import argparse import copy import json import os import random import time from typing import Any, Dict, List, Tuple import cv2 import numpy as np from matplotlib import pyplot as plt from nuscenes.eval.common.data_classes import EvalBox, EvalBoxes from nuscenes.eval.common.render import setup_axis from nuscenes.eval.detection.algo import accumulate, calc_ap, calc_tp from nuscenes.eval.detection.constants import (DETECTION_COLORS, DETECTION_NAMES, PRETTY_DETECTION_NAMES, PRETTY_TP_METRICS, TP_METRICS, TP_METRICS_UNITS) from nuscenes.eval.detection.data_classes import (DetectionBox, DetectionConfig, DetectionMetricData, DetectionMetricDataList, DetectionMetrics) from nuscenes.eval.detection.evaluate import NuScenesEval from nuscenes.eval.detection.render import (class_pr_curve, dist_pr_curve, summary_plot, visualize_sample) from pyquaternion import Quaternion Axis = Any class CustomDetectionBox(DetectionBox): """ Data class used during detection evaluation. Can be a prediction or ground truth.""" def __init__(self, sample_token: str = "", translation: Tuple[float, float, float] = (0, 0, 0), size: Tuple[float, float, float] = (0, 0, 0), rotation: Tuple[float, float, float, float] = (0, 0, 0, 0), velocity: Tuple[float, float] = (0, 0), ego_translation: Tuple[float, float, float] = (0, 0, 0), # Translation to ego vehicle in meters. num_pts: int = -1, # Nbr. LIDAR or RADAR inside the box. Only for gt boxes. detection_name: str = 'car', # The class name used in the detection challenge. detection_score: float = -1.0, # GT samples do not have a score. attribute_name: str = ''): # Box attribute. Each box can have at most 1 attribute. super(DetectionBox, self).__init__(sample_token, translation, size, rotation, velocity, ego_translation, num_pts) assert type(detection_score) == float, 'Error: detection_score must be a float!' assert not np.any(np.isnan(detection_score)), 'Error: detection_score may not be NaN!' # Assign. self.detection_name = detection_name self.detection_score = detection_score self.attribute_name = attribute_name class CustomDetectionConfig(DetectionConfig): def __init__(self, class_range: Dict[str, int], dist_fcn: str, dist_ths: List[float], dist_th_tp: float, min_recall: float, min_precision: float, max_boxes_per_sample: int, mean_ap_weight: int): # assert set(class_range.keys()) == set(DETECTION_NAMES), "Class count mismatch." assert dist_th_tp in dist_ths, "dist_th_tp must be in set of dist_ths." self.class_range = class_range self.dist_fcn = dist_fcn self.dist_ths = dist_ths self.dist_th_tp = dist_th_tp self.min_recall = min_recall self.min_precision = min_precision self.max_boxes_per_sample = max_boxes_per_sample self.mean_ap_weight = mean_ap_weight self.class_names = list(self.class_range.keys()) def class_tp_curve(md_list: DetectionMetricDataList, metrics: DetectionMetrics, detection_name: str, min_recall: float, dist_th_tp: float, savepath: str = None, ax: Axis = None) -> None: """ Plot the true positive curve for the specified class. :param md_list: DetectionMetricDataList instance. :param metrics: DetectionMetrics instance. :param detection_name: :param min_recall: Minimum recall value. :param dist_th_tp: The distance threshold used to determine matches. :param savepath: If given, saves the the rendering here instead of displaying. :param ax: Axes onto which to render. """ # Get metric data for given detection class with tp distance threshold. md = md_list[(detection_name, dist_th_tp)] min_recall_ind = round(100 * min_recall) if min_recall_ind <= md.max_recall_ind: # For traffic_cone and barrier only a subset of the metrics are plotted. rel_metrics = [m for m in TP_METRICS if not np.isnan(metrics.get_label_tp(detection_name, m))] ylimit = max([max(getattr(md, metric)[min_recall_ind:md.max_recall_ind + 1]) for metric in rel_metrics]) * 1.1 else: ylimit = 1.0 # Prepare axis. if ax is None: ax = setup_axis(title=PRETTY_DETECTION_NAMES[detection_name], xlabel='Recall', ylabel='Error', xlim=1, min_recall=min_recall) ax.set_ylim(0, ylimit) # Plot the recall vs. error curve for each tp metric. for metric in TP_METRICS: tp = metrics.get_label_tp(detection_name, metric) # Plot only if we have valid data. if tp is not np.nan and min_recall_ind <= md.max_recall_ind: recall, error = md.recall[:md.max_recall_ind + 1], getattr(md, metric)[:md.max_recall_ind + 1] else: recall, error = [], [] # Change legend based on tp value if tp is np.nan: label = '{}: n/a'.format(PRETTY_TP_METRICS[metric]) elif min_recall_ind > md.max_recall_ind: label = '{}: nan'.format(PRETTY_TP_METRICS[metric]) else: label = '{}: {:.2f} ({})'.format(PRETTY_TP_METRICS[metric], tp, TP_METRICS_UNITS[metric]) if metric == 'trans_err': label += f' ({md.max_recall_ind})' # add recall print(f'Recall: {detection_name}: {md.max_recall_ind/100}') ax.plot(recall, error, label=label) ax.axvline(x=md.max_recall, linestyle='-.', color=(0, 0, 0, 0.3)) ax.legend(loc='best') if savepath is not None: plt.savefig(savepath) plt.close() class NuScenesEval_NuPlan(NuScenesEval): """ Dummy class for backward-compatibility. Same as DetectionEval. """ def __init__(self, gt_boxes, result_boxes, config: DetectionConfig, output_dir: str = None, verbose: bool = True, ): self.output_dir = output_dir self.verbose = verbose self.cfg = config # Make dirs. self.plot_dir = os.path.join(self.output_dir, 'plots') if not os.path.isdir(self.output_dir): os.makedirs(self.output_dir) if not os.path.isdir(self.plot_dir): os.makedirs(self.plot_dir) # Load data. if verbose: print('Initializing nuScenes detection evaluation') self.pred_boxes = result_boxes self.gt_boxes = gt_boxes assert set(self.pred_boxes.sample_tokens) == set(self.gt_boxes.sample_tokens), \ "Samples in split doesn't match samples in predictions." self.all_gt = copy.deepcopy(self.gt_boxes) self.all_preds = copy.deepcopy(self.pred_boxes) self.sample_tokens = self.gt_boxes.sample_tokens def evaluate(self) -> Tuple[DetectionMetrics, DetectionMetricDataList]: """ Performs the actual evaluation. :return: A tuple of high-level and the raw metric data. """ start_time = time.time() # ----------------------------------- # Step 1: Accumulate metric data for all classes and distance thresholds. # ----------------------------------- if self.verbose: print('Accumulating metric data...') metric_data_list = DetectionMetricDataList() # print(self.cfg.dist_fcn_callable, self.cfg.dist_ths) # self.cfg.dist_ths = [0.3] # self.cfg.dist_fcn_callable for class_name in self.cfg.class_names: for dist_th in self.cfg.dist_ths: md = accumulate(self.gt_boxes, self.pred_boxes, class_name, self.cfg.dist_fcn_callable, dist_th) metric_data_list.set(class_name, dist_th, md) # ----------------------------------- # Step 2: Calculate metrics from the data. # ----------------------------------- if self.verbose: print('Calculating metrics...') metrics = DetectionMetrics(self.cfg) for class_name in self.cfg.class_names: # Compute APs. for dist_th in self.cfg.dist_ths: metric_data = metric_data_list[(class_name, dist_th)] ap = calc_ap(metric_data, self.cfg.min_recall, self.cfg.min_precision) metrics.add_label_ap(class_name, dist_th, ap) # Compute TP metrics. for metric_name in TP_METRICS: metric_data = metric_data_list[(class_name, self.cfg.dist_th_tp)] if class_name in ['traffic_cone'] and metric_name in ['attr_err', 'vel_err', 'orient_err']: tp = np.nan elif class_name in ['barrier', 'czone_sign'] and metric_name in ['attr_err', 'vel_err']: tp = np.nan else: tp = calc_tp(metric_data, self.cfg.min_recall, metric_name) metrics.add_label_tp(class_name, metric_name, tp) # Compute evaluation time. metrics.add_runtime(time.time() - start_time) return metrics, metric_data_list def render(self, metrics: DetectionMetrics, md_list: DetectionMetricDataList) -> None: """ Renders various PR and TP curves. :param metrics: DetectionMetrics instance. :param md_list: DetectionMetricDataList instance. """ if self.verbose: print('Rendering PR and TP curves') def savepath(name): return os.path.join(self.plot_dir, name + '.pdf') summary_plot(md_list, metrics, min_precision=self.cfg.min_precision, min_recall=self.cfg.min_recall, dist_th_tp=self.cfg.dist_th_tp, savepath=savepath('summary')) for detection_name in self.cfg.class_names: class_pr_curve(md_list, metrics, detection_name, self.cfg.min_precision, self.cfg.min_recall, savepath=savepath(detection_name + '_pr')) class_tp_curve(md_list, metrics, detection_name, self.cfg.min_recall, self.cfg.dist_th_tp, savepath=savepath(detection_name + '_tp')) for dist_th in self.cfg.dist_ths: dist_pr_curve(md_list, metrics, dist_th, self.cfg.min_precision, self.cfg.min_recall, savepath=savepath('dist_pr_' + str(dist_th))) def main(self, plot_examples: int = 0, render_curves: bool = True) -> Dict[str, Any]: """ Main function that loads the evaluation code, visualizes samples, runs the evaluation and renders stat plots. :param plot_examples: How many example visualizations to write to disk. :param render_curves: Whether to render PR and TP curves to disk. :return: A dict that stores the high-level metrics and meta data. """ if plot_examples > 0: # Select a random but fixed subset to plot. random.seed(42) sample_tokens = list(self.sample_tokens) random.shuffle(sample_tokens) sample_tokens = sample_tokens[:plot_examples] # Run evaluation. metrics, metric_data_list = self.evaluate() # Render PR and TP curves. if render_curves: self.render(metrics, metric_data_list) # Dump the metric data, meta and metrics to disk. if self.verbose: print('Saving metrics to: %s' % self.output_dir) metrics_summary = metrics.serialize() metrics_summary['meta'] = {} with open(os.path.join(self.output_dir, 'metrics_summary.json'), 'w') as f: json.dump(metrics_summary, f, indent=2) with open(os.path.join(self.output_dir, 'metrics_details.json'), 'w') as f: json.dump(metric_data_list.serialize(), f, indent=2) # Print high-level metrics. print('mAP: %.4f' % (metrics_summary['mean_ap'])) err_name_mapping = { 'trans_err': 'mATE', 'scale_err': 'mASE', 'orient_err': 'mAOE', 'vel_err': 'mAVE', 'attr_err': 'mAAE' } for tp_name, tp_val in metrics_summary['tp_errors'].items(): print('%s: %.4f' % (err_name_mapping[tp_name], tp_val)) print('NDS: %.4f' % (metrics_summary['nd_score'])) print('Eval time: %.1fs' % metrics_summary['eval_time']) # Print per-class metrics. print() print('Per-class results:') print('Object Class\tAP\tATE\tASE\tAOE\tAVE\tAAE') class_aps = metrics_summary['mean_dist_aps'] class_tps = metrics_summary['label_tp_errors'] for class_name in class_aps.keys(): print('%s\t%.3f\t%.3f\t%.3f\t%.3f\t%.3f\t%.3f' % (class_name, class_aps[class_name], class_tps[class_name]['trans_err'], class_tps[class_name]['scale_err'], class_tps[class_name]['orient_err'], class_tps[class_name]['vel_err'], class_tps[class_name]['attr_err'])) return metrics_summary