for scene_idx in scenes:
# run some performance metrics on numpy-stored results
startfile, endfile = sceneranges[scene_idx]
#startfile = 200
#endfile = 40
startfile += nframesahead
calib_idx = calib_map[scene_idx]
calib_extrinsic = calib_extrinsics[calib_idx].copy()
calib_extrinsic[2,3] += 1.65
view_angle = view_by_day[calib_idx]
calib_projection = calib_projections[calib_idx]
calib_projection = calib_projection.dot(np.linalg.inv(calib_extrinsic))
imgshape = imread(img_files.format(scene_idx)).shape[:2]
with open(gt_files.format(scene_idx), 'r') as fd: gtfilestr = fd.read()
gt_all, gtdontcares = readGroundTruthFileTracking(gtfilestr,('Car','Van'))
metric.newScene()
for fileidx in range(startfile, endfile):
ground = np.load(ground_plane_files.format(scene_idx, fileidx))
ests = np.load(estfiles.format(testfolder, scene_idx, fileidx))
estids = ests[:,6].astype(int)
scores = ests[:,5]
ests = ests[:,:5]
rede = formatForKittiScoreTracking(ests, estids, scores, fileidx,
ground, calib_projection, imgshape, gtdontcares)
ests = np.array([redd[0] for redd in rede])
scores = np.array([redd[2] for redd in rede])
estids = np.array([redd[1] for redd in rede])
startfile = 87
objid = 2
fake_noise = np.array((.6, .6, .3, .6, .25))
fake_detect_prob = .8
def clear(): destroyWindow('a')
nfiles = nfiles_list[scene_idx]
calib_idx = calib_map[scene_idx]
calib_extrinsic = calib_extrinsics[calib_idx].copy()
calib_projection = calib_projections[calib_idx]
calib_intrinsic = calib_projection.dot(np.linalg.inv(calib_extrinsic))
calib_extrinsic[2,3] += 1.65
view_angle = view_by_day[calib_idx]
with open(gt_files.format(scene_idx), 'r') as fd: gtfilestr = fd.read()
gt_all = readGroundTruthFileTracking(gtfilestr, nfiles, ('Car', 'Van'))
selfpos_transforms = loadSelfTransformations(oxt_files.format(scene_idx))
sample = np.zeros(nft)
previoussample = sample.copy()
samplenotset = True
for file_idx in range(startfile, nfiles):
img = imread(img_files.format(scene_idx, file_idx))[:,:,::-1]
selfpos_transform = selfpos_transforms[file_idx][[0,1,3],:][:,[0,1,3]]
gt = gt_all[file_idx]
for gtobj in gt:
if gtobj['id'] == objid: break
havemsmtactually = gtobj['id'] == objid
# propagate sample