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