labels_pl']: cur_batch_label,
ops['is_training_pl']: is_training
}
loss_val, pred_val = sess.run([ops['loss'], ops['pred']],
feed_dict=feed_dict)
batch_pred_sum += pred_val
pred_val = np.argmax(batch_pred_sum, 1)
correct = np.sum(pred_val[0:bsize] == batch_label[0:bsize])
predictions += pred_val[0:bsize].tolist()
labels += batch_label[0:bsize].tolist()
total_correct += correct
total_seen += bsize
loss_sum += loss_val
batch_idx += 1
loss = (loss_sum / float(batch_idx))
acc = (total_correct / float(total_seen))
log(config.log_file,
"EVALUATING epoch {} - loss: {} acc: {} ".format(epoch, loss, acc))
if config.test:
import Evaluation_tools as et
eval_file = os.path.join(config.log_dir, '{}.txt'.format(config.name))
et.write_eval_file(config.data, eval_file, predictions, labels,
config.name)
et.make_matrix(config.data, eval_file, config.log_dir)
else:
LOSS_LOGGER.log(loss, epoch, "eval_loss")
ACC_LOGGER.log(acc, epoch, "eval_accuracy")
TEST_DATASET.reset()
return total_correct / float(total_seen)
def eval_one_epoch(sess, ops, num_votes=1, topk=1):
error_cnt = 0
is_training = False
total_correct = 0
total_seen = 0
loss_sum = 0
total_seen_class = [0 for _ in range(NUM_CLASSES)]
total_correct_class = [0 for _ in range(NUM_CLASSES)]
fout = open(os.path.join(DUMP_DIR, "pred_label_%s.txt" % INFER_SET), "w")
for fn in range(len(INFER_FILES)):
log_string("----" + str(fn) + "----")
current_data, current_label = provider.loadDataFile(INFER_FILES[fn])
pred_label = np.zeros_like(current_label)
current_data = current_data[:, 0:NUM_POINT, :]
current_label = np.squeeze(current_label)
print(current_data.shape)
file_size = current_data.shape[0]
num_batches = file_size // BATCH_SIZE
print(file_size)
for batch_idx in range(num_batches):
start_idx = batch_idx * BATCH_SIZE
end_idx = (batch_idx + 1) * BATCH_SIZE
cur_batch_size = end_idx - start_idx
# Aggregating BEG
batch_loss_sum = 0 # sum of losses for the batch
batch_pred_sum = np.zeros(
(cur_batch_size, NUM_CLASSES)
) # score for classes
batch_pred_classes = np.zeros(
(cur_batch_size, NUM_CLASSES)
) # 0/1 for classes
for vote_idx in range(num_votes):
rotated_data = provider.rotate_point_cloud_by_angle(
current_data[start_idx:end_idx, :, :],
vote_idx / float(num_votes) * np.pi * 2,
)
feed_dict = {
ops["pointclouds_pl"]: rotated_data,
ops["labels_pl"]: current_label[start_idx:end_idx],
ops["is_training_pl"]: is_training,
}
loss_val, pred_val = sess.run(
[ops["loss"], ops["pred"]], feed_dict=feed_dict
)
batch_pred_sum += pred_val
batch_pred_val = np.argmax(pred_val, 1)
for el_idx in range(cur_batch_size):
batch_pred_classes[el_idx, batch_pred_val[el_idx]] += 1
batch_loss_sum += loss_val * cur_batch_size / float(num_votes)
# pred_val_topk = np.argsort(batch_pred_sum, axis=-1)[:,-1*np.array(range(topk))-1]
# pred_val = np.argmax(batch_pred_classes, 1)
pred_val = np.argmax(batch_pred_sum, 1)
# Aggregating END
pred_label[start_idx:end_idx] = np.expand_dims(pred_val, axis=1)
correct = np.sum(pred_val == current_label[start_idx:end_idx])
# correct = np.sum(pred_val_topk[:,0:topk] == label_val)
total_correct += correct
total_seen += cur_batch_size
loss_sum += batch_loss_sum
for i in range(start_idx, end_idx):
l = current_label[i]
total_seen_class[l] += 1
total_correct_class[l] += pred_val[i - start_idx] == l
fout.write("%d, %d\n" % (pred_val[i - start_idx], l))
file_name = os.path.split(INFER_FILES[fn])
data_prep_util.save_h5_label(
os.path.join(PRED_LABEL_DIR, file_name[1]), pred_label, label_dtype
)
log_string("eval mean loss: %f" % (loss_sum / float(total_seen)))
log_string("eval accuracy: %f" % (total_correct / float(total_seen)))
log_string(
"eval avg class acc: %f"
% (
np.mean(
np.array(total_correct_class)
/ np.array(total_seen_class, dtype=np.float)
)
)
)
class_accuracies = np.array(total_correct_class) / np.array(
total_seen_class, dtype=np.float
)
for i, name in enumerate(SHAPE_NAMES):
log_string("%10s:\t%0.3f" % (name, class_accuracies[i]))
def eval_one_time(self, topk=1, data=0):
is_training = False
# Make sure batch data is of same size
#cur_batch_data = np.zeros((BATCH_SIZE,NUM_POINT,TEST_DATASET.num_channel()))
#cur_batch_label = np.zeros((BATCH_SIZE), dtype=np.int32)
cur_batch_data = np.zeros((1, data.shape[0], data.shape[1]))
cur_batch_label = np.zeros((1), dtype=np.int32)
total_correct = 0
total_seen = 0
loss_sum = 0
batch_idx = 0
shape_ious = []
total_seen_class = [0 for _ in range(self.NUM_CLASSES)]
total_correct_class = [0 for _ in range(self.NUM_CLASSES)]
batch_data, batch_label = data, 4 #TEST_DATASET.next_batch(augment=False)
bsize = batch_data.shape[0]
#print('Batch: %03d, batch size: %d'%(batch_idx, bsize))
# for the last batch in the epoch, the bsize:end are from last batch
cur_batch_data[0:bsize, ...] = batch_data
cur_batch_label[0] = batch_label
batch_pred_sum = np.zeros(
(self.BATCH_SIZE, self.NUM_CLASSES)) # score for classes
for vote_idx in range(self.NUM_VOTES):
# Shuffle point order to achieve different farthest samplings
shuffled_indices = np.arange(self.NUM_POINT)
np.random.shuffle(shuffled_indices)
if self.NORMAL:
rotated_data = provider.rotate_point_cloud_by_angle_with_normal(
cur_batch_data[:, shuffled_indices, :],
vote_idx / float(self.NUM_VOTES) * np.pi * 2)
else:
rotated_data = provider.rotate_point_cloud_by_angle(
cur_batch_data[:, shuffled_indices, :],
vote_idx / float(self.NUM_VOTES) * np.pi * 2)
feed_dict = {
self.ops['pointclouds_pl']: rotated_data,
self.ops['labels_pl']: cur_batch_label,
self.ops['is_training_pl']: is_training
}
loss_val, pred_val = self.sess.run(
[self.ops['loss'], self.ops['pred']], feed_dict=feed_dict)
batch_pred_sum += pred_val
min_pred_val = np.argmin(batch_pred_sum, 1)
pred_val = np.argmax(batch_pred_sum, 1)
"""
batch_pred_sum[0][pred_val[0]] = -100000000000000000000
second_pred_val = np.argmax(batch_pred_sum, 1)
batch_pred_sum[0][second_pred_val[0]] = -100000000000000000000
third_pred_val = np.argmax(batch_pred_sum, 1)
"""
#print heapq.nlargest(3, range(len(batch_pred_sum)), batch_pred_sum.take)
print(Fore.RED + self.SHAPE_NAMES[pred_val[0]])
print(Style.RESET_ALL)
#print self.print_letters(self.SHAPE_NAMES[second_pred_val[0]])# self.SHAPE_NAMES[third_pred_val[0]]#, self.SHAPE_NAMES[min_pred_val[0]]
"""
def eval_one_epoch(sess, ops, test_writer, testp_writer):
global EPOCH_CNT
is_training = False
num_votes = 4
cur_batch_data = np.zeros((BATCH_SIZE, NUM_POINT, TEST_DATASET.num_channel()))
cur_batch_label = np.zeros((BATCH_SIZE), dtype=np.int32)
cur_batch_dir = np.zeros((BATCH_SIZE, NUM_POINT, 6))
total_correct = 0
total_seen = 0
loss_sum = 0
batch_idx = 0
total_seen_class = [0 for _ in range(NUM_CLASSES)]
total_correct_class = [0 for _ in range(NUM_CLASSES)]
log_string(str(datetime.now()))
log_string('---- EPOCH %03d EVALUATION ----' % (EPOCH_CNT))
while TEST_DATASET.has_next_batch():
batch_data, batch_label, batch_dir = TEST_DATASET.next_batch(augment=False)
bsize = batch_data.shape[0]
cur_batch_data[0:bsize, ...] = batch_data
cur_batch_label[0:bsize] = batch_label
cur_batch_dir[0:bsize, ...] = batch_dir
batch_pred_sum = np.zeros((BATCH_SIZE, NUM_CLASSES))
for vote_idx in range(num_votes):
shuffled_indices = np.arange(NUM_POINT)
np.random.shuffle(shuffled_indices)
if FLAGS.normal:
rotated_data, rotated_dir = provider.rotate_point_cloud_by_angle_with_normal(cur_batch_data[:, shuffled_indices, :],
cur_batch_dir[:, shuffled_indices, :],
vote_idx / float(num_votes) * np.pi * 2)
else:
rotated_data, rotated_dir = provider.rotate_point_cloud_by_angle(cur_batch_data[:, shuffled_indices, :],
cur_batch_dir[:, shuffled_indices, :],
vote_idx / float(num_votes) * np.pi * 2)
feed_dict = {ops['pointclouds_pl']: rotated_data,
ops['dir_pl']: rotated_dir,
ops['labels_pl']: cur_batch_label,
ops['is_training_pl']: is_training}
summary, step, loss_val, pred_val = sess.run([ops['merged'], ops['step'],
ops['loss'], ops['pred']], feed_dict=feed_dict)
batch_pred_sum += pred_val
test_writer.add_summary(summary, step)
pred_val = np.argmax(batch_pred_sum, 1)
correct = np.sum(pred_val[0:bsize] == batch_label[0:bsize])
total_correct += correct
total_seen += bsize
loss_sum += loss_val
batch_idx += 1
for i in range(0, bsize):
l = batch_label[i]
total_seen_class[l] += 1
total_correct_class[l] += (pred_val[i] == l)
dev_summary = tf.Summary()
dev_summary.value.add(tag="loss", simple_value=loss_sum / float(batch_idx))
dev_summary.value.add(tag="accuracy", simple_value=total_correct / float(total_seen))
dev_summary.value.add(tag="avg class acc", simple_value=np.mean(
np.array(total_correct_class) / np.array(total_seen_class, dtype=np.float)))
testp_writer.add_summary(dev_summary, step)
log_string('eval mean loss: %f' % (loss_sum / float(batch_idx)))
log_string('eval accuracy: %f' % (total_correct / float(total_seen)))
log_string('eval avg class acc: %f' % (
np.mean(np.array(total_correct_class) / np.array(total_seen_class, dtype=np.float))))
EPOCH_CNT += 1
TEST_DATASET.reset()
return total_correct / float(total_seen)
def eval_one_epoch(sess, ops, num_votes=1, topk=1):
error_cnt = 0
is_training = False
total_correct = 0
total_seen = 0
loss_sum = 0
total_seen_class = [0 for _ in range(NUM_CLASSES)]
total_correct_class = [0 for _ in range(NUM_CLASSES)]
fout = open(os.path.join(DUMP_DIR, 'pred_label.txt'), 'w')
if (".h5" in TEST_FILE):
current_data, current_label = data_utils.get_current_data_h5(
TEST_DATA, TEST_LABELS, NUM_POINT)
else:
current_data, current_label = data_utils.get_current_data(
TEST_DATA, TEST_LABELS, NUM_POINT)
current_label = np.squeeze(current_label)
num_batches = current_data.shape[0] // BATCH_SIZE
current_pred = []
for batch_idx in range(num_batches):
start_idx = batch_idx * BATCH_SIZE
end_idx = (batch_idx + 1) * BATCH_SIZE
cur_batch_size = end_idx - start_idx
# Aggregating BEG
batch_loss_sum = 0 # sum of losses for the batch
batch_pred_sum = np.zeros(
(cur_batch_size, NUM_CLASSES)) # score for classes
batch_pred_classes = np.zeros(
(cur_batch_size, NUM_CLASSES)) # 0/1 for classes
for vote_idx in range(num_votes):
rotated_data = provider.rotate_point_cloud_by_angle(
current_data[start_idx:end_idx, :, :],
vote_idx / float(num_votes) * np.pi * 2)
xforms_np, rotations_np = pf.get_xforms(
BATCH_SIZE,
rotation_range=rotation_range_val,
scaling_range=scaling_range_val,
order=setting.rotation_order)
# Augment batched point clouds by rotation and jittering
feed_dict = {
ops['pointclouds_pl']: rotated_data,
ops['labels_pl']: current_label[start_idx:end_idx],
ops['is_training_pl']: is_training,
ops['xforms']: xforms_np,
ops['rotations']: rotations_np,
ops['jitter_range']: np.array([jitter_val])
}
loss_val, pred_val = sess.run([ops['loss'], ops['pred']],
feed_dict=feed_dict)
pred_val = np.sum(pred_val, axis=1)
# pred_val = np.argmax(pred_val, 1)
batch_pred_sum += pred_val
batch_pred_val = np.argmax(pred_val, 1)
for el_idx in range(cur_batch_size):
batch_pred_classes[el_idx, batch_pred_val[el_idx]] += 1
batch_loss_sum += (loss_val * cur_batch_size / float(num_votes))
# pred_val_topk = np.argsort(batch_pred_sum, axis=-1)[:,-1*np.array(range(topk))-1]
# pred_val = np.argmax(batch_pred_classes, 1)
pred_val = np.argmax(batch_pred_sum, 1)
# Aggregating END
correct = np.sum(pred_val == current_label[start_idx:end_idx])
# correct = np.sum(pred_val_topk[:,0:topk] == label_val)
total_correct += correct
total_seen += cur_batch_size
loss_sum += batch_loss_sum
for i in range(start_idx, end_idx):
l = current_label[i]
total_seen_class[l] += 1
total_correct_class[l] += (pred_val[i - start_idx] == l)
fout.write('%s, %s\n' %
(SHAPE_NAMES[pred_val[i - start_idx]], SHAPE_NAMES[l]))
current_pred.append(pred_val[i - start_idx])
log_string('total seen: %d' % (total_seen))
log_string('eval mean loss: %f' % (loss_sum / float(total_seen)))
log_string('eval accuracy: %f' % (total_correct / float(total_seen)))
log_string('eval avg class acc: %f' % (np.mean(
np.array(total_correct_class) /
np.array(total_seen_class, dtype=np.float))))
class_accuracies = np.array(total_correct_class) / np.array(
total_seen_class, dtype=np.float)
for i, name in enumerate(SHAPE_NAMES):
log_string('%10s:\t%0.3f' % (name, class_accuracies[i]))
#Plot confusion matrix
current_pred = np.array(current_pred)
groundtruth = current_label.flatten()
predictions = current_pred.flatten()
mat = confusion_matrix(groundtruth, predictions)
plt.style.use('seaborn-paper')
plt.rcParams["figure.figsize"] = (10, 10)
ax = plt.subplot(111)
cmap = plt.cm.Reds
mat = mat.astype('float') / mat.sum(axis=1)[:, np.newaxis]
mat = np.nan_to_num(mat, copy=True)
plt.imshow(mat, interpolation='nearest', cmap=cmap)
# cbar = plt.colorbar(fraction=0.03, pad=0.05, aspect=30)
# cbar.ax.tick_params(labelsize=10)
tick_marks = np.arange(len(SHAPE_NAMES))
plt.xticks(tick_marks, SHAPE_NAMES, rotation=90)
plt.yticks(tick_marks, SHAPE_NAMES)
plt.ylabel('Ground truth')
plt.xlabel('Prediction')
for item in ([ax.title, ax.xaxis.label, ax.yaxis.label] +
ax.get_xticklabels() + ax.get_yticklabels()):
item.set_fontsize(36)
plt.tight_layout()
plt.savefig(os.path.join(DUMP_DIR, 'matrix.pdf'))
plt.show()
def eval_one_epoch(sess, ops, num_votes=1, topk=1):
error_cnt = 0
is_training = False
total_correct = 0
total_seen = 0
loss_sum = 0
total_seen_class = [0 for _ in range(NUM_CLASSES)]
total_correct_class = [0 for _ in range(NUM_CLASSES)]
fout = open(os.path.join(DUMP_DIR, 'pred_label.txt'), 'w')
for fn in range(len(TEST_FILES)):
log_string('----' + str(fn) + '----')
current_data, current_label = provider.loadDataFile(TEST_FILES[fn])
current_data = current_data[:, 0:NUM_POINT, :]
current_label = np.squeeze(current_label)
print(current_data.shape)
file_size = current_data.shape[0]
num_batches = file_size // BATCH_SIZE
print(file_size)
for batch_idx in range(num_batches):
start_idx = batch_idx * BATCH_SIZE
end_idx = (batch_idx + 1) * BATCH_SIZE
cur_batch_size = end_idx - start_idx
# Aggregating BEG
batch_loss_sum = 0 # sum of losses for the batch
batch_pred_sum = np.zeros(
(cur_batch_size, NUM_CLASSES)) # score for classes
batch_pred_classes = np.zeros(
(cur_batch_size, NUM_CLASSES)) # 0/1 for classes
for vote_idx in range(num_votes):
rotated_data = provider.rotate_point_cloud_by_angle(
current_data[start_idx:end_idx, :, :],
vote_idx / float(num_votes) * np.pi * 2)
feed_dict = {
ops['pointclouds_pl']: rotated_data,
ops['labels_pl']: current_label[start_idx:end_idx],
ops['is_training_pl']: is_training
}
loss_val, pred_val = sess.run([ops['loss'], ops['pred']],
feed_dict=feed_dict)
batch_pred_sum += pred_val
batch_pred_val = np.argmax(pred_val, 1)
for el_idx in range(cur_batch_size):
batch_pred_classes[el_idx, batch_pred_val[el_idx]] += 1
batch_loss_sum += (loss_val * cur_batch_size /
float(num_votes))
# pred_val_topk = np.argsort(batch_pred_sum, axis=-1)[:,-1*np.array(range(topk))-1]
# pred_val = np.argmax(batch_pred_classes, 1)
pred_val = np.argmax(batch_pred_sum, 1)
# Aggregating END
correct = np.sum(pred_val == current_label[start_idx:end_idx])
# correct = np.sum(pred_val_topk[:,0:topk] == label_val)
total_correct += correct
total_seen += cur_batch_size
loss_sum += batch_loss_sum
for i in range(start_idx, end_idx):
l = current_label[i]
total_seen_class[l] += 1
total_correct_class[l] += (pred_val[i - start_idx] == l)
fout.write('%d, %d\n' % (pred_val[i - start_idx], l))
log_string('eval mean loss: %f' % (loss_sum / float(total_seen)))
log_string('eval accuracy: %f' % (total_correct / float(total_seen)))
log_string('eval avg class acc: %f' % (np.mean(
np.array(total_correct_class) /
np.array(total_seen_class, dtype=np.float))))
class_accuracies = np.array(total_correct_class) / np.array(
total_seen_class, dtype=np.float)
for i, name in enumerate(SHAPE_NAMES):
log_string('%10s:\t%0.3f' % (name, class_accuracies[i]))
def eval_one_epoch(sess, ops, num_votes=1, topk=1):
is_training = False
# Make sure batch data is of same size
cur_batch_data = np.zeros(
(BATCH_SIZE, NUM_POINT, TEST_DATASET.num_channel()))
cur_batch_label = np.zeros((BATCH_SIZE), dtype=np.int32)
total_correct = 0
total_seen = 0
loss_sum = 0
batch_idx = 0
shape_ious = []
total_seen_class = [0 for _ in range(NUM_CLASSES)]
total_correct_class = [0 for _ in range(NUM_CLASSES)]
while TEST_DATASET.has_next_batch():
batch_data, batch_label = TEST_DATASET.next_batch(augment=False)
bsize = batch_data.shape[0]
print('Batch: %03d, batch size: %d' % (batch_idx, bsize))
# for the last batch in the epoch, the bsize:end are from last batch
cur_batch_data[0:bsize, ...] = batch_data
cur_batch_label[0:bsize] = batch_label
batch_pred_sum = np.zeros(
(BATCH_SIZE, NUM_CLASSES)) # score for classes
for vote_idx in range(num_votes):
# Shuffle point order to achieve different farthest samplings
shuffled_indices = np.arange(NUM_POINT)
np.random.shuffle(shuffled_indices)
if FLAGS.normal:
rotated_data = provider.rotate_point_cloud_by_angle_with_normal(
cur_batch_data[:, shuffled_indices, :],
vote_idx / float(num_votes) * np.pi * 2)
else:
rotated_data = provider.rotate_point_cloud_by_angle(
cur_batch_data[:, shuffled_indices, :],
vote_idx / float(num_votes) * np.pi * 2)
feed_dict = {
ops['pointclouds_pl']: rotated_data,
ops['labels_pl']: cur_batch_label,
ops['is_training_pl']: is_training
}
loss_val, pred_val = sess.run([ops['loss'], ops['pred']],
feed_dict=feed_dict)
batch_pred_sum += pred_val
pred_val = np.argmax(batch_pred_sum, 1)
correct = np.sum(pred_val[0:bsize] == batch_label[0:bsize])
total_correct += correct
total_seen += bsize
loss_sum += loss_val
batch_idx += 1
for i in range(bsize):
l = batch_label[i]
total_seen_class[l] += 1
total_correct_class[l] += (pred_val[i] == l)
log_string('eval mean loss: %f' % (loss_sum / float(batch_idx)))
log_string('eval accuracy: %f' % (total_correct / float(total_seen)))
log_string('eval avg class acc: %f' % (np.mean(
np.array(total_correct_class) /
np.array(total_seen_class, dtype=np.float))))
class_accuracies = np.array(total_correct_class) / np.array(
total_seen_class, dtype=np.float)
for i, name in enumerate(SHAPE_NAMES):
log_string('%10s:\t%0.3f' % (name, class_accuracies[i]))
def eval_one_epoch(sess, ops, test_writer):
""" ops: dict mapping from string to tf ops """
global EPOCH_CNT
global BEST_ACC
global BEST_CLS_ACC
is_training = False
# Make sure batch data is of same size
cur_batch_data = np.zeros(
(BATCH_SIZE, NUM_POINT, TEST_DATASET.num_channel()))
cur_batch_label = np.zeros((BATCH_SIZE), dtype=np.int32)
total_correct = 0
total_seen = 0
loss_sum = 0
batch_idx = 0
shape_ious = []
total_seen_class = [0 for _ in range(NUM_CLASSES)]
total_correct_class = [0 for _ in range(NUM_CLASSES)]
log_string(str(datetime.now()))
log_string('---- EPOCH %03d EVALUATION ----' % (EPOCH_CNT))
while TEST_DATASET.has_next_batch():
batch_data, batch_label = TEST_DATASET.next_batch(augment=False)
bsize = batch_data.shape[0]
# print('Batch: %03d, batch size: %d'%(batch_idx, bsize))
# for the last batch in the epoch, the bsize:end are from last batch
cur_batch_data[0:bsize, ...] = batch_data
cur_batch_label[0:bsize] = batch_label
if ROTATE_FLAG:
batch_pred_sum = np.zeros(
(BATCH_SIZE, NUM_CLASSES)) # score for classes
for vote_idx in range(12):
# Shuffle point order to achieve different farthest samplings
shuffled_indices = np.arange(NUM_POINT)
np.random.shuffle(shuffled_indices)
if NORMAL_FLAG:
rotated_data = provider.rotate_point_cloud_by_angle_with_normal(
cur_batch_data[:, shuffled_indices, :],
vote_idx / float(12) * np.pi * 2)
rotated_data = provider.rotate_perturbation_point_cloud_with_normal(
rotated_data)
else:
rotated_data = provider.rotate_point_cloud_by_angle(
cur_batch_data[:, shuffled_indices, :],
vote_idx / float(12) * np.pi * 2)
rotated_data = provider.rotate_perturbation_point_cloud(
rotated_data)
jittered_data = provider.random_scale_point_cloud(
rotated_data[:, :, 0:3])
jittered_data = provider.jitter_point_cloud(jittered_data)
rotated_data[:, :, 0:3] = jittered_data
# else:
# rotated_data = provider.rotate_point_cloud_by_angle(cur_batch_data[:, shuffled_indices, :],
# vote_idx/float(12) * np.pi * 2)
feed_dict = {
ops['pointclouds_pl']: rotated_data,
ops['labels_pl']: cur_batch_label,
ops['is_training_pl']: is_training
}
loss_val, pred_val = sess.run([ops['loss'], ops['pred']],
feed_dict=feed_dict)
batch_pred_sum += pred_val
pred_val = np.argmax(batch_pred_sum, 1)
else:
feed_dict = {
ops['pointclouds_pl']: cur_batch_data,
ops['labels_pl']: cur_batch_label,
ops['is_training_pl']: is_training
}
summary, step, loss_val, pred_val = sess.run(
[ops['merged'], ops['step'], ops['loss'], ops['pred']],
feed_dict=feed_dict)
test_writer.add_summary(summary, step)
pred_val = np.argmax(pred_val, 1)
correct = np.sum(pred_val[0:bsize] == batch_label[0:bsize])
total_correct += correct
total_seen += bsize
loss_sum += loss_val
batch_idx += 1
for i in range(bsize):
l = batch_label[i]
total_seen_class[l] += 1
total_correct_class[l] += (pred_val[i] == l)
current_acc = total_correct / float(total_seen)
current_cls_acc = np.mean(
np.array(total_correct_class) /
np.array(total_seen_class, dtype=np.float))
log_string('eval mean loss: %f' % (loss_sum / float(batch_idx)))
log_string('eval accuracy: %f' % (current_acc))
log_string('eval avg class acc: %f' % (current_cls_acc))
best_acc_flag, best_cls_acc_flag = False, False
if current_acc > BEST_ACC:
BEST_ACC = current_acc
best_acc_flag = True
if current_cls_acc > BEST_CLS_ACC:
BEST_CLS_ACC = current_cls_acc
best_cls_acc_flag = True
log_string('eval best accuracy: %f' % (BEST_ACC))
log_string('eval best avg class acc: %f' % (BEST_CLS_ACC))
EPOCH_CNT += 1
TEST_DATASET.reset()
return (best_acc_flag, best_cls_acc_flag)
def eval_one_epoch(sess, ops, num_votes=1, topk=1, adv=True):
error_cnt = 0
is_training = False
total_correct = 0
total_seen = 0
loss_sum = 0
total_seen_class = [0 for _ in range(NUM_CLASSES)]
total_correct_class = [0 for _ in range(NUM_CLASSES)]
if adv == True:
error_cnt_adv = 0
total_correct_adv = 0
total_seen_adv = 0
loss_sum_adv = 0
total_seen_class_adv = [0 for _ in range(NUM_CLASSES)]
total_correct_class_adv = [0 for _ in range(NUM_CLASSES)]
fout = open(os.path.join(DUMP_DIR, 'pred_label.txt'), 'w')
for fn in range(len(TEST_FILES)):
log_string('----' + str(fn) + '----')
current_data, current_label = provider.loadDataFile(TEST_FILES[fn])
current_data = current_data[:, 0:NUM_POINT, :]
current_label = np.squeeze(current_label)
print(current_data.shape)
file_size = current_data.shape[0]
num_batches = file_size // BATCH_SIZE
print(file_size)
for batch_idx in range(num_batches):
start_idx = batch_idx * BATCH_SIZE
end_idx = (batch_idx + 1) * BATCH_SIZE
cur_batch_size = end_idx - start_idx
# Aggregating BEG
batch_loss_sum = 0 # sum of losses for the batch
batch_pred_sum = np.zeros(
(cur_batch_size, NUM_CLASSES)) # score for classes
batch_pred_classes = np.zeros(
(cur_batch_size, NUM_CLASSES)) # 0/1 for classes
for vote_idx in range(num_votes):
rotated_data = provider.rotate_point_cloud_by_angle(
current_data[start_idx:end_idx, :, :],
vote_idx / float(num_votes) * np.pi * 2)
feed_dict = {
ops['pointclouds_pl']: rotated_data,
ops['labels_pl']: current_label[start_idx:end_idx],
ops['is_training_pl']: is_training
}
loss_val, pred_val, end_points = sess.run(
[ops['loss'], ops['pred'], ops['end_points']],
feed_dict=feed_dict)
batch_pred_sum += pred_val
batch_pred_val = np.argmax(pred_val, 1)
for el_idx in range(cur_batch_size):
batch_pred_classes[el_idx, batch_pred_val[el_idx]] += 1
batch_loss_sum += (loss_val * cur_batch_size /
float(num_votes))
# pred_val_topk = np.argsort(batch_pred_sum, axis=-1)[:,-1*np.array(range(topk))-1]
# pred_val = np.argmax(batch_pred_classes, 1)
pred_val = np.argmax(batch_pred_sum, 1)
# Aggregating END
correct = np.sum(pred_val == current_label[start_idx:end_idx])
# correct = np.sum(pred_val_topk[:,0:topk] == label_val)
total_correct += correct
total_seen += cur_batch_size
loss_sum += batch_loss_sum
for i in range(start_idx, end_idx):
l = current_label[i]
total_seen_class[l] += 1
total_correct_class[l] += (pred_val[i - start_idx] == l)
fout.write('%d, %d\n' % (pred_val[i - start_idx], l))
if pred_val[
i -
start_idx] != l and FLAGS.visu: # ERROR CASE, DUMP!
img_filename = '%d_label_%s_pred_%s.jpg' % (
error_cnt, SHAPE_NAMES[l],
SHAPE_NAMES[pred_val[i - start_idx]])
img_filename = os.path.join(DUMP_DIR, img_filename)
output_img = pc_util.point_cloud_three_views(
np.squeeze(current_data[i, :, :]))
scipy.misc.imsave(img_filename, output_img)
error_cnt += 1
if adv == True:
adv_data = perturb(rotated_data,
current_label[start_idx:end_idx], sess, ops,
EPS, ADV_STEP, EPS / 10)
np.save(str(batch_idx), adv_data)
feed_dict_adv = {
ops['pointclouds_pl']: adv_data,
ops['labels_pl']: current_label[start_idx:end_idx],
ops['is_training_pl']: is_training
}
loss_val_adv, pred_val_adv, end_points_adv = sess.run(
[ops['loss'], ops['pred'], ops['end_points']],
feed_dict=feed_dict_adv)
delta = end_points_adv['global'] - end_points['global']
bigger = delta[delta > 0.1]
smaller = delta[delta < -0.1]
print(bigger.size)
print(smaller.size)
pred_val_adv = np.argmax(pred_val_adv, 1)
correct_adv = np.sum(
pred_val_adv == current_label[start_idx:end_idx])
total_correct_adv += correct_adv
total_seen_adv += BATCH_SIZE
loss_sum_adv += (loss_val_adv * BATCH_SIZE)
for i in range(start_idx, end_idx):
l = current_label[i]
total_seen_class_adv[l] += 1
total_correct_class_adv[l] += (
pred_val_adv[i - start_idx] == l)
#fout.write('%d, %d\n' % (pred_val_adv[i-start_idx], l))
if pred_val_adv[
i -
start_idx] != l and FLAGS.visu_adv: # ERROR CASE, DUMP!
img_filename = '%d_label_%s_pred_%s_adv' % (
error_cnt_adv, SHAPE_NAMES[l],
SHAPE_NAMES[pred_val_adv[i - start_idx]])
img_filename = os.path.join(DUMP_DIR, img_filename)
np.save(
img_filename,
np.squeeze(adv_data[i -
batch_idx * BATCH_SIZE, :, :]))
np.save(img_filename + '_normal',
np.squeeze(current_data[i, :, :]))
output_img = pc_util.point_cloud_three_views(
np.squeeze(adv_data[i -
batch_idx * BATCH_SIZE, :, :]))
scipy.misc.imsave(img_filename + '.jpg', output_img)
error_cnt_adv += 1
log_string('eval mean loss: %f' % (loss_sum / float(total_seen)))
log_string('eval accuracy: %f' % (total_correct / float(total_seen)))
log_string('eval avg class acc: %f' % (np.mean(
np.array(total_correct_class) /
np.array(total_seen_class, dtype=np.float))))
if adv == True:
log_string('adv eval mean loss: %f' %
(loss_sum_adv / float(total_seen_adv)))
log_string('adv eval accuracy: %f' %
(total_correct_adv / float(total_seen_adv)))
log_string('adv eval avg class acc: %f' % (np.mean(
np.array(total_correct_class_adv) /
np.array(total_seen_class_adv, dtype=np.float))))
class_accuracies = np.array(total_correct_class) / np.array(
total_seen_class, dtype=np.float)
for i, name in enumerate(SHAPE_NAMES):
log_string('%10s:\t%0.3f' % (name, class_accuracies[i]))
def eval_one_epoch(sess, ops, num_votes=1, topk=1):
error_cnt = 0
is_training = False
total_correct = 0
total_seen = 0
loss_sum = 0
total_seen_class = [0 for _ in range(NUM_CLASSES)]
total_correct_class = [0 for _ in range(NUM_CLASSES)]
fout = open(os.path.join(DUMP_DIR, 'pred_label.txt'), 'w')
for fn in range(len(TEST_FILES)):
log_string('----'+str(fn)+'----')
current_data, current_label = provider.loadDataFile(TEST_FILES[fn])
current_data = current_data[:,0:NUM_POINT,:]
current_label = np.squeeze(current_label)
print(current_data.shape)
file_size = current_data.shape[0]
num_batches = file_size // BATCH_SIZE
print(file_size)
for batch_idx in range(num_batches):
start_idx = batch_idx * BATCH_SIZE
end_idx = (batch_idx+1) * BATCH_SIZE
cur_batch_size = end_idx - start_idx
# Aggregating BEG
batch_loss_sum = 0 # sum of losses for the batch
batch_pred_sum = np.zeros((cur_batch_size, NUM_CLASSES)) # score for classes
batch_pred_classes = np.zeros((cur_batch_size, NUM_CLASSES)) # 0/1 for classes
for vote_idx in range(num_votes):
rotated_data = provider.rotate_point_cloud_by_angle(current_data[start_idx:end_idx, :, :],
vote_idx/float(num_votes) * np.pi * 2)
feed_dict = {ops['pointclouds_pl']: rotated_data,
ops['labels_pl']: current_label[start_idx:end_idx],
ops['is_training_pl']: is_training}
loss_val, pred_val = sess.run([ops['loss'], ops['pred']],
feed_dict=feed_dict)
batch_pred_sum += pred_val
batch_pred_val = np.argmax(pred_val, 1)
for el_idx in range(cur_batch_size):
batch_pred_classes[el_idx, batch_pred_val[el_idx]] += 1
batch_loss_sum += (loss_val * cur_batch_size / float(num_votes))
# pred_val_topk = np.argsort(batch_pred_sum, axis=-1)[:,-1*np.array(range(topk))-1]
# pred_val = np.argmax(batch_pred_classes, 1)
pred_val = np.argmax(batch_pred_sum, 1)
# Aggregating END
correct = np.sum(pred_val == current_label[start_idx:end_idx])
# correct = np.sum(pred_val_topk[:,0:topk] == label_val)
total_correct += correct
total_seen += cur_batch_size
loss_sum += batch_loss_sum
for i in range(start_idx, end_idx):
l = current_label[i]
total_seen_class[l] += 1
total_correct_class[l] += (pred_val[i-start_idx] == l)
fout.write('%d, %d\n' % (pred_val[i-start_idx], l))
if pred_val[i-start_idx] != l and FLAGS.visu: # ERROR CASE, DUMP!
img_filename = '%d_label_%s_pred_%s.jpg' % (error_cnt, SHAPE_NAMES[l],
SHAPE_NAMES[pred_val[i-start_idx]])
img_filename = os.path.join(DUMP_DIR, img_filename)
output_img = pc_util.point_cloud_three_views(np.squeeze(current_data[i, :, :]))
scipy.misc.imsave(img_filename, output_img)
error_cnt += 1
log_string('eval mean loss: %f' % (loss_sum / float(total_seen)))
log_string('eval accuracy: %f' % (total_correct / float(total_seen)))
log_string('eval avg class acc: %f' % (np.mean(np.array(total_correct_class)/np.array(total_seen_class,dtype=np.float))))
class_accuracies = np.array(total_correct_class)/np.array(total_seen_class,dtype=np.float)
for i, name in enumerate(SHAPE_NAMES):
log_string('%10s:\t%0.3f' % (name, class_accuracies[i]))
def prediction(num_votes):
is_training = False
with tf.device('/gpu:' + str(GPU_INDEX)):
# pointclouds_pl, labels_pl = MODEL.placeholder_inputs(BATCH_SIZE, NUM_POINT)
is_training_pl = tf.placeholder(tf.bool, shape=())
# def placeholder_inputs(batch_size, num_point):
pointclouds_pl = tf.placeholder(tf.float32,
shape=(BATCH_SIZE, NUM_POINT, 3))
labels_pl = tf.placeholder(tf.int32, shape=(BATCH_SIZE))
# simple model
# 尝试多返还一个变量给get model,这样就可以观察到此tensor 的值
pred, end_points = MODEL.get_model(pointclouds_pl, is_training_pl)
MODEL.get_loss(pred, labels_pl, end_points)
losses = tf.get_collection('losses')
# add the current loss to the total loss
total_loss = tf.add_n(losses, name='total_loss')
# Add ops to save and restore all the variables.
saver = tf.train.Saver()
# Create a session
config = tf.ConfigProto()
config.gpu_options.allow_growth = True
config.allow_soft_placement = True
config.log_device_placement = False
sess = tf.Session(config=config)
# Restore variables from disk.
saver.restore(sess, MODEL_PATH)
log_string("Model restored.")
print('type pred: ', type(pred), 'type l3_xyz : ', type(l3_xyz))
# 输出结果显示这两个类型都是tensor
ops = {
'pointclouds_pl': pointclouds_pl,
'labels_pl': labels_pl,
'is_training_pl': is_training_pl,
'pred': pred,
'loss': total_loss,
'l3_feature': l3_xyz
} # 最后一行是自己加的
# eval_one_epoch(sess, ops, num_votes)
# Make sure batch data is of same size
cur_batch_data = np.zeros(
(BATCH_SIZE, NUM_POINT, TEST_DATASET.num_channel()))
cur_batch_label = np.zeros((BATCH_SIZE), dtype=np.int32)
total_correct = 0
total_seen = 0
loss_sum = 0
batch_idx = 0
total_seen_class = [0 for _ in range(NUM_CLASSES)]
total_correct_class = [0 for _ in range(NUM_CLASSES)]
'''
while TEST_DATASET.has_next_batch():
batch_data, batch_label = TEST_DATASET.next_batch(augment=False)
bsize = batch_data.shape[0]
print('Batch: %03d, batch size: %d'%(batch_idx, bsize))
# for the last batch in the epoch, the bsize:end are from last batch
cur_batch_data[0:bsize,...] = batch_data
cur_batch_label[0:bsize] = batch_label
batch_pred_sum = np.zeros((BATCH_SIZE, NUM_CLASSES)) # score for classes
for vote_idx in range(num_votes):
# Shuffle point order to achieve different farthest samplings
shuffled_indices = np.arange(NUM_POINT)
np.random.shuffle(shuffled_indices)
if FLAGS.normal:
rotated_data = provider.rotate_point_cloud_by_angle_with_normal(cur_batch_data[:, shuffled_indices, :],
vote_idx/float(num_votes) * np.pi * 2)
else:
rotated_data = provider.rotate_point_cloud_by_angle(cur_batch_data[:, shuffled_indices, :],
vote_idx/float(num_votes) * np.pi * 2)
feed_dict = {ops['pointclouds_pl']: rotated_data,
ops['labels_pl']: cur_batch_label,
ops['is_training_pl']: is_training}
loss_val, pred_val = sess.run([ops['loss'], ops['pred']], feed_dict=feed_dict)
#试试看能不能计算这个tensor-----我草成了，能跑能跑！！
# 下面两种形式都是可以跑的
#loss_val, pred_val,check_l3 = sess.run([ops['loss'], ops['pred'],ops['l3_feature']], feed_dict=feed_dict)
check_l3 = sess.run(l3_xyz,feed_dict = feed_dict)
print('check_l3 shape= ',check_l3.shape)
print('prediction = ', pred_val.shape)
batch_pred_sum += pred_val
pred_val = np.argmax(batch_pred_sum, 1)
correct = np.sum(pred_val[0:bsize] == batch_label[0:bsize])
total_correct += correct
total_seen += bsize
loss_sum += loss_val
batch_idx += 1
# print('pred_val = ',pred_val.shape)
# 一次会测试一个batch size 批次的mesh并给出预测结果.
for i in range(bsize):
l = batch_label[i]
total_seen_class[l] += 1
total_correct_class[l] += (pred_val[i] == l)
log_string('eval mean loss: %f' % (loss_sum / float(batch_idx)))
log_string('eval accuracy: %f'% (total_correct / float(total_seen)))
log_string('eval avg class acc: %f' % (np.mean(np.array(total_correct_class)/np.array(total_seen_class,dtype=np.float))))
class_accuracies = np.array(total_correct_class)/np.array(total_seen_class,dtype=np.float)
for i, name in enumerate(SHAPE_NAMES):
log_string('%10s:\t%0.3f' % (name, class_accuracies[i]))
'''
# my test
# Shuffle point order to achieve different farthest samplings
#
# 该位置写上自己定义的读取想要几个飞机图像的函数
cur_batch_data, cur_batch_label = chao.get_data()
#
shuffled_indices = np.arange(NUM_POINT)
np.random.shuffle(shuffled_indices)
rotated_data = provider.rotate_point_cloud_by_angle(
cur_batch_data[:, shuffled_indices, :], 1 / float(1) * np.pi * 2)
feed_dict = {
ops['pointclouds_pl']: rotated_data,
ops['labels_pl']: cur_batch_label,
ops['is_training_pl']: is_training
}
check_l3 = sess.run(l3_xyz, feed_dict=feed_dict)
loss_val, pred_val = sess.run([ops['loss'], ops['pred']],
feed_dict=feed_dict)
print('check_l3 shape= ', check_l3.shape)
pred_val = np.argmax(pred_val, 1)
my_correct = 0
for i in range(4):
l = cur_batch_label[i]
total_seen_class[l] += 1
my_correct += (pred_val[i] == l)
accuracies = my_correct / total_seen_class[0]
print("the classification accuracy is:", accuracies)
print("total_seen_class = ", total_seen_class[0])
print('total_correct_class', my_correct.shape)
chao.draw_pointcloud(cur_batch_data[0, ...])
chao.draw_pointcloud(cur_batch_data[1, ...])
chao.draw_pointcloud(cur_batch_data[2, ...])
chao.draw_pointcloud(cur_batch_data[3, ...])
# check the feature map difference
# between bed and plane
diff1 = sum(sum((check_l3[0, ...] - check_l3[3, ...])**2))
print('diff1 = ', diff1)
# between plane
diff2 = sum(sum((check_l3[0, ...] - check_l3[1, ...])**2))
print('diff2 = ', diff2)
def eval_one_epoch(sess, ops, num_votes=12, topk=1):
is_training = False
total_correct = 0
total_seen = 0
loss_sum = 0
current_data_1 = np.empty([3 * len(TEST_FILES), NUM_POINT, 3], dtype=float)
current_data_2 = np.empty([3 * len(TEST_FILES), NUM_POINT, 3], dtype=float)
current_label = np.empty([3 * len(TEST_FILES), 1], dtype=int)
fn = 0
count = 0
while fn < len(TEST_FILES) - 1:
total_current = []
a1, a2, _ = provider.loadDataFile_cut_2(TEST_FILES[fn])
idx = np.random.randint(a1.shape[0], size=NUM_POINT)
a1 = a1[idx, :]
idx = np.random.randint(a2.shape[0], size=NUM_POINT)
a2 = a2[idx, :]
total_current.append(a1)
total_current.append(a2)
fn = fn + 1
b1, b2, _ = provider.loadDataFile_cut_2(TEST_FILES[fn])
idx = np.random.randint(b1.shape[0], size=NUM_POINT)
b1 = b1[idx, :]
idx = np.random.randint(b2.shape[0], size=NUM_POINT)
b2 = b2[idx, :]
total_current.append(b1)
total_current.append(b2)
fn = fn + 1
pair_num = 0
for index in range(len(total_current)):
for index2 in range(index + 1, len(total_current)):
current_data_1[6 * count +
pair_num, :, :] = total_current[index]
current_data_2[6 * count +
pair_num, :, :] = total_current[index2]
if (index < 2) and (index2 >= 2):
current_label[6 * count + pair_num, :] = 0
else:
current_label[6 * count + pair_num, :] = 1
pair_num = pair_num + 1
count = count + 1
current_label = np.squeeze(current_label)
file_size = current_data_1.shape[0]
num_batches = file_size // BATCH_SIZE
log_string('file_size: %d' % (file_size))
log_string('num_batches: %d' % (num_batches))
for batch_idx in range(num_batches):
start_idx = batch_idx * BATCH_SIZE
end_idx = (batch_idx + 1) * BATCH_SIZE
cur_batch_size = end_idx - start_idx
log_string('batch: %d' % (batch_idx))
# Aggregating BEG
batch_loss_sum = 0 # sum of losses for the batch
batch_pred_sum = np.zeros(
(cur_batch_size, NUM_CLASSES)) # score for classes
# batch_pred_classes = np.zeros((cur_batch_size, NUM_CLASSES)) # 0/1 for classes
for vote_idx in range(num_votes):
rotated_data_1 = provider.rotate_point_cloud_by_angle(
current_data_1[start_idx:end_idx, :, :],
vote_idx / float(num_votes) * np.pi * 2)
rotated_data_2 = provider.rotate_point_cloud_by_angle(
current_data_2[start_idx:end_idx, :, :],
vote_idx / float(num_votes) * np.pi * 2)
feed_dict = {
ops['pointclouds_pl_1']: rotated_data_1,
ops['pointclouds_pl_2']: rotated_data_2,
ops['labels_pl']: current_label[start_idx:end_idx],
ops['is_training_pl']: is_training
}
loss_val, pred_val, _ = sess.run(
[ops['loss'], ops['pred'], ops['feature']],
feed_dict=feed_dict)
batch_pred_sum += pred_val
# batch_pred_val = np.argmax(pred_val, 1)
# for el_idx in range(cur_batch_size):
# batch_pred_classes[el_idx, batch_pred_val[el_idx]] += 1
batch_loss_sum += (loss_val * cur_batch_size / float(num_votes))
# pred_val_topk = np.argsort(batch_pred_sum, axis=-1)[:,-1*np.array(range(topk))-1]
# pred_val = np.argmax(batch_pred_classes, 1)
pred_val = np.argmax(batch_pred_sum, 1)
# Aggregating END
correct = np.sum(pred_val == current_label[start_idx:end_idx])
# correct = np.sum(pred_val_topk[:,0:topk] == label_val)
total_correct += correct
total_seen += cur_batch_size
loss_sum += batch_loss_sum
log_string('eval mean loss: %f' % (loss_sum / float(total_seen)))
log_string('eval accuracy: %f' % (total_correct / float(total_seen)))
bsize = batch_data.shape[0]
print('Batch: %03d, batch size: %d'%(batch_idx, bsize))
# for the last batch in the epoch, the bsize:end are from last batch
cur_batch_data[0:bsize,...] = batch_data
cur_batch_label[0:bsize] = batch_label
batch_pred_sum = np.zeros((BATCH_SIZE, NUM_CLASSES)) # score for classes
for vote_idx in range(num_votes):
# Shuffle point order to achieve different farthest samplings
shuffled_indices = np.arange(NUM_POINT)
np.random.shuffle(shuffled_indices)
if FLAGS.normal:
rotated_data = provider.rotate_point_cloud_by_angle_with_normal(cur_batch_data[:, shuffled_indices, :],
vote_idx/float(num_votes) * np.pi * 2)
else:
rotated_data = provider.rotate_point_cloud_by_angle(cur_batch_data[:, shuffled_indices, :],
vote_idx/float(num_votes) * np.pi * 2)
is_training = False
#feed_dict = {input: rotated_data,input_1: cur_batch_label,input_2: is_training}
pred_val = sess.run(output, feed_dict={input:cur_batch_data[:, shuffled_indices, :],input_2:is_training})
print(pred_val)
class_accuracies = np.array(total_correct_class)/np.array(total_seen_class,dtype=np.float)
for i, name in enumerate(SHAPE_NAMES):
log_string('%10s:\t%0.3f' % (name, class_accuracies[i]))
# 输出 26
def eval_one_epoch(sess, ops, num_votes=1, topk=1):
error_cnt = 0
is_training = False
total_correct = 0
total_seen = 0
loss_sum = 0
total_seen_class = [0 for _ in range(NUM_C)]
total_correct_class = [0 for _ in range(NUM_C)]
fout = open(os.path.join(DUMP_DIR, 'pred_label.txt'), 'w')
if (".h5" in TEST_FILE):
current_data, current_label = data_utils.get_current_data_h5(
TEST_DATA, TEST_LABELS, NUM_POINT)
else:
current_data, current_label = data_utils.get_current_data(
TEST_DATA, TEST_LABELS, NUM_POINT)
current_label = np.squeeze(current_label)
####################################################
print(current_data.shape)
print(current_label.shape)
filtered_data = []
filtered_label = []
for i in range(current_label.shape[0]):
if (current_label[i] in OBJECTDATASET_TO_MODELNET.keys()):
filtered_label.append(current_label[i])
filtered_data.append(current_data[i, :])
filtered_data = np.array(filtered_data)
filtered_label = np.array(filtered_label)
print(filtered_data.shape)
print(filtered_label.shape)
current_data = filtered_data
current_label = filtered_label
###################################################
num_batches = current_data.shape[0] // BATCH_SIZE
current_pred = []
for batch_idx in range(num_batches):
start_idx = batch_idx * BATCH_SIZE
end_idx = (batch_idx + 1) * BATCH_SIZE
cur_batch_size = end_idx - start_idx
# Aggregating BEG
batch_loss_sum = 0 # sum of losses for the batch
batch_pred_sum = np.zeros((cur_batch_size, 40)) # score for classes
batch_pred_classes = np.zeros((cur_batch_size, 40)) # 0/1 for classes
for vote_idx in range(num_votes):
rotated_data = provider.rotate_point_cloud_by_angle(
current_data[start_idx:end_idx, :, :],
vote_idx / float(num_votes) * np.pi * 2)
feed_dict = {
ops['pointclouds_pl']: rotated_data,
ops['labels_pl']: current_label[start_idx:end_idx],
ops['is_training_pl']: is_training
}
loss_val, pred_val = sess.run([ops['loss'], ops['pred']],
feed_dict=feed_dict)
batch_pred_sum += pred_val
batch_pred_val = np.argmax(pred_val, 1)
for el_idx in range(cur_batch_size):
batch_pred_classes[el_idx, batch_pred_val[el_idx]] += 1
batch_loss_sum += (loss_val * cur_batch_size / float(num_votes))
# pred_val_topk = np.argsort(batch_pred_sum, axis=-1)[:,-1*np.array(range(topk))-1]
# pred_val = np.argmax(batch_pred_classes, 1)
pred_val = np.argmax(batch_pred_sum, 1)
# Aggregating END
for i in range(start_idx, end_idx):
total_seen += 1
if (pred_val[i - start_idx]
not in MODELNET_TO_OBJECTDATASET.keys()):
continue
pred = MODELNET_TO_OBJECTDATASET[pred_val[i - start_idx]]
# if (pred_val[i-start_idx] == current_label[i]):
if (pred == current_label[i]):
total_correct += 1
for i in range(start_idx, end_idx):
l = current_label[i]
total_seen_class[l] += 1
if pred_val[i - start_idx] not in MODELNET_TO_OBJECTDATASET:
pred_label = "NA"
else:
pred = MODELNET_TO_OBJECTDATASET[pred_val[i - start_idx]]
total_correct_class[l] += (pred == l)
pred_label = SHAPE_NAMES[pred]
# groundtruth_label = SHAPE_NAMES[MODELNET_TO_OBJECTDATASET[l]]
groundtruth_label = SHAPE_NAMES[l]
fout.write('%s, %s\n' % (pred_label, groundtruth_label))
log_string('total seen: %d' % (total_seen))
# log_string('eval mean loss: %f' % (loss_sum / float(total_seen)))
log_string('eval accuracy: %f' % (total_correct / float(total_seen)))
seen_class_accuracies = []
seen_correct_class = []
for i in range(len(total_seen_class)):
if total_seen_class[i] != 0:
seen_class_accuracies.append(total_seen_class[i])
seen_correct_class.append(total_correct_class[i])
log_string('eval avg class acc: %f' % (np.mean(
np.array(seen_correct_class) /
np.array(seen_class_accuracies, dtype=np.float))))
for i, name in enumerate(SHAPE_NAMES):
if (total_seen_class[i] == 0):
accuracy = -1
else:
accuracy = total_correct_class[i] / float(total_seen_class[i])
log_string('%10s:\t%0.3f' % (name, accuracy))
def eval_one_epoch(config, sess, ops, epoch=0):
is_training = False
num_votes = config.num_votes
total_seen = 0
loss_sum = 0
predictions = []
labels = []
all = 0
for fn in range(len(TEST_FILES)):
current_data, current_label = provider.loadDataFile(TEST_FILES[fn])
current_data = current_data[:, 0:config.num_points, :]
current_label = np.squeeze(current_label)
file_size = current_data.shape[0]
num_batches = file_size // config.batch_size + 1
for batch_idx in range(num_batches):
start_idx = batch_idx * config.batch_size
end_idx = (batch_idx + 1) * config.batch_size
cur_batch_size = min(end_idx - start_idx,
config.batch_size - end_idx + file_size)
if cur_batch_size < config.batch_size:
placeholder_data = np.zeros(
([config.batch_size] + (list(current_data.shape))[1:]))
placeholder_data[0:cur_batch_size, :, :] = current_data[
start_idx:end_idx, :, :]
placeholder_labels = np.zeros((config.batch_size))
placeholder_labels[0:cur_batch_size] = current_label[
start_idx:end_idx]
batch_labels = placeholder_labels
batch_data = placeholder_data
else:
batch_data = current_data[start_idx:end_idx, :, :]
batch_labels = current_label[start_idx:end_idx]
# Aggregating BEG
batch_loss_sum = 0 # sum of losses for the batch
batch_pred_sum = np.zeros(
(config.batch_size, config.num_classes)) # score for classes
for vote_idx in range(num_votes):
rotated_data = provider.rotate_point_cloud_by_angle(
batch_data, vote_idx / float(num_votes) * np.pi * 2)
feed_dict = {
ops['pointclouds_pl']: rotated_data,
ops['labels_pl']: batch_labels,
ops['is_training_pl']: is_training
}
loss_val, pred_val = sess.run([ops['loss'], ops['pred']],
feed_dict=feed_dict)
batch_pred_sum += pred_val
batch_loss_sum += (loss_val * cur_batch_size /
float(num_votes))
pred_val = np.argmax(batch_pred_sum, 1)
predictions += pred_val.tolist()[0:cur_batch_size]
labels += current_label[start_idx:end_idx].tolist()
total_seen += cur_batch_size
loss_sum += batch_loss_sum
loss = loss_sum / float(total_seen)
acc = sum([
1 if predictions[i] == labels[i] else 0
for i in range(len(predictions))
]) / float(len(predictions))
log(
config.log_file,
'EVALUATION EPOCH {} - accuracy: {} loss: {}'.format(
epoch, acc, loss))
if config.test:
import Evaluation_tools as et
eval_file = os.path.join(config.log_dir, '{}.txt'.format(config.name))
et.write_eval_file(config.data, eval_file, predictions, labels,
config.name)
et.make_matrix(config.data, eval_file, config.log_dir)
else:
LOSS_LOGGER.log(loss, epoch, "eval_loss")
ACC_LOGGER.log(acc, epoch, "eval_accuracy")
def eval_one_epoch(sess, ops, num_votes=1, topk=1):
error_cnt = 0
is_training = False
total_correct = 0
total_seen = 0
loss_sum = 0
total_seen_class = [0 for _ in range(NUM_CLASSES)]
total_correct_class = [0 for _ in range(NUM_CLASSES)]
fout = open(os.path.join(DUMP_DIR, 'pred_label.txt'), 'w')
if (".h5" in TEST_FILE):
current_data, current_label = data_utils.get_current_data_h5(
TEST_DATA, TEST_LABELS, NUM_POINT)
else:
current_data, current_label = data_utils.get_current_data(
TEST_DATA, TEST_LABELS, NUM_POINT)
current_label = np.squeeze(current_label)
num_batches = current_data.shape[0] // BATCH_SIZE
for batch_idx in range(num_batches):
start_idx = batch_idx * BATCH_SIZE
end_idx = (batch_idx + 1) * BATCH_SIZE
cur_batch_size = end_idx - start_idx
# Aggregating BEG
batch_loss_sum = 0 # sum of losses for the batch
batch_pred_sum = np.zeros(
(cur_batch_size, NUM_CLASSES)) # score for classes
batch_pred_classes = np.zeros(
(cur_batch_size, NUM_CLASSES)) # 0/1 for classes
for vote_idx in range(num_votes):
rotated_data = provider.rotate_point_cloud_by_angle(
current_data[start_idx:end_idx, :, :],
vote_idx / float(num_votes) * np.pi * 2)
feed_dict = {
ops['pointclouds_pl']: rotated_data,
ops['labels_pl']: current_label[start_idx:end_idx],
ops['is_training_pl']: is_training
}
loss_val, pred_val = sess.run([ops['loss'], ops['pred']],
feed_dict=feed_dict)
batch_pred_sum += pred_val
batch_pred_val = np.argmax(pred_val, 1)
for el_idx in range(cur_batch_size):
batch_pred_classes[el_idx, batch_pred_val[el_idx]] += 1
batch_loss_sum += (loss_val * cur_batch_size / float(num_votes))
# pred_val_topk = np.argsort(batch_pred_sum, axis=-1)[:,-1*np.array(range(topk))-1]
# pred_val = np.argmax(batch_pred_classes, 1)
pred_val = np.argmax(batch_pred_sum, 1)
# Aggregating END
correct = np.sum(pred_val == current_label[start_idx:end_idx])
# correct = np.sum(pred_val_topk[:,0:topk] == label_val)
total_correct += correct
total_seen += cur_batch_size
loss_sum += batch_loss_sum
for i in range(start_idx, end_idx):
l = current_label[i]
total_seen_class[l] += 1
total_correct_class[l] += (pred_val[i - start_idx] == l)
fout.write('%s, %s\n' %
(SHAPE_NAMES[pred_val[i - start_idx]], SHAPE_NAMES[l]))
if pred_val[i -
start_idx] != l and FLAGS.visu: # ERROR CASE, DUMP!
img_filename = '%d_label_%s_pred_%s.jpg' % (
error_cnt, SHAPE_NAMES[l],
SHAPE_NAMES[pred_val[i - start_idx]])
img_filename = os.path.join(DUMP_DIR, img_filename)
output_img = pc_util.point_cloud_three_views(
np.squeeze(current_data[i, :, :]))
scipy.misc.imsave(img_filename, output_img)
#save ply
ply_filename = '%d_label_%s_pred_%s.ply' % (
error_cnt, SHAPE_NAMES[l],
SHAPE_NAMES[pred_val[i - start_idx]])
ply_filename = os.path.join(DUMP_DIR, ply_filename)
data_utils.save_ply(np.squeeze(current_data[i, :, :]),
ply_filename)
error_cnt += 1
log_string('total seen: %d' % (total_seen))
log_string('eval mean loss: %f' % (loss_sum / float(total_seen)))
log_string('eval accuracy: %f' % (total_correct / float(total_seen)))
log_string('eval avg class acc: %f' % (np.mean(
np.array(total_correct_class) /
np.array(total_seen_class, dtype=np.float))))
class_accuracies = np.array(total_correct_class) / np.array(
total_seen_class, dtype=np.float)
for i, name in enumerate(SHAPE_NAMES):
log_string('%10s:\t%0.3f' % (name, class_accuracies[i]))
def eval_one_epoch(sess, ops, num_votes=1, topk=1):
error_cnt = 0
is_training = False
total_correct = 0
total_seen = 0
loss_sum = 0
total_seen_class = [0 for _ in range(NUM_CLASSES)]
total_correct_class = [0 for _ in range(NUM_CLASSES)]
fout = open(os.path.join(DUMP_DIR, 'pred_label.txt'), 'w')
# data_utils.shuffle_points(TEST_DATA)
# current_data, current_label = data_utils.get_current_data(TEST_DATA, TEST_LABELS, NUM_POINT)
# current_data, current_label = data_utils.get_current_data_h5(TEST_DATA, TEST_LABELS, NUM_POINT)
if (".h5" in TEST_FILE):
current_data, current_label = data_utils.get_current_data_h5(
TEST_DATA, TEST_LABELS, NUM_POINT)
else:
current_data, current_label = data_utils.get_current_data(
TEST_DATA, TEST_LABELS, NUM_POINT)
current_label = np.squeeze(current_label)
####################################################
print(current_data.shape)
print(current_label.shape)
filtered_data = []
filtered_label = []
for i in range(current_label.shape[0]):
if (current_label[i] in OBJECTDATASET_TO_MODELNET.keys()):
filtered_label.append(current_label[i])
filtered_data.append(current_data[i, :])
filtered_data = np.array(filtered_data)
filtered_label = np.array(filtered_label)
print(filtered_data.shape)
print(filtered_label.shape)
current_data = filtered_data
current_label = filtered_label
###################################################
num_batches = current_data.shape[0] // BATCH_SIZE
for batch_idx in range(num_batches):
start_idx = batch_idx * BATCH_SIZE
end_idx = (batch_idx + 1) * BATCH_SIZE
cur_batch_size = end_idx - start_idx
# Aggregating BEG
batch_loss_sum = 0 # sum of losses for the batch
batch_pred_sum = np.zeros((cur_batch_size, 40)) # score for classes
batch_pred_classes = np.zeros((cur_batch_size, 40)) # 0/1 for classes
for vote_idx in range(num_votes):
rotated_data = provider.rotate_point_cloud_by_angle(
current_data[start_idx:end_idx, :, :],
vote_idx / float(num_votes) * np.pi * 2)
xforms_np, rotations_np = pf.get_xforms(
BATCH_SIZE,
rotation_range=rotation_range_val,
scaling_range=scaling_range_val,
order=setting.rotation_order)
# Augment batched point clouds by rotation and jittering
feed_dict = {
ops['pointclouds_pl']: rotated_data,
ops['labels_pl']: current_label[start_idx:end_idx],
ops['is_training_pl']: is_training,
ops['xforms']: xforms_np,
ops['rotations']: rotations_np,
ops['jitter_range']: np.array([jitter_val])
}
loss_val, pred_val = sess.run([ops['loss'], ops['pred']],
feed_dict=feed_dict)
pred_val = np.sum(pred_val, axis=1)
# pred_val = np.argmax(pred_val, 1)
batch_pred_sum += pred_val
batch_pred_val = np.argmax(pred_val, 1)
for el_idx in range(cur_batch_size):
batch_pred_classes[el_idx, batch_pred_val[el_idx]] += 1
batch_loss_sum += (loss_val * cur_batch_size / float(num_votes))
# pred_val_topk = np.argsort(batch_pred_sum, axis=-1)[:,-1*np.array(range(topk))-1]
# pred_val = np.argmax(batch_pred_classes, 1)
pred_val = np.argmax(batch_pred_sum, 1)
# Aggregating END
for i in range(start_idx, end_idx):
total_seen += 1
if (pred_val[i - start_idx]
not in MODELNET_TO_OBJECTDATASET.keys()):
continue
pred = MODELNET_TO_OBJECTDATASET[pred_val[i - start_idx]]
# if (pred_val[i-start_idx] == current_label[i]):
if (pred == current_label[i]):
total_correct += 1
for i in range(start_idx, end_idx):
l = current_label[i]
total_seen_class[l] += 1
if pred_val[i - start_idx] not in MODELNET_TO_OBJECTDATASET:
pred_label = "NA"
else:
pred = MODELNET_TO_OBJECTDATASET[pred_val[i - start_idx]]
total_correct_class[l] += (pred == l)
pred_label = SHAPE_NAMES[pred]
# groundtruth_label = SHAPE_NAMES[MODELNET_TO_OBJECTDATASET[l]]
groundtruth_label = SHAPE_NAMES[l]
fout.write('%s, %s\n' % (pred_label, groundtruth_label))
if pred_val[i -
start_idx] != l and FLAGS.visu: # ERROR CASE, DUMP!
img_filename = '%d_label_%s_pred_%s.jpg' % (
error_cnt, groundtruth_label, pred_label)
img_filename = os.path.join(DUMP_DIR, img_filename)
output_img = pc_util.point_cloud_three_views(
np.squeeze(current_data[i, :, :]))
scipy.misc.imsave(img_filename, output_img)
#save ply
ply_filename = '%d_label_%s_pred_%s.ply' % (
error_cnt, groundtruth_label, pred_label)
data_utils.save_ply(np.squeeze(current_data[i, :, :]),
ply_filename)
error_cnt += 1
log_string('total seen: %d' % (total_seen))
# log_string('eval mean loss: %f' % (loss_sum / float(total_seen)))
log_string('eval accuracy: %f' % (total_correct / float(total_seen)))
seen_class_accuracies = []
seen_correct_class = []
for i in range(len(total_seen_class)):
if total_seen_class[i] != 0:
seen_class_accuracies.append(total_seen_class[i])
seen_correct_class.append(total_correct_class[i])
log_string('eval avg class acc: %f' % (np.mean(
np.array(seen_correct_class) /
np.array(seen_class_accuracies, dtype=np.float))))
for i, name in enumerate(SHAPE_NAMES):
if (total_seen_class[i] == 0):
accuracy = -1
else:
accuracy = total_correct_class[i] / float(total_seen_class[i])
log_string('%10s:\t%0.3f' % (name, accuracy))
def eval_one_epoch(sess, ops, num_votes=1, topk=1):
error_cnt = 0
is_training = False
total_correct = 0
total_seen = 0
loss_sum = 0
total_correct_seg = 0
classify_loss_sum = 0
seg_loss_sum = 0
total_seen_class = [0 for _ in range(NUM_CLASSES)]
total_correct_class = [0 for _ in range(NUM_CLASSES)]
fout = open(os.path.join(DUMP_DIR, 'pred_label.txt'), 'w')
current_data, current_label, current_mask = data_utils.get_current_data_withmask_h5(
TEST_DATA, TEST_LABELS, TEST_MASKS, NUM_POINT)
current_label = np.squeeze(current_label)
current_mask = np.squeeze(current_mask)
num_batches = current_data.shape[0] // BATCH_SIZE
for batch_idx in range(num_batches):
start_idx = batch_idx * BATCH_SIZE
end_idx = (batch_idx + 1) * BATCH_SIZE
cur_batch_size = end_idx - start_idx
# Aggregating BEG
batch_loss_sum = 0 # sum of losses for the batch
batch_pred_sum = np.zeros(
(cur_batch_size, NUM_CLASSES)) # score for classes
batch_seg_sum = np.zeros(
(cur_batch_size, NUM_POINT, 2)) # score for classes
batch_pred_classes = np.zeros(
(cur_batch_size, NUM_CLASSES)) # 0/1 for classes
for vote_idx in range(num_votes):
rotated_data = provider.rotate_point_cloud_by_angle(
current_data[start_idx:end_idx, :, :],
vote_idx / float(num_votes) * np.pi * 2)
xforms_np, rotations_np = pf.get_xforms(
BATCH_SIZE,
rotation_range=rotation_range_val,
scaling_range=scaling_range_val,
order=setting.rotation_order)
# Augment batched point clouds by rotation and jittering
feed_dict = {
ops['pointclouds_pl']: rotated_data,
ops['labels_pl']: current_label[start_idx:end_idx],
ops['masks_pl']: current_mask[start_idx:end_idx],
ops['is_training_pl']: is_training,
ops['xforms']: xforms_np,
ops['rotations']: rotations_np,
ops['jitter_range']: np.array([jitter_val])
}
loss_val, pred_val, seg_val, classify_loss, seg_loss = sess.run(
[
ops['loss'], ops['pred'], ops['seg_pred'],
ops['classify_loss'], ops['seg_loss']
],
feed_dict=feed_dict)
pred_val = np.sum(pred_val, axis=1)
# pred_val = np.argmax(pred_val, 1)
batch_pred_sum += pred_val
batch_seg_sum += seg_val
batch_pred_val = np.argmax(pred_val, 1)
for el_idx in range(cur_batch_size):
batch_pred_classes[el_idx, batch_pred_val[el_idx]] += 1
batch_loss_sum += (loss_val * cur_batch_size / float(num_votes))
# pred_val_topk = np.argsort(batch_pred_sum, axis=-1)[:,-1*np.array(range(topk))-1]
# pred_val = np.argmax(batch_pred_classes, 1)
pred_val = np.argmax(batch_pred_sum, 1)
# Aggregating END
correct = np.sum(pred_val == current_label[start_idx:end_idx])
seg_val = np.argmax(batch_seg_sum, 2)
seg_correct = np.sum(seg_val == current_mask[start_idx:end_idx])
total_correct_seg += seg_correct
# correct = np.sum(pred_val_topk[:,0:topk] == label_val)
total_correct += correct
total_seen += cur_batch_size
loss_sum += batch_loss_sum
for i in range(start_idx, end_idx):
l = current_label[i]
total_seen_class[l] += 1
total_correct_class[l] += (pred_val[i - start_idx] == l)
fout.write('%s, %s\n' %
(SHAPE_NAMES[pred_val[i - start_idx]], SHAPE_NAMES[l]))
gt_mask = current_mask[i]
pred_mask = seg_val[i - start_idx]
pred_mask_idx = np.where(pred_mask == 1)[0]
gt_mask_idx = np.where(gt_mask == 1)[0]
correct_obj_mask = np.where((pred_mask == gt_mask)
& (pred_mask == 1))[0]
if (len(correct_obj_mask) == 1):
continue
if (i % 20 == 0 and FLAGS.visu_mask):
###1)
img_filename = '%d_label_%s_pred_%s_gtmask.jpg' % (
i, SHAPE_NAMES[l], SHAPE_NAMES[pred_val[i - start_idx]])
img_filename = os.path.join(DUMP_DIR, img_filename)
output_img = pc_util.point_cloud_three_views(
np.squeeze(current_data[i, gt_mask_idx, :]))
scipy.misc.imsave(img_filename, output_img)
#save ply
ply_filename = '%d_label_%s_pred_%s_gtmask.ply' % (
i, SHAPE_NAMES[l], SHAPE_NAMES[pred_val[i - start_idx]])
ply_filename = os.path.join(DUMP_DIR, ply_filename)
data_utils.save_ply(
np.squeeze(current_data[i, gt_mask_idx, :]), ply_filename)
###2)
img_filename = '%d_label_%s_pred_%s_predmask.jpg' % (
i, SHAPE_NAMES[l], SHAPE_NAMES[pred_val[i - start_idx]])
img_filename = os.path.join(DUMP_DIR, img_filename)
output_img = pc_util.point_cloud_three_views(
np.squeeze(current_data[i, pred_mask_idx, :]))
scipy.misc.imsave(img_filename, output_img)
#save ply
ply_filename = '%d_label_%s_pred_%s_predmask.ply' % (
i, SHAPE_NAMES[l], SHAPE_NAMES[pred_val[i - start_idx]])
ply_filename = os.path.join(DUMP_DIR, ply_filename)
data_utils.save_ply(
np.squeeze(current_data[i, pred_mask_idx, :]),
ply_filename)
###3)
img_filename = '%d_label_%s_pred_%s_correctpredmask.jpg' % (
i, SHAPE_NAMES[l], SHAPE_NAMES[pred_val[i - start_idx]])
img_filename = os.path.join(DUMP_DIR, img_filename)
output_img = pc_util.point_cloud_three_views(
np.squeeze(current_data[i, correct_obj_mask, :]))
scipy.misc.imsave(img_filename, output_img)
#save ply
ply_filename = '%d_label_%s_pred_%s_correctpredmask.ply' % (
i, SHAPE_NAMES[l], SHAPE_NAMES[pred_val[i - start_idx]])
ply_filename = os.path.join(DUMP_DIR, ply_filename)
data_utils.save_ply(
np.squeeze(current_data[i, correct_obj_mask, :]),
ply_filename)
if pred_val[i -
start_idx] != l and FLAGS.visu: # ERROR CASE, DUMP!
img_filename = '%d_label_%s_pred_%s.jpg' % (
error_cnt, SHAPE_NAMES[l],
SHAPE_NAMES[pred_val[i - start_idx]])
img_filename = os.path.join(DUMP_DIR, img_filename)
output_img = pc_util.point_cloud_three_views(
np.squeeze(current_data[i, :, :]))
scipy.misc.imsave(img_filename, output_img)
#save ply
ply_filename = '%d_label_%s_pred_%s.ply' % (
error_cnt, SHAPE_NAMES[l],
SHAPE_NAMES[pred_val[i - start_idx]])
data_utils.save_ply(np.squeeze(current_data[i, :, :]),
ply_filename)
error_cnt += 1
log_string('total seen: %d' % (total_seen))
log_string('eval mean loss: %f' % (loss_sum / float(total_seen)))
log_string('eval accuracy: %f' % (total_correct / float(total_seen)))
log_string('eval avg class acc: %f' % (np.mean(
np.array(total_correct_class) /
np.array(total_seen_class, dtype=np.float))))
log_string('seg accuracy: %f' % (total_correct_seg /
(float(total_seen) * NUM_POINT)))
class_accuracies = np.array(total_correct_class) / np.array(
total_seen_class, dtype=np.float)
for i, name in enumerate(SHAPE_NAMES):
log_string('%10s:\t%0.3f' % (name, class_accuracies[i]))
def eval_one_epoch(sess, ops, num_votes=1, topk=1):
error_cnt = 0
is_training = False
total_correct = 0
total_seen = 0
loss_sum = 0
total_seen_class = [0 for _ in range(NUM_CLASSES)]
total_correct_class = [0 for _ in range(NUM_CLASSES)]
fout = open(os.path.join(DUMP_DIR, 'pred_label.txt'), 'w')
for fn in range(len(TEST_FILES)):
log_string('----' + str(fn) + '----')
current_data, current_label = provider.loadDataFile(TEST_FILES[fn])
current_data = current_data[:, 0:NUM_POINT, :]
current_label = np.squeeze(current_label)
file_size = current_data.shape[0]
print(file_size)
# set by wind:
# my code is based on batch_size = 1
# set batch_size = 1 for this file
for batch_idx in range(file_size):
start_idx = batch_idx
end_idx = batch_idx + 1
cur_batch_size = 1
#-------------------------------------------------------------------
# get critical points
#-------------------------------------------------------------------
no_influence_position = current_data[start_idx, 0, :].copy()
global_feature_list = []
orgin_data = current_data[start_idx, :, :].copy()
for change_point in range(NUM_POINT):
current_data[start_idx,
change_point, :] = no_influence_position.copy()
for change_point in range(NUM_POINT):
current_data[start_idx, change_point, :] = orgin_data[
change_point, :].copy()
# Aggregating BEG
for vote_idx in range(num_votes):
rotated_data = provider.rotate_point_cloud_by_angle(
current_data[start_idx:end_idx, :, :],
vote_idx / float(num_votes) * np.pi * 2)
feed_dict = {
ops['pointclouds_pl']: rotated_data,
ops['labels_pl']: current_label[start_idx:end_idx],
ops['is_training_pl']: is_training
}
global_feature_val = sess.run(ops['global_feature'],
feed_dict=feed_dict)
global_feature_list.append(global_feature_val)
critical_points = []
max_feature = np.zeros(global_feature_list[0].size) - 10
feature_points = np.zeros(global_feature_list[0].size)
for index in range(len(global_feature_list)):
#distance = math.sqrt(((global_feature_list[index] - global_feature_list[-1]) ** 2).sum())
#distance_list.append(distance)
top = global_feature_list[index]
feature_points = np.where(top > max_feature, index,
feature_points)
max_feature = np.where(top > max_feature, top, max_feature)
for index in feature_points[0]:
critical_points.append(orgin_data[int(index), :])
critical_points = list(set([tuple(t) for t in critical_points]))
print(len(critical_points))
img_filename = './test/%d_critical_points.jpg' % (start_idx)
output_img = pc_util.point_cloud_three_views(
np.squeeze(critical_points))
scipy.misc.imsave(img_filename, output_img)
img_filename = './test/%d_orgin_points.jpg' % (start_idx)
output_img = pc_util.point_cloud_three_views(
np.squeeze(orgin_data))
scipy.misc.imsave(img_filename, output_img)
#-------------------------------------------------------------------
# get upper-bound points
#-------------------------------------------------------------------
upper_bound_points = np.empty_like(orgin_data.shape)
upper_bound_points = orgin_data.copy()
current_data[start_idx, :, :] = orgin_data.copy()
search_step = 0.02
stand_feature = np.empty_like(global_feature_list[-1].shape)
max_position = [-1, -1, -1]
min_position = [1, 1, 1]
for point_index in range(NUM_POINT):
max_position = np.maximum(
max_position, current_data[start_idx, point_index, :])
min_position = np.minimum(
min_position, current_data[start_idx, point_index, :])
print(max_position)
print(min_position)
for vote_idx in range(num_votes):
rotated_data = provider.rotate_point_cloud_by_angle(
current_data[start_idx:end_idx, :, :],
vote_idx / float(num_votes) * np.pi * 2)
feed_dict = {
ops['pointclouds_pl']: rotated_data,
ops['labels_pl']: current_label[start_idx:end_idx],
ops['is_training_pl']: is_training
}
global_feature_val = sess.run(ops['global_feature'],
feed_dict=feed_dict)
stand_feature = global_feature_val.copy()
change_point = 0
current_data[start_idx, :, :] = orgin_data.copy()
for point_index in range(NUM_POINT):
if not (point_index in feature_points[0]):
change_point = point_index
break
for x in np.linspace(
min_position[0], max_position[0],
(max_position[0] - min_position[0]) // search_step + 1):
for y in np.linspace(
min_position[1], max_position[1],
(max_position[1] - min_position[1]) // search_step + 1):
for z in np.linspace(
min_position[2], max_position[2],
(max_position[2] - min_position[2]) // search_step +
1):
current_data[start_idx,
change_point, :] = (x, y, z
) #+ orgin_position
# Aggregating BEG
for vote_idx in range(num_votes):
rotated_data = provider.rotate_point_cloud_by_angle(
current_data[start_idx:end_idx, :, :],
vote_idx / float(num_votes) * np.pi * 2)
feed_dict = {
ops['pointclouds_pl']: rotated_data,
ops['labels_pl']:
current_label[start_idx:end_idx],
ops['is_training_pl']: is_training
}
global_feature_val = sess.run(
ops['global_feature'], feed_dict=feed_dict)
if (global_feature_val <= stand_feature).all():
upper_bound_points = np.append(
upper_bound_points,
np.array([[x, y, z]]),
axis=0)
print(x)
img_filename = './test/%d_upper_bound_points.jpg' % (start_idx)
output_img = pc_util.point_cloud_three_views(
np.squeeze(upper_bound_points))
scipy.misc.imsave(img_filename, output_img)
current_data[start_idx, :, :] = orgin_data.copy()
def evaluate(num_votes):
is_training = False
num_drop, num_steps = FLAGS.num_drop, FLAGS.num_steps
attack = RandomDrop(num_drop, num_steps)
# Add ops to save and restore all the variables.
saver = tf.train.Saver()
# Create a session
config = tf.ConfigProto()
config.gpu_options.allow_growth = True
config.allow_soft_placement = True
config.log_device_placement = True
sess = tf.Session(config=config)
# Restore variables from disk.
saver.restore(sess, MODEL_PATH)
log_string("Model restored.")
## ops built on attributes defined in attack
ops = {
'pointclouds_pl': attack.pointclouds_pl,
'labels_pl': attack.labels_pl,
'is_training_pl': attack.is_training_pl,
'pred': attack.pred,
'loss': attack.classify_loss
}
NUM_POINT = FLAGS.num_point
NUM_POINT_ADV = NUM_POINT - num_drop * num_steps
error_cnt = 0
is_training = False
total_correct = 0
total_seen = 0
loss_sum = 0
total_seen_class = [0 for _ in range(NUM_CLASSES)]
total_correct_class = [0 for _ in range(NUM_CLASSES)]
fout = open(os.path.join(DUMP_DIR, 'pred_label.txt'), 'w')
for fn in range(len(TEST_FILES)):
log_string('----' + str(fn) + '----')
current_data, current_label = provider.loadDataFile(TEST_FILES[fn])
current_data = current_data[:, 0:NUM_POINT, :]
current_label = np.squeeze(current_label)
print(current_data.shape)
file_size = current_data.shape[0]
num_batches = file_size // BATCH_SIZE
print(file_size)
for batch_idx in range(num_batches):
start_idx = batch_idx * BATCH_SIZE
end_idx = (batch_idx + 1) * BATCH_SIZE
cur_batch_size = end_idx - start_idx
# Aggregating BEG
batch_loss_sum = 0 # sum of losses for the batch
batch_pred_sum = np.zeros(
(cur_batch_size, NUM_CLASSES)) # score for classes
batch_pred_classes = np.zeros(
(cur_batch_size, NUM_CLASSES)) # 0/1 for classes
## Produce adversarial samples
cur_batch_data_adv = attack.drop_points(
current_data[start_idx:end_idx, :, :],
current_label[start_idx:end_idx], sess)
## Natural data
for vote_idx in range(num_votes):
rotated_data = provider.rotate_point_cloud_by_angle(
current_data[start_idx:end_idx, :, :],
vote_idx / float(num_votes) * np.pi * 2)
feed_dict = {
ops['pointclouds_pl']: rotated_data,
ops['labels_pl']: current_label[start_idx:end_idx],
ops['is_training_pl']: is_training
}
loss_val, pred_val = sess.run([ops['loss'], ops['pred']],
feed_dict=feed_dict)
batch_pred_sum += pred_val
batch_pred_val = np.argmax(pred_val, 1)
for el_idx in range(cur_batch_size):
batch_pred_classes[el_idx, batch_pred_val[el_idx]] += 1
batch_loss_sum += (loss_val * cur_batch_size /
float(num_votes))
pred_val = np.argmax(batch_pred_sum, 1)
## Adversarial data
batch_loss_sum_adv = 0 # sum of losses for the batch
batch_pred_sum_adv = np.zeros(
(cur_batch_size, NUM_CLASSES)) # score for classes
batch_pred_classes_adv = np.zeros(
(cur_batch_size, NUM_CLASSES)) # 0/1 for classes
for vote_idx in range(num_votes):
rotated_data = provider.rotate_point_cloud_by_angle(
cur_batch_data_adv,
vote_idx / float(num_votes) * np.pi * 2)
feed_dict = {
ops['pointclouds_pl']: rotated_data,
ops['labels_pl']: current_label[start_idx:end_idx],
ops['is_training_pl']: is_training
}
loss_val_adv, pred_val_adv = sess.run(
[ops['loss'], ops['pred']], feed_dict=feed_dict)
batch_pred_sum_adv += pred_val_adv
batch_pred_val_adv = np.argmax(pred_val_adv, 1)
for el_idx in range(cur_batch_size):
batch_pred_classes_adv[el_idx,
batch_pred_val_adv[el_idx]] += 1
batch_loss_sum_adv += (loss_val_adv * cur_batch_size /
float(num_votes))
pred_val_adv = np.argmax(batch_pred_sum_adv, 1)
attack.plot_natural_and_advsarial_samples_all_situation(
current_data[start_idx:end_idx, :, :], cur_batch_data_adv,
current_label[start_idx:end_idx], pred_val, pred_val_adv)
correct = np.sum(pred_val_adv == current_label[start_idx:end_idx])
# correct = np.sum(pred_val_topk[:,0:topk] == label_val)
total_correct += correct
total_seen += cur_batch_size
loss_sum += batch_loss_sum_adv
for i in range(start_idx, end_idx):
l = current_label[i]
total_seen_class[l] += 1
total_correct_class[l] += (pred_val_adv[i - start_idx] == l)
fout.write('%d, %d\n' % (pred_val_adv[i - start_idx], l))
# if pred_val[i-start_idx] != l and FLAGS.visu: # ERROR CASE, DUMP!
# img_filename = '%d_label_%s_pred_%s.jpg' % (error_cnt, SHAPE_NAMES[l],
# SHAPE_NAMES[pred_val[i-start_idx]])
# img_filename = os.path.join(DUMP_DIR, img_filename)
# output_img = pc_util.point_cloud_three_views(np.squeeze(current_data[i, :, :]))
# scipy.misc.imsave(img_filename, output_img)
# error_cnt += 1
log_string('eval mean loss: %f' % (loss_sum / float(total_seen)))
log_string('eval accuracy: %f' % (total_correct / float(total_seen)))
log_string('eval avg class acc: %f' % (np.mean(
np.array(total_correct_class) /
np.array(total_seen_class, dtype=np.float))))
class_accuracies = np.array(total_correct_class) / np.array(
total_seen_class, dtype=np.float)
for i, name in enumerate(SHAPE_NAMES):
log_string('%10s:\t%0.3f' % (name, class_accuracies[i]))
def eval_one_epoch(sess, ops, num_votes=1, topk=1):
error_cnt = 0
is_training = False
total_correct = 0
total_seen = 0
loss_sum = 0
total_seen_class = [0 for _ in range(NUM_CLASSES)]
total_correct_class = [0 for _ in range(NUM_CLASSES)]
fout = open(os.path.join(DUMP_DIR, 'pred_label.txt'), 'w')
for fn in range(len(TEST_FILES)):
log_string('----' + str(fn) + '----')
current_data, current_label = provider.loadDataFile(TEST_FILES[fn])
current_data = current_data[:, 0:NUM_POINT, :]
# current_label = np.squeeze(current_label)
current_label_ = np.squeeze(current_label)
current_label = np.expand_dims(current_label_, 0)
print(current_data.shape) #输出是（420，1024，3）
# print(current_label.shape)
# # print(current_data)#输出是一堆数字
# print(current_label) #输出是正确的标签
file_size = current_data.shape[0]
num_batches = file_size // BATCH_SIZE
# print(file_size) #是420
# print(BATCH_SIZE) #是4
for batch_idx in range(num_batches):
start_idx = batch_idx * BATCH_SIZE
end_idx = (batch_idx + 1) * BATCH_SIZE
cur_batch_size = end_idx - start_idx
# print(start_idx ) #输出开始位置
# print(end_idx) #输出结束位置
# print(cur_batch_size) #输出4
# Aggregating BEG
batch_loss_sum = 0 # sum of losses for the batch
batch_pred_sum = np.zeros(
(cur_batch_size,
NUM_CLASSES)) # score for classes ########预测后的分数
batch_pred_classes = np.zeros(
(cur_batch_size,
NUM_CLASSES)) # 0/1 for classes ########预测后分类的正确与否（0或1）
# print(batch_loss_sum)
# print(batch_pred_sum)#输出40个0
# print(batch_pred_classes) #输出40个0
for vote_idx in range(num_votes):
rotated_data = provider.rotate_point_cloud_by_angle(
current_data[start_idx:end_idx, :, :],
vote_idx / float(num_votes) * np.pi * 2)
print(rotated_data)
feed_dict = {
ops['pointclouds_pl']: rotated_data,
ops['labels_pl']: current_label[start_idx:end_idx],
ops['is_training_pl']: is_training
}
loss_val, pred_val = sess.run([ops['loss'], ops['pred']],
feed_dict=feed_dict)
batch_pred_sum += pred_val #######分数
batch_pred_val = np.argmax(pred_val, 1) ####### 预测值
# print(loss_val)
# print(pred_val) #将数据输入网络，得到每个类别的分数
# print(batch_pred_sum )
# print(batch_pred_val) #根据每个类别的分数来得到预测的类别和下面的pred_val是一样的
for el_idx in range(cur_batch_size):
batch_pred_classes[el_idx, batch_pred_val[el_idx]] += 1
# print(batch_pred_classes)#根据得到的类别，
batch_loss_sum += (loss_val * cur_batch_size /
float(num_votes))
# pred_val_topk = np.argsort(batch_pred_sum, axis=-1)[:,-1*np.array(range(topk))-1]
# pred_val = np.argmax(batch_pred_classes, 1)
pred_val = np.argmax(batch_pred_sum, 1)
# print(pred_val) ###打印出2468个数据的类别是哪一类
# Aggregating END
correct = np.sum(pred_val == current_label[start_idx:end_idx])
# print(correct)
# correct = np.sum(pred_val_topk[:,0:topk] == label_val)
total_correct += correct
total_seen += cur_batch_size
loss_sum += batch_loss_sum
# print(total_correct )#总共正确的个数
# print(total_seen)#总共的个数
for i in range(start_idx, end_idx):
l = current_label[i]
# print(l)#输出是正确的标签
total_seen_class[l] += 1
# print(total_seen_class[l]) #输出没明白
total_correct_class[l] += (pred_val[i - start_idx] == l)
# print(total_correct_class[l] )#输出没明白
# fout.write('%d, %d\n' % (pred_val[i - start_idx], l)) #是将正确的标签和预测的标签都写入到里面
print(pred_val[i - start_idx]) #输出是预测的标签
fout.write('%d\n' %
(pred_val[i - start_idx])) #仅仅将预测的标签写入到日志文件中
if pred_val[
i -
start_idx] != l and FLAGS.visu: # ERROR CASE, DUMP!
img_filename = '%d_label_%s_pred_%s.jpg' % (
error_cnt, SHAPE_NAMES[l],
SHAPE_NAMES[pred_val[i - start_idx]])
img_filename = os.path.join(DUMP_DIR, img_filename)
output_img = pc_util.point_cloud_three_views(
np.squeeze(current_data[i, :, :]))
scipy.misc.imsave(img_filename, output_img)
error_cnt += 1
# print(output_img)
log_string('eval mean loss: %f' %
(loss_sum / float(total_seen))) #损失的总和除以总共对象的个数
log_string('eval accuracy: %f' %
(total_correct / float(total_seen))) #总共预测正确的个数除以总共对象的个数
log_string('eval avg class acc: %f' % (np.mean(
np.array(total_correct_class) /
np.array(total_seen_class, dtype=np.float)))) #没明白
class_accuracies = np.array(total_correct_class) / np.array(
total_seen_class, dtype=np.float)
for i, name in enumerate(SHAPE_NAMES):
log_string('%10s:\t%0.3f' % (name, class_accuracies[i]))
def eval_one_epoch(sess, ops, num_votes=1, topk=1):
error_cnt = 0
is_training = False
total_correct = 0
total_seen = 0
loss_sum = 0
total_seen_class = [0 for _ in range(NUM_CLASSES)]
total_correct_class = [0 for _ in range(NUM_CLASSES)]
fout = open(os.path.join(DUMP_DIR, 'pred_label.txt'), 'w')
for fn in range(len(TEST_FILES)):
log_string('----'+str(fn)+'----')
current_data, current_label = provider.loadDataFile(TEST_FILES[fn])
current_data = current_data[:,0:NUM_POINT,:]
current_label = np.squeeze(current_label)
print(current_data.shape)
file_size = current_data.shape[0]
num_batches = file_size // BATCH_SIZE
print(file_size)
print("batch number:", num_batches)
for batch_idx in range(num_batches):
print("batch index: ", batch_idx)
start_idx = batch_idx * BATCH_SIZE
end_idx = (batch_idx+1) * BATCH_SIZE
cur_batch_size = end_idx - start_idx
# Aggregating BEG
batch_loss_sum = 0 # sum of losses for the batch
batch_pred_sum = np.zeros((cur_batch_size, NUM_CLASSES)) # score for classes
batch_pred_classes = np.zeros((cur_batch_size, NUM_CLASSES)) # 0/1 for classes
for vote_idx in range(num_votes):
# print("batch, vote index", batch_idx, vote_idx)
rotated_data = provider.rotate_point_cloud_by_angle(current_data[start_idx:end_idx, :, :],
vote_idx/float(num_votes) * np.pi * 2)
feed_dict = {ops['pointclouds_pl']: rotated_data,
ops['labels_pl']: current_label[start_idx:end_idx],
ops['is_training_pl']: is_training}
# print("sess.run()")
writer = tf.compat.v1.summary.FileWriter('./tb_log/', sess.graph)
writer.add_graph(sess.graph)
loss_val, pred_val = sess.run([ops['loss'], ops['pred']],
feed_dict=feed_dict)
#options=tf.compat.v1.RunOptions(
#trace_level=tf.compat.v1.RunOptions.FULL_TRACE),
#run_metadata=run_metadata)
writer.close()
batch_pred_sum += pred_val
batch_pred_val = np.argmax(pred_val, 1)
for el_idx in range(cur_batch_size):
batch_pred_classes[el_idx, batch_pred_val[el_idx]] += 1
batch_loss_sum += (loss_val * cur_batch_size / float(num_votes))
# pred_val_topk = np.argsort(batch_pred_sum, axis=-1)[:,-1*np.array(range(topk))-1]
# pred_val = np.argmax(batch_pred_classes, 1)
pred_val = np.argmax(batch_pred_sum, 1)
# Aggregating END
correct = np.sum(pred_val == current_label[start_idx:end_idx])
# correct = np.sum(pred_val_topk[:,0:topk] == label_val)
total_correct += correct
total_seen += cur_batch_size
loss_sum += batch_loss_sum
for i in range(start_idx, end_idx):
l = current_label[i]
total_seen_class[l] += 1
total_correct_class[l] += (pred_val[i-start_idx] == l)
fout.write('%d, %d\n' % (pred_val[i-start_idx], l))
if pred_val[i-start_idx] != l and FLAGS.visu: # ERROR CASE, DUMP!
img_filename = '%d_label_%s_pred_%s.jpg' % (error_cnt, SHAPE_NAMES[l],
SHAPE_NAMES[pred_val[i-start_idx]])
img_filename = os.path.join(DUMP_DIR, img_filename)
output_img = pc_util.point_cloud_three_views(np.squeeze(current_data[i, :, :]))
scipy.misc.imsave(img_filename, output_img)
error_cnt += 1
log_string('eval mean loss: %f' % (loss_sum / float(total_seen)))
log_string('eval accuracy: %f' % (total_correct / float(total_seen)))
log_string('eval avg class acc: %f' % (np.mean(np.array(total_correct_class)/np.array(total_seen_class,dtype=np.float))))