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utils_plot.py
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utils_plot.py
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import os
import random
import argparse
import numpy as np
import open3d as o3d
import seaborn as sns
import scipy
import warnings
import matplotlib.pyplot as plt
warnings.filterwarnings('ignore')
from scipy.spatial.transform import Rotation as R
def plot_errors(args):
with open(args.path) as f:
lines = f.readlines()
idxs_static = []
EPE_static = []
ACC3DS_static = []
ACC3DR_static = []
Outlier_static = []
idxs_dynamic = []
EPE_dynamic = []
ACC3DS_dynamic = []
ACC3DR_dynamic = []
Outlier_dynamic = []
for line in lines:
if line.startswith('file: '):
if ('overall' in line): continue
print('line: ', line)
chunks = line.split(', ')
chunks = [chunk for chunk in chunks if ': ' in chunk]
# print('chunks: ', chunks)
assert len(chunks)==6
for kk, chunk in enumerate(chunks):
segs = chunk.split(': ')
# print(f'{kk}- th chunk: {len(segs)}, {segs}')
if kk==0:
if 'static' in line:
idxs_static.append(segs[1])
else:
idxs_dynamic.append(segs[1])
if kk==1:
if 'static' in line:
EPE_static.append(float(segs[1]))
else:
EPE_dynamic.append(float(segs[1]))
if kk==2:
if 'static' in line:
ACC3DS_static.append(float(segs[1]))
else:
ACC3DS_dynamic.append(float(segs[1]))
if kk==3:
if 'static' in line:
ACC3DR_static.append(float(segs[1]))
else:
ACC3DR_dynamic.append(float(segs[1]))
if kk==4:
if 'static' in line:
Outlier_static.append(float(segs[1]))
else:
Outlier_dynamic.append(float(segs[1]))
assert len(EPE_static)==len(ACC3DS_static)
assert len(EPE_static)==len(ACC3DR_static)
assert len(EPE_static)==len(Outlier_static)
assert len(EPE_static)==len(idxs_static)
print(f'len(idxs): ', len(idxs_static))
# fig = plt.figure()
# ax1 = plt.subplot(121)
# ax1.plot(np.arange(0, len(EPE_static)), np.array(EPE_static), c='g')
# ax1.set_xticks(np.arange(0, len(idxs_static)), idxs_static)
# ax1.set_ylim(0.0, 5)
# ax1.set_title('static')
# ax2 = plt.subplot(122)
# ax2.plot(np.arange(0, len(EPE_dynamic)), np.array(EPE_dynamic), c='g')
# ax2.set_xticks(np.arange(0, len(idxs_dynamic)), idxs_dynamic)
# ax2.set_ylim(0.0, 5)
# ax2.set_title('dynamic')
# plt.suptitle(f'result over {len(EPE_static)}, {args.num_frames} per frame')
# plt.show()
# plt.close()
# for start_idx in np.arange(0, len(EPE_dynamic)-100, 100):
# EPE_dynamic_tmp = EPE_dynamic[start_idx:start_idx+100]
# idxs_dynamic_tmp = idxs_dynamic[start_idx:start_idx+100]
# fig = plt.figure()
# ax1 = plt.subplot(111)
# ax1.plot(np.arange(0, len(EPE_dynamic_tmp)), np.array(EPE_dynamic_tmp), c='g')
# ax1.set_xticks(np.arange(0, len(idxs_dynamic_tmp)), idxs_dynamic_tmp, rotation=90)
# # ax1.set_xlim(0, 100)
# ax1.set_ylim(0.0, 2.5)
# plt.suptitle(f'result over {start_idx}-{start_idx+100}: {len(EPE_dynamic_tmp)}, {args.num_frames} per frame')
# plt.show()
# plt.close()
return {
"idxs_static" : idxs_static,
"EPE_static" : EPE_static,
"ACC3DS_static" : ACC3DS_static,
"ACC3DR_static" : ACC3DR_static,
"Outlier_static": Outlier_static,
"idxs_dynamic" : idxs_dynamic,
"EPE_dynamic" : EPE_dynamic,
"ACC3DS_dynamic" : ACC3DS_dynamic,
"ACC3DR_dynamic" : ACC3DR_dynamic,
"Outlier_dynamic": Outlier_dynamic,
}
if __name__ == "__main__":
# Initialization
random.seed(0)
np.random.seed(0)
# Parse hyperparameters
parser = argparse.ArgumentParser(description='SceneFlow')
parser.add_argument('--path', type=str, default='log_waymo.txt',
help='Path to dataset')
parser.add_argument('--num_frames', type=int, default=5,
help='Number of frames per file (default: 5)')
parser.add_argument('--if_verbose', default=False, action='store_true',
help='visualize per segment')
args = parser.parse_args()
print(f'args: {args}')
args.path = 'test_waymo_ego_icp.txt'
result_cpu = plot_errors(args)
args.path = 'test_waymo_ego_icp.txt'
result_gpu = plot_errors(args)
# fig = plt.figure()
# ax1 = plt.subplot(221)
# idxs_static = result_cpu['idxs_static']
# ax1.plot(np.arange(0, len(idxs_static)), np.array(result_cpu['EPE_static']), c='g')
# ax1.plot(np.arange(0, len(idxs_static)), np.array(result_gpu['EPE_static']), c='r', ls='-.')
# ax1.set_xticks(np.arange(0, len(idxs_static)), idxs_static)
# ax1.set_ylim(0.0, 5)
# ax1.set_title('static')
# ax2 = plt.subplot(222)
# idxs_dynamic = result_cpu['idxs_dynamic']
# ax2.plot(np.arange(0, len(idxs_dynamic)), np.array(result_cpu['EPE_dynamic']), c='g')
# ax2.plot(np.arange(0, len(idxs_dynamic)), np.array(result_gpu['EPE_dynamic']), c='r', ls='-.')
# ax2.set_xticks(np.arange(0, len(idxs_dynamic)), idxs_dynamic)
# ax2.set_ylim(0.0, 5)
# ax2.set_title('dynamic')
# ax3 = plt.subplot(223)
# dif = np.abs(np.array(result_cpu['EPE_static']) - np.array(result_gpu['EPE_static']))
# ax3.plot(np.arange(0, len(idxs_static)), dif, c='b')
# ax3.set_xticks(np.arange(0, len(idxs_static)), idxs_static)
# ax3.set_ylim(0.0, 1)
# ax3.set_title('static')
# ax4 = plt.subplot(224)
# dif = np.abs(np.array(result_cpu['EPE_dynamic']) - np.array(result_gpu['EPE_dynamic']))
# ax4.plot(np.arange(0, len(idxs_dynamic)), dif, c='b')
# ax4.set_xticks(np.arange(0, len(idxs_dynamic)), idxs_dynamic)
# ax4.set_ylim(0.0, 1)
# ax4.set_title('dynamic')
# plt.suptitle(f'result over {len(idxs_static)}, {args.num_frames} per frame')
# plt.show()
# plt.close()
idxs_dynamic = result_cpu['idxs_dynamic']
chunk = 100
print('plot: ', len(idxs_dynamic), len(result_cpu['EPE_dynamic']), len(result_gpu['EPE_dynamic']))
# assert len(idxs_dynamic)%chunk == 0
for k in range(0, len(idxs_dynamic)//chunk):
x1 = np.arange(0, chunk)
y1 = np.array(result_cpu['EPE_dynamic'])[chunk*k : chunk*(k+1)]
y2 = np.array(result_gpu['EPE_dynamic'])[chunk*k : chunk*(k+1)]
anno = idxs_dynamic[chunk*k : chunk*(k+1)]
print('plot: ', x1.shape, y1.shape, y2.shape)
fig = plt.figure()
ax1 = plt.subplot(111)
ax1.plot(x1, y1, c='g')
ax1.plot(x1, y2, c='r', ls='-.')
ax1.set_xticks(x1, anno)
ax1.set_ylim(0.0, 5)
ax1.set_title('green vs red')
plt.suptitle(f'result over {chunk*k}-{chunk*(k+1)}, {args.num_frames} per frame')
plt.show()
plt.close()