Commit f50dce63 authored by Clément Pinard's avatar Clément Pinard
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add README for evalu toolkit

parent 26a2bfdf
# Evaluation Toolkit
Set of tools to run a particular algorithm on a dataset constructed with the validation set constructor, and evaluate it, along with advanced statistics regarding depth value, dans pixel position in image with repsect to flight path vector.
## Inference Example
Get the last frame and a previous frame such that the displacement magnitude is as close to 30cm as possible, with the condition of having a rotation of less that 1 radian. Each frame is preprocessed so that it is of shape `[C, H, W]` and with a range `[0, 1]` instead of `[0, 255]`.
from evaluation_toolkit import inferenceFramework
engine = inferenceFramework(dataset_root, evaluation_list, lambda x: x.transpose(2, 0, 1).astype(np.float32)[None]/255)
for sample in tqdm(engine):
latest_frame, latest_intrinsics, _ = sample.get_frame()
previous_frame, previous_intrinsics, previous_pose = sample.get_previous_frame(displacement=0.3)
estimated_depth_map = my_model(latest_frame, previous_frame, previous_pose)
mean_inference_time, output_depth_maps = engine.finalize(output_file='output.npz')
You can find an example usage of this Inference Framework for SfmLearner [here](
## Evaluation
The evaluation step is a simple script that takes into input the computed depth maps (here in the file `output.npz`)
depth_evaluation --dataset_root /path/to/dataset/root --est_depth output.npz --evaluation_list_path /path/to/evaluation_list.txt --flight_path_vector_list /path/to/fligt_path_vector_list.txt <--scale_invariant> <--mask_path /path/to/mask.npy>
It will output typical metrics and plot advanced statistics regarding the dataset and the depth estimations.
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