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[Enhance] Add more metrics to nuScenes logger outputs #580

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May 26, 2021
Merged

[Enhance] Add more metrics to nuScenes logger outputs #580

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12 changes: 12 additions & 0 deletions mmdet3d/datasets/nuscenes_dataset.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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')
Expand Down Expand Up @@ -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']
Expand Down
12 changes: 12 additions & 0 deletions mmdet3d/datasets/nuscenes_mono_dataset.py
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Original file line number Diff line number Diff line change
Expand Up @@ -58,6 +58,14 @@ 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,
Expand Down Expand Up @@ -423,6 +431,10 @@ 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']
Expand Down