3D目标检测实用技巧（一）- 测试不同距离的检测精度

空持千百偈，不如吃茶去

已于 2024-12-06 19:06:01 修改

阅读量794

点赞数 10

分类专栏： 3D目标检测实用技巧文章标签：目标检测人工智能计算机视觉

于 2024-04-16 17:41:00 首次发布

本文链接：https://blog.csdn.net/weixin_44013732/article/details/137831975

版权

3D目标检测实用技巧专栏收录该内容

4 篇文章

订阅专栏

一、引言

实现不同距离下的检测，是为了观察中远距离下的目标检测能力。其中在VirConv中就专门检测了虚拟点对远处稀疏物体的性能：

但是，源码中却没有给出明确的测试方法，因此本文就该问题简单复现一下。

框架：OpenPCDet

二、复现代码及解析

1、源码参考

首先我参考的是一个开源的github：GitHub - xiazhiyi99/kitti_object_eval_python_by_distance: modified from traveller59/kitti-object-eval-python, evaluate kitti results in distancemodified from traveller59/kitti-object-eval-python, evaluate kitti results in distance - xiazhiyi99/kitti_object_eval_python_by_distancehttps://github.com/xiazhiyi99/kitti_object_eval_python_by_distance

该github中已经给出了明确的测试代码，我们就简单对预测结果result.pkl以及gt的pkl更改即可。

2、更改源码

（1）复现GitHub中的结果

环境搭建未记录，因此先略过。。

首先，他们的github的README.md中已经给出了一个样例，只需要照猫画虎将这段代码复制粘贴到evaluate.py中的main中就可以。

import kitti_common as kitti
from eval import get_official_eval_result, get_coco_eval_result
def _read_imageset_file(path):
    with open(path, 'r') as f:
        lines = f.readlines()
    return [int(line) for line in lines]
det_path = "/path/to/your_result_folder"  # 预测结果的路径pkl
dt_annos = kitti.get_label_annos(det_path)
gt_path = "/path/to/your_gt_label_folder"  # 真实标签的路径pkl
gt_split_file = "/path/to/val.txt" # from https://xiaozhichen.github.io/files/mv3d/imagesets.tar.gz
val_image_ids = _read_imageset_file(gt_split_file)
gt_annos = kitti.get_label_annos(gt_path, val_image_ids)
print(get_official_eval_result(gt_annos, dt_annos, 0)) # KITTI官方评估方法，6s in my computer
print(get_coco_eval_result(gt_annos, dt_annos, 0)) # COCO评估方法，18s in my computer

（2）生成result.pkl

一般我们在OpenPCDet训练和推理完后，都会在结果目录下生成一个result.pkl，例如我的就在：OpenPCDet/output/models/kitti/VirConv-S-train/default/eval/eval_with_train/epoch_5/val下。

（3）读取预测结果result.pkl和gt的pkl

为了实现方便，我自己写了一个pkl的读取函数以及预处理方式，我们主要读取的是result.pkl和kitti_infos_val.pkl。

   ###############################形参设置################################
    parser = argparse.ArgumentParser(description='arg parser')
    parser.add_argument('--save_path', type=str, default="/path/to/your_result_folder",
                        help='specify the config for training')
    parser.add_argument('--gt_split_file', type=str, default="/path/to/val.txt",
                        help='specify the config for training')
    parser.add_argument('--pred_infos', type=str, default=None, help='pickle file')
    parser.add_argument('--gt_infos', type=str, default=None, help='pickle file')
    parser.add_argument('--sampled_interval', type=int, default=1, help='sampled interval for GT sequences')
    args = parser.parse_args() 

   ##############################pkl读取&预处理########################
    pred_infos = pickle.load(open(args.pred_infos, 'rb'))  # 使用pickle读取预测infos
    gt_infos = pickle.load(open(args.gt_infos, 'rb'))  # 使用pickle读取gt box
    gt_infos_dst = []
    for idx in range(0, len(gt_infos), args.sampled_interval):  # gt预处理
        cur_info = gt_infos[idx]['annos']
        # cur_info['frame_id'] = gt_infos[idx]['annos']
        cur_info = drop_info_with_name(cur_info, name='DontCare')  # discard DontCare
        gt_names = cur_info['name']
        cur_info['name'] = np.array(['Car' if gt_names[i] == 'Van' else gt_names[i] for i in range(len(gt_names))])  # 将Van转换成Car
        cur_info['frame_id'] = gt_infos[idx]['point_cloud']['lidar_idx']
        gt_infos_dst.append(cur_info)

（4）改写评估函数

评估函数在eval.py里，其中有一个get_official_eval_result_by_distance：

def get_official_eval_result_by_distance(gt_annos, dt_annos, current_classes, PR_detail_dict=None):
    print("Evaluating kitti by distance")
    overlap_0_7 = np.array([[0.7, 0.5, 0.5, 0.7,
                             0.5, 0.7], [0.7, 0.5, 0.5, 0.7, 0.5, 0.7],
                            [0.7, 0.5, 0.5, 0.7, 0.5, 0.7]])
    overlap_0_5 = np.array([[0.7, 0.5, 0.5, 0.7,
                             0.5, 0.5], [0.5, 0.25, 0.25, 0.5, 0.25, 0.5],
                            [0.5, 0.25, 0.25, 0.5, 0.25, 0.5]])
    min_overlaps = np.stack([overlap_0_7, overlap_0_5], axis=0)  # [2, 3, 5]
    class_to_name = {
        0: 'Car',
        1: 'Pedestrian',
        2: 'Cyclist',
        3: 'Van',
        4: 'Person_sitting',
        5: 'Truck'
    }
    name_to_class = {v: n for n, v in class_to_name.items()}
    if not isinstance(current_classes, (list, tuple)):
        current_classes = [current_classes]
    current_classes_int = []
    for curcls in current_classes:
        if isinstance(curcls, str):
            current_classes_int.append(name_to_class[curcls])
        else:
            current_classes_int.append(curcls)
    current_classes = current_classes_int
    min_overlaps = min_overlaps[:, :, current_classes]
    result = ''
    # check whether alpha is valid
    compute_aos = False
    for anno in dt_annos:
        if anno['alpha'].shape[0] != 0:
            if anno['alpha'][0] != -10:
                compute_aos = True
            break

    mAPbbox, mAPbev, mAP3d, mAPaos, mAPbbox_R40, mAPbev_R40, mAP3d_R40, mAPaos_R40 = do_eval(
        gt_annos, dt_annos, current_classes, min_overlaps, compute_aos, PR_detail_dict=PR_detail_dict, DIForDIS=False)
        

    ret_dict = {}
    for j, curcls in enumerate(current_classes):
        # mAP threshold array: [num_minoverlap, metric, class]
        # mAP result: [num_class, num_diff, num_minoverlap]
        for i in range(min_overlaps.shape[0]):
            """if compute_aos:
                result += print_str((f"aos  AP:{mAPaos_R40[j, 0, i]:.2f}, "
                                     f"{mAPaos_R40[j, 1, i]:.2f}, "
                                     f"{mAPaos_R40[j, 2, i]:.2f}"))
                if i == 0:
                   ret_dict['%s_aos_30m_R40' % class_to_name[curcls]] = mAPaos_R40[j, 0, 0]
                   ret_dict['%s_aos_50m_R40' % class_to_name[curcls]] = mAPaos_R40[j, 1, 0]
                   ret_dict['%s_aos_70m_R40' % class_to_name[curcls]] = mAPaos_R40[j, 2, 0]
            """

            if i == 0:
                for i in range(8):
                    ret_dict['%s_3d_%d-%dm' % (class_to_name[curcls], i*10, (i+1)*10)] = mAP3d[j, i, 0]
                ret_dict['%s_3d_>80m' % class_to_name[curcls]] = mAP3d[j, 8, 0]

                
                for i in range(8):
                    ret_dict['%s_bev_%d-%dm' % (class_to_name[curcls], i*10, (i+1)*10)] = mAPbev[j, i, 0]
                ret_dict['%s_bev_>80m' % class_to_name[curcls]] = mAPbev[j, 8, 0]

                
                for i in range(8):
                    ret_dict['%s_image_%d-%dm' % (class_to_name[curcls], i*10, (i+1)*10)] = mAPbbox[j, i, 0]
                ret_dict['%s_image_>80m' % class_to_name[curcls]] = mAPbbox[j, 8, 0]

                for i in range(8):
                    ret_dict['%s_3d_%d-%dm_R40' % (class_to_name[curcls], i*10, (i+1)*10)] = mAP3d_R40[j, i, 0]
                ret_dict['%s_3d_>80m' % class_to_name[curcls]] = mAP3d_R40[j, 8, 0]

                for i in range(8):
                    ret_dict['%s_bev_%d-%dm_R40' % (class_to_name[curcls], i*10, (i+1)*10)] = mAPbev_R40[j, i, 0]
                ret_dict['%s_bev_>80m' % class_to_name[curcls]] = mAPbev_R40[j, 8, 0]

                for i in range(8):
                    ret_dict['%s_image_%d-%dm_R40' % (class_to_name[curcls], i*10, (i+1)*10)] = mAPbbox_R40[j, i, 0]
                ret_dict['%s_image_>80m' % class_to_name[curcls]] = mAPbbox_R40[j, 8, 0]

    return result, ret_dict

这里可以更改class以及距离阈值，我们将他import到evaluate.py中，并调用：

# 调用
from eval import get_official_eval_result_by_distance, get_official_eval_result, get_coco_eval_result
# 评估
_, results = get_official_eval_result_by_distance(gt_annos, dt_annos,0)

（5）实现评估

最后我们使用指令：

python evaluate.py
--pred_infos result.pkl  # 预测结果的位置
--gt_infos 
./data/kitti/kitti_infos_val.pkl  # KITTI验证集的pkl
--save_path
./distance/  # 结果保存路径

运行结果如下：

三、更改后的代码

我放到了我的开源GitHub下，供大家参考：

GitHub - xueking1/kitti_distance_eval: The detection accuracy at different distances was evaluated for KITTIThe detection accuracy at different distances was evaluated for KITTI - xueking1/kitti_distance_evalhttps://github.com/xueking1/kitti_distance_eval