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""" |
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@date: 2021/6/29 |
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@description: |
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The method with "_floorplan" suffix is only for comparison, which is used for calculation in LED2-net. |
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However, the floorplan is affected by show_radius. Setting too large will result in the decrease of accuracy, |
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and setting too small will result in the failure of calculation beyond the range. |
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""" |
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import numpy as np |
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from shapely.geometry import Polygon |
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def calc_inter_area(dt_xz, gt_xz): |
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""" |
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:param dt_xz: Prediction boundaries can also be corners, format: [[x1, z1], [x2, z2], ...] |
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:param gt_xz: Ground truth boundaries can also be corners, format: [[x1, z1], [x2, z2], ...] |
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:return: |
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""" |
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dt_polygon = Polygon(dt_xz) |
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gt_polygon = Polygon(gt_xz) |
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dt_area = dt_polygon.area |
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gt_area = gt_polygon.area |
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inter_area = dt_polygon.intersection(gt_polygon).area |
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return dt_area, gt_area, inter_area |
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def calc_IoU_2D(dt_xz, gt_xz): |
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""" |
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:param dt_xz: Prediction boundaries can also be corners, format: [[x1, z1], [x2, z2], ...] |
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:param gt_xz: Ground truth boundaries can also be corners, format: [[x1, z1], [x2, z2], ...] |
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:return: |
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""" |
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dt_area, gt_area, inter_area = calc_inter_area(dt_xz, gt_xz) |
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iou_2d = inter_area / (gt_area + dt_area - inter_area) |
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return iou_2d |
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def calc_IoU_3D(dt_xz, gt_xz, dt_height, gt_height): |
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""" |
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:param dt_xz: Prediction boundaries can also be corners, format: [[x1, z1], [x2, z2], ...] |
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:param gt_xz: Ground truth boundaries can also be corners, format: [[x1, z1], [x2, z2], ...] |
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:param dt_height: |
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:param gt_height: |
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:return: |
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""" |
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dt_area, gt_area, inter_area = calc_inter_area(dt_xz, gt_xz) |
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dt_volume = dt_area * dt_height |
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gt_volume = gt_area * gt_height |
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inter_volume = inter_area * min(dt_height, gt_height) |
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iou_3d = inter_volume / (dt_volume + gt_volume - inter_volume) |
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return iou_3d |
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def calc_IoU(dt_xz, gt_xz, dt_height, gt_height): |
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""" |
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:param dt_xz: Prediction boundaries can also be corners, format: [[x1, z1], [x2, z2], ...] |
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:param gt_xz: Ground truth boundaries can also be corners, format: [[x1, z1], [x2, z2], ...] |
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:param dt_height: |
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:param gt_height: |
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:return: |
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""" |
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dt_area, gt_area, inter_area = calc_inter_area(dt_xz, gt_xz) |
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iou_2d = inter_area / (gt_area + dt_area - inter_area) |
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dt_volume = dt_area * dt_height |
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gt_volume = gt_area * gt_height |
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inter_volume = inter_area * min(dt_height, gt_height) |
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iou_3d = inter_volume / (dt_volume + gt_volume - inter_volume) |
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return iou_2d, iou_3d |
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def calc_Iou_height(dt_height, gt_height): |
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return min(dt_height, gt_height) / max(dt_height, gt_height) |
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def calc_inter_area_floorplan(dt_floorplan, gt_floorplan): |
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intersect = np.sum(np.logical_and(dt_floorplan, gt_floorplan)) |
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dt_area = np.sum(dt_floorplan) |
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gt_area = np.sum(gt_floorplan) |
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return dt_area, gt_area, intersect |
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def calc_IoU_2D_floorplan(dt_floorplan, gt_floorplan): |
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dt_area, gt_area, inter_area = calc_inter_area_floorplan(dt_floorplan, gt_floorplan) |
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iou_2d = inter_area / (gt_area + dt_area - inter_area) |
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return iou_2d |
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def calc_IoU_3D_floorplan(dt_floorplan, gt_floorplan, dt_height, gt_height): |
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dt_area, gt_area, inter_area = calc_inter_area_floorplan(dt_floorplan, gt_floorplan) |
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dt_volume = dt_area * dt_height |
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gt_volume = gt_area * gt_height |
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inter_volume = inter_area * min(dt_height, gt_height) |
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iou_3d = inter_volume / (dt_volume + gt_volume - inter_volume) |
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return iou_3d |
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def calc_IoU_floorplan(dt_floorplan, gt_floorplan, dt_height, gt_height): |
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dt_area, gt_area, inter_area = calc_inter_area_floorplan(dt_floorplan, gt_floorplan) |
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iou_2d = inter_area / (gt_area + dt_area - inter_area) |
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dt_volume = dt_area * dt_height |
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gt_volume = gt_area * gt_height |
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inter_volume = inter_area * min(dt_height, gt_height) |
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iou_3d = inter_volume / (dt_volume + gt_volume - inter_volume) |
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return iou_2d, iou_3d |
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if __name__ == '__main__': |
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from visualization.floorplan import draw_floorplan, draw_iou_floorplan |
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from visualization.boundary import draw_boundaries, corners2boundaries |
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from utils.conversion import uv2xyz |
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from utils.height import height2ratio |
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dt_floor_corners = np.array([[0.2, 0.7], |
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[0.4, 0.7], |
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[0.6, 0.7], |
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[0.8, 0.7]]) |
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dt_height = 2.8 |
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gt_floor_corners = np.array([[0.3, 0.7], |
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[0.5, 0.7], |
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[0.7, 0.7], |
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[0.9, 0.7]]) |
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gt_height = 3.2 |
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dt_xz = uv2xyz(dt_floor_corners)[..., ::2] |
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gt_xz = uv2xyz(gt_floor_corners)[..., ::2] |
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dt_floorplan = draw_floorplan(dt_xz, show=False, show_radius=1) |
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gt_floorplan = draw_floorplan(gt_xz, show=False, show_radius=1) |
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iou_2d, iou_3d = calc_IoU_floorplan(dt_floorplan, gt_floorplan, dt_height, gt_height) |
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print('use floor plan image:', iou_2d, iou_3d) |
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iou_2d, iou_3d = calc_IoU(dt_xz, gt_xz, dt_height, gt_height) |
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print('use floor plan polygon:', iou_2d, iou_3d) |
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draw_iou_floorplan(dt_xz, gt_xz, show=True, iou_2d=iou_2d, iou_3d=iou_3d) |
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pano_bd = draw_boundaries(np.zeros([512, 1024, 3]), corners_list=[dt_floor_corners], |
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boundary_color=[0, 0, 1], ratio=height2ratio(dt_height), draw_corners=False) |
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pano_bd = draw_boundaries(pano_bd, corners_list=[gt_floor_corners], |
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boundary_color=[0, 1, 0], ratio=height2ratio(gt_height), show=True, draw_corners=False) |
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