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eval_cross_session.py

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+"""
+eval_cross_session.py
+Cross-session generalization evaluation (Phase 2, Step 1).
+
+Evaluates trained student models on data from DIFFERENT collection sessions
+to measure how well localization generalizes across time/environment changes.
+
+WILD Jacobs Hall sessions:
+  Session 1: jacobs_Jul28       — standard setup
+  Session 2: jacobs_Jul28_2     — same setup, 1 hour later (our train/test data)
+  Session 3: jacobs_Aug16_1     — extra furniture
+  Session 4: jacobs_Aug16_3     — different furniture arrangement
+  Session 5: jacobs_Aug16_4_ref — furniture + aluminum reflector
+
+Models were trained on Session 1 + Session 2 (train split).
+This script tests on:
+  - Session 2 test (normal, in-distribution)
+  - Session 3 (unseen session, different furniture)
+  - Session 4 (unseen session, different furniture)
+  - Session 5 (unseen session, furniture + reflector)
+
+REQUIRED DATA:
+  You MUST download the Aug16 feature files from WILD and process them.
+  Option 1 (if pre-split files exist on server):
+    ./data/dataset_train_jacobs_Aug16_1.mat
+    ./data/dataset_train_jacobs_Aug16_3.mat
+    ./data/dataset_train_jacobs_Aug16_4_ref.mat
+  Option 2 (if you have raw WILD features):
+    Run prepare_aug16_data() below to create them.
+
+Usage:
+  python eval_cross_session.py
+"""
+import os
+import sys
+import torch
+import numpy as np
+
+from utils import localization_error
+from data_loader import load_data
+
+# ============================================================
+# CONFIG
+# ============================================================
+MODEL_TYPE = 'mobilenet'  # 'mobilenet', 'tinycnn', 'unet'
+WEIGHTS_PATH = './weights/mobilenet_standalone_best.pth'
+BATCH_SIZE = 32
+
+# Session data paths
+# Session 2 test (normal evaluation — in-distribution)
+SESSION_2_TEST = [
+    './data/dataset_fov_test_jacobs_July28_2.mat',
+    './data/dataset_non_fov_test_jacobs_July28_2.mat',
+]
+
+# Sessions 3-5 (cross-session — out-of-distribution)
+# These files contain ALL samples from each session (no train/test split needed
+# since the model never trained on them)
+CROSS_SESSION_FILES = {
+    'Session 3 (Aug16_1, furniture)': './data/dataset_jacobs_Aug16_1.mat',
+    'Session 4 (Aug16_3, diff furniture)': './data/dataset_jacobs_Aug16_3.mat',
+    'Session 5 (Aug16_4_ref, reflector)': './data/dataset_jacobs_Aug16_4_ref.mat',
+}
+
+
+def load_model(model_type, weights_path, device):
+    if model_type == 'mobilenet':
+        from student_mobilenet import MobileNetStudent
+        model = MobileNetStudent(input_nc=4)
+    elif model_type == 'tinycnn':
+        from student_tinycnn import TinyCNNStudent
+        model = TinyCNNStudent(input_nc=4)
+    elif model_type == 'unet':
+        from student_unet import MobileNetUNetStudent
+        model = MobileNetUNetStudent(input_nc=4)
+    else:
+        raise ValueError(f'Unknown model type: {model_type}')
+
+    model.load_state_dict(torch.load(weights_path, map_location=device, weights_only=True))
+    model.to(device)
+    model.eval()
+    return model
+
+
+def evaluate_on_files(model, file_paths, device, batch_size=32):
+    """Load data from file_paths and evaluate model. Returns error stats in meters."""
+    w_list, lbl_list = [], []
+    for fp in file_paths:
+        if not os.path.exists(fp):
+            return None  # Signal that file is missing
+        _, w, lbl = load_data(fp)
+        if lbl.dim() == 3:
+            lbl = lbl.unsqueeze(1)
+        w_list.append(w)
+        lbl_list.append(lbl)
+
+    w = torch.cat(w_list, dim=0)
+    lbl = torch.cat(lbl_list, dim=0)
+    n_samples = w.shape[0]
+
+    dataset = torch.utils.data.TensorDataset(w, lbl)
+    loader = torch.utils.data.DataLoader(
+        dataset, batch_size=batch_size, shuffle=False,
+        num_workers=4, pin_memory=True,
+    )
+
+    all_errors = []
+    with torch.no_grad():
+        for data in loader:
+            inputs = data[0].to(device)
+            labels = data[1].to(device)
+            output = model(inputs)
+            errors = localization_error(
+                output.cpu().numpy(),
+                labels.cpu().numpy(),
+                scale=0.1,
+            )
+            all_errors.extend(errors)
+
+    all_errors = np.array(all_errors)
+    return {
+        'n_samples': n_samples,
+        'median': np.median(all_errors),
+        'p90': np.percentile(all_errors, 90),
+        'p99': np.percentile(all_errors, 99),
+        'mean': np.mean(all_errors),
+    }
+
+
+def main():
+    device = torch.device('cuda:0' if torch.cuda.is_available() else 'cpu')
+    print(f'Device: {device}')
+    print(f'Model: {MODEL_TYPE}, Weights: {WEIGHTS_PATH}')
+
+    # Load model
+    model = load_model(MODEL_TYPE, WEIGHTS_PATH, device)
+    n_params = sum(p.numel() for p in model.parameters())
+    print(f'Parameters: {n_params:,}\n')
+
+    # Collect all sessions to evaluate
+    sessions = {}
+    sessions['Session 2 test (in-distribution)'] = SESSION_2_TEST
+    for name, path in CROSS_SESSION_FILES.items():
+        sessions[name] = [path]
+
+    # Evaluate each session
+    print(f'{"="*80}')
+    print(f'  CROSS-SESSION EVALUATION -- {MODEL_TYPE.upper()}')
+    print(f'{"="*80}')
+    print(f'  Model trained on: Session 1 (Jul28) + Session 2 train (Jul28_2)')
+    print(f'{"="*80}\n')
+
+    print(f'{"Session":<42} {"N":>6} {"Median":>8} {"P90":>8} {"P99":>8} {"Mean":>8}')
+    print(f'{"-"*80}')
+
+    results = {}
+    for name, file_paths in sessions.items():
+        stats = evaluate_on_files(model, file_paths, device, BATCH_SIZE)
+        if stats is None:
+            print(f'{name:<42} {"MISSING DATA FILES":>40}')
+            continue
+        results[name] = stats
+        print(f'{name:<42} {stats["n_samples"]:>6} '
+              f'{stats["median"]:>7.3f}m {stats["p90"]:>7.3f}m '
+              f'{stats["p99"]:>7.3f}m {stats["mean"]:>7.3f}m')
+
+    print(f'{"="*80}')
+
+    if not results:
+        print('\nNo sessions could be evaluated. Check data file paths.')
+        return
+
+    # Show degradation from baseline
+    if 'Session 2 test (in-distribution)' in results:
+        baseline = results['Session 2 test (in-distribution)']
+        print(f'\nDegradation vs in-distribution (Session 2 test):')
+        print(f'{"Session":<42} {"Median delta":>14} {"P90 delta":>14}')
+        print(f'{"-"*70}')
+        for name, stats in results.items():
+            if name == 'Session 2 test (in-distribution)':
+                continue
+            med_delta = stats['median'] - baseline['median']
+            p90_delta = stats['p90'] - baseline['p90']
+            print(f'{name:<42} {med_delta:>+13.3f}m {p90_delta:>+13.3f}m')
+
+    # Save results
+    save_path = f'cross_session_{MODEL_TYPE}.txt'
+    with open(save_path, 'w') as f:
+        f.write(f'Cross-Session Evaluation\n')
+        f.write(f'Model: {MODEL_TYPE}\n')
+        f.write(f'Weights: {WEIGHTS_PATH}\n')
+        f.write(f'Trained on: Session 1 (Jul28) + Session 2 train (Jul28_2)\n\n')
+        f.write(f'{"Session":<42} {"N":>6} {"Median":>8} {"P90":>8} {"P99":>8}\n')
+        f.write(f'{"-"*72}\n')
+        for name, stats in results.items():
+            f.write(f'{name:<42} {stats["n_samples"]:>6} '
+                    f'{stats["median"]:>7.3f}m {stats["p90"]:>7.3f}m {stats["p99"]:>7.3f}m\n')
+    print(f'\nResults saved to {save_path}')
+
+
+if __name__ == '__main__':
+    main()