PV-RCNN代码测试——TP，FP，TN，FN的计算（二）

PV-RCNN：paper，code
配套理论篇：PV-RCNN代码解读——TP，FP，TN，FN的计算

在compute_statistics_jit函数中添加如下输出代码：

def compute_statistics_jit(overlaps, gt_datas, dt_datas, ignored_gt, ignored_det, dc_bboxes, metric, min_overlap, thresh=0, compute_fp=False,  compute_aos=False):
    # 在函数末尾添加
    print('gt_box_type:',extra['gt_box_type'])
    print('dt_box_type:',extra['dt_box_type'])
    print('gt_box_matched_idx:',extra['gt_box_matched_idx'])
    print('dt_box_matched_idx:',extra['dt_box_matched_idx'])
    print('tp:', tp,',fp:', fp,',fn:', fn,',similarity:',similarity,',thresholds:',thresholds[:thresh_idx],'\n')

采用的测试集是6号图片

# data/kitti/ImageSets/val.txt
000006

开始测试

python test.py --cfg_file cfgs/kitti_models/pv_rcnn.yaml --batch_size 1 --ckpt ../output/kitti_models/pv_rcnn/mydata_1/ckpt/checkpoint_epoch_10.pth --extra_tag 'mydata_2'

仅输出3d的情况，并且仅输出current_class = 0即类型为car的情况

difficuly类型有0,1,2三种，从易到难

除了从eval_class函数中直接调用compute_statistics_jit函数之外，fused_compute_statistics函数中也调用了compute_statistics_jit函数，也会输出结果

============================ results of _prepare_data start ====================
current_class: 0 , difficulty: 0 

gt_box_type: [-1 -1  1 -1 -1 -1]
dt_box_type: [ 1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1]
gt_box_matched_idx: [-1 -1  0 -1 -1 -1]
dt_box_matched_idx: [ 2 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1]
tp: 1 ,fp: 0 ,fn: 0 ,similarity: 0.0 ,thresholds: [0.99477673]

gt_box_type: [-1  0  1 -1 -1 -1]
dt_box_type: [ 1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1]
gt_box_matched_idx: [-1 -1  0 -1 -1 -1]
dt_box_matched_idx: [ 2 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1]
tp: 1 ,fp: 0 ,fn: 1 ,similarity: 0.0 ,thresholds: [0.99477673]

gt_box_type: [-1 -1  1 -1 -1 -1]
dt_box_type: [ 1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1]
gt_box_matched_idx: [-1 -1  0 -1 -1 -1]
dt_box_matched_idx: [ 2 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1]
tp: 1 ,fp: 0 ,fn: 0 ,similarity: 0.0 ,thresholds: [0.99477673]

gt_box_type: [-1  0  1 -1 -1 -1]
dt_box_type: [ 1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1]
gt_box_matched_idx: [-1 -1  0 -1 -1 -1]
dt_box_matched_idx: [ 2 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1]
tp: 1 ,fp: 0 ,fn: 1 ,similarity: 0.0 ,thresholds: [0.99477673]

current_class: 0 , difficulty: 1 

gt_box_type: [-1  1  1  0 -1 -1]
dt_box_type: [ 1  1 -1 -1 -1 -1 -1 -1 -1 -1 -1]
gt_box_matched_idx: [-1  1  0 -1 -1 -1]
dt_box_matched_idx: [ 2  1 -1 -1 -1 -1 -1 -1 -1 -1 -1]
tp: 2 ,fp: 0 ,fn: 1 ,similarity: 0.0 ,thresholds: [0.98844492 0.99477673]

gt_box_type: [-1  0  1  0 -1 -1]
dt_box_type: [ 1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1]
gt_box_matched_idx: [-1 -1  0 -1 -1 -1]
dt_box_matched_idx: [ 2 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1]
tp: 1 ,fp: 0 ,fn: 2 ,similarity: 0.0 ,thresholds: [0.99477673]

gt_box_type: [-1  1  1  0 -1 -1]
dt_box_type: [ 1  1 -1 -1 -1 -1 -1 -1 -1 -1 -1]
gt_box_matched_idx: [-1  1  0 -1 -1 -1]
dt_box_matched_idx: [ 2  1 -1 -1 -1 -1 -1 -1 -1 -1 -1]
tp: 2 ,fp: 0 ,fn: 1 ,similarity: 0.0 ,thresholds: [0.98844492 0.99477673]

gt_box_type: [-1  1  1  1 -1 -1]
dt_box_type: [ 1  1  1 -1 -1 -1 -1 -1 -1 -1 -1]
gt_box_matched_idx: [-1  1  0  2 -1 -1]
dt_box_matched_idx: [ 2  1  3 -1 -1 -1 -1 -1 -1 -1 -1]
tp: 3 ,fp: 0 ,fn: 0 ,similarity: 0.0 ,thresholds: [0.98844492 0.99477673 0.87549245]

gt_box_type: [-1  0  1  0 -1 -1]
dt_box_type: [ 1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1]
gt_box_matched_idx: [-1 -1  0 -1 -1 -1]
dt_box_matched_idx: [ 2 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1]
tp: 1 ,fp: 0 ,fn: 2 ,similarity: 0.0 ,thresholds: [0.99477673]

gt_box_type: [-1  1  1  0 -1 -1]
dt_box_type: [ 1  1 -1 -1 -1 -1 -1 -1 -1 -1 -1]
gt_box_matched_idx: [-1  1  0 -1 -1 -1]
dt_box_matched_idx: [ 2  1 -1 -1 -1 -1 -1 -1 -1 -1 -1]
tp: 2 ,fp: 0 ,fn: 1 ,similarity: 0.0 ,thresholds: [0.98844492 0.99477673]

gt_box_type: [-1  1  1  1 -1 -1]
dt_box_type: [ 1  1  1 -1 -1 -1 -1 -1 -1 -1 -1]
gt_box_matched_idx: [-1  1  0  2 -1 -1]
dt_box_matched_idx: [ 2  1  3 -1 -1 -1 -1 -1 -1 -1 -1]
tp: 3 ,fp: 0 ,fn: 0 ,similarity: 0.0 ,thresholds: [0.98844492 0.99477673 0.87549245]


current_class: 0 , difficulty: 2 

gt_box_type: [-1  1  1  0 -1 -1]
dt_box_type: [ 1  1 -1 -1 -1 -1 -1 -1 -1 -1 -1]
gt_box_matched_idx: [-1  1  0 -1 -1 -1]
dt_box_matched_idx: [ 2  1 -1 -1 -1 -1 -1 -1 -1 -1 -1]
tp: 2 ,fp: 0 ,fn: 1 ,similarity: 0.0 ,thresholds: [0.98844492 0.99477673]

fused_compute_statistics
gt_box_type: [-1  0  1  0 -1 -1]
dt_box_type: [ 1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1]
gt_box_matched_idx: [-1 -1  0 -1 -1 -1]
dt_box_matched_idx: [ 2 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1]
tp: 1 ,fp: 0 ,fn: 2 ,similarity: 0.0 ,thresholds: [0.99477673]

gt_box_type: [-1  1  1  0 -1 -1]
dt_box_type: [ 1  1 -1 -1 -1 -1 -1 -1 -1 -1 -1]
gt_box_matched_idx: [-1  1  0 -1 -1 -1]
dt_box_matched_idx: [ 2  1 -1 -1 -1 -1 -1 -1 -1 -1 -1]
tp: 2 ,fp: 0 ,fn: 1 ,similarity: 0.0 ,thresholds: [0.98844492 0.99477673]

gt_box_type: [-1  1  1  1 -1 -1]
dt_box_type: [ 1  1  1 -1 -1 -1 -1 -1 -1 -1 -1]
gt_box_matched_idx: [-1  1  0  2 -1 -1]
dt_box_matched_idx: [ 2  1  3 -1 -1 -1 -1 -1 -1 -1 -1]
tp: 3 ,fp: 0 ,fn: 0 ,similarity: 0.0 ,thresholds: [0.98844492 0.99477673 0.87549245]

fused_compute_statistics
gt_box_type: [-1  0  1  0 -1 -1]
dt_box_type: [ 1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1]
gt_box_matched_idx: [-1 -1  0 -1 -1 -1]
dt_box_matched_idx: [ 2 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1]
tp: 1 ,fp: 0 ,fn: 2 ,similarity: 0.0 ,thresholds: [0.99477673]

gt_box_type: [-1  1  1  0 -1 -1]
dt_box_type: [ 1  1 -1 -1 -1 -1 -1 -1 -1 -1 -1]
gt_box_matched_idx: [-1  1  0 -1 -1 -1]
dt_box_matched_idx: [ 2  1 -1 -1 -1 -1 -1 -1 -1 -1 -1]
tp: 2 ,fp: 0 ,fn: 1 ,similarity: 0.0 ,thresholds: [0.98844492 0.99477673]

gt_box_type: [-1  1  1  1 -1 -1]
dt_box_type: [ 1  1  1 -1 -1 -1 -1 -1 -1 -1 -1]
gt_box_matched_idx: [-1  1  0  2 -1 -1]
dt_box_matched_idx: [ 2  1  3 -1 -1 -1 -1 -1 -1 -1 -1]
tp: 3 ,fp: 0 ,fn: 0 ,similarity: 0.0 ,thresholds: [0.98844492 0.99477673 0.87549245]
============================ results of compute_statistics_jit end ====================

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PV-RCNN代码测试——TP，FP，TN，FN的计算（一）
PV-RCNN代码测试——TP，FP，TN，FN的计算（二）
PV-RCNN代码测试——gt_annos & dt_annos
PV-RCNN代码测试——计算iou