Add more metrics to nus logger (#580)

open-mmlab · May 26, 2021 · 926beda · 926beda
1 parent bc631db
commit 926beda
Show file tree

Hide file tree

Showing 2 changed files with 24 additions and 0 deletions.
diff --git a/mmdet3d/datasets/nuscenes_dataset.py b/mmdet3d/datasets/nuscenes_dataset.py
@@ -98,6 +98,14 @@ class NuScenesDataset(Custom3DDataset):
  'vehicle.parked',
  'vehicle.stopped',
  ]
+ # https://github.com/nutonomy/nuscenes-devkit/blob/57889ff20678577025326cfc24e57424a829be0a/python-sdk/nuscenes/eval/detection/evaluate.py#L222 # noqa
+ ErrNameMapping = {
+ 'trans_err': 'mATE',
+ 'scale_err': 'mASE',
+ 'orient_err': 'mAOE',
+ 'vel_err': 'mAVE',
+ 'attr_err': 'mAAE'
+ }
  CLASSES = ('car', 'truck', 'trailer', 'bus', 'construction_vehicle',
  'bicycle', 'motorcycle', 'pedestrian', 'traffic_cone',
  'barrier')
@@ -404,6 +412,10 @@ def _evaluate_single(self,
  for k, v in metrics['label_tp_errors'][name].items():
  val = float('{:.4f}'.format(v))
  detail['{}/{}_{}'.format(metric_prefix, name, k)] = val
+ for k, v in metrics['tp_errors'].items():
+ val = float('{:.4f}'.format(v))
+ detail['{}/{}'.format(metric_prefix,
+ self.ErrNameMapping[k])] = val
 
  detail['{}/NDS'.format(metric_prefix)] = metrics['nd_score']
  detail['{}/mAP'.format(metric_prefix)] = metrics['mean_ap']

diff --git a/mmdet3d/datasets/nuscenes_mono_dataset.py b/mmdet3d/datasets/nuscenes_mono_dataset.py
@@ -62,6 +62,14 @@ class NuScenesMonoDataset(CocoDataset):
  'barrier': '',
  'traffic_cone': '',
  }
+ # https://github.com/nutonomy/nuscenes-devkit/blob/57889ff20678577025326cfc24e57424a829be0a/python-sdk/nuscenes/eval/detection/evaluate.py#L222 # noqa
+ ErrNameMapping = {
+ 'trans_err': 'mATE',
+ 'scale_err': 'mASE',
+ 'orient_err': 'mAOE',
+ 'vel_err': 'mAVE',
+ 'attr_err': 'mAAE'
+ }
 
  def __init__(self,
  data_root,
@@ -427,6 +435,10 @@ def _evaluate_single(self,
  for k, v in metrics['label_tp_errors'][name].items():
  val = float('{:.4f}'.format(v))
  detail['{}/{}_{}'.format(metric_prefix, name, k)] = val
+ for k, v in metrics['tp_errors'].items():
+ val = float('{:.4f}'.format(v))
+ detail['{}/{}'.format(metric_prefix,
+ self.ErrNameMapping[k])] = val
 
  detail['{}/NDS'.format(metric_prefix)] = metrics['nd_score']
  detail['{}/mAP'.format(metric_prefix)] = metrics['mean_ap']