| """Visualization of predicted and ground truth for a single batch.""" |
| """Adapted from https://github.com/cvg/GeoCalib""" |
|
|
| from typing import Any, Dict |
|
|
| import numpy as np |
| import torch |
|
|
| from scripts.camera.geometry.perspective_fields import get_latitude_field |
| from scripts.camera.utils.conversions import rad2deg |
| from scripts.camera.utils.tensor import batch_to_device |
| from scripts.camera.visualization.viz2d import ( |
| plot_confidences, |
| plot_heatmaps, |
| plot_image_grid, |
| plot_latitudes, |
| plot_vector_fields, |
| ) |
|
|
|
|
| def make_up_figure( |
| pred: Dict[str, torch.Tensor], data: Dict[str, torch.Tensor], n_pairs: int = 2 |
| ) -> Dict[str, Any]: |
| """Get predicted and ground truth up fields and errors. |
| |
| Args: |
| pred (Dict[str, torch.Tensor]): Predicted up field. |
| data (Dict[str, torch.Tensor]): Ground truth up field. |
| n_pairs (int): Number of pairs to visualize. |
| |
| Returns: |
| Dict[str, Any]: Dictionary with figure. |
| """ |
| pred = batch_to_device(pred, "cpu", detach=True) |
| data = batch_to_device(data, "cpu", detach=True) |
|
|
| n_pairs = min(n_pairs, len(data["image"])) |
|
|
| if "up_field" not in pred.keys(): |
| return {} |
|
|
| up_fields = [] |
| for i in range(n_pairs): |
| row = [data["up_field"][i]] |
| titles = ["Up GT"] |
|
|
| if "up_confidence" in pred.keys(): |
| row += [pred["up_confidence"][i]] |
| titles += ["Up Confidence"] |
|
|
| row = [r.float().numpy() if isinstance(r, torch.Tensor) else r for r in row] |
| up_fields.append(row) |
|
|
| |
| N, M = len(up_fields), len(up_fields[0]) + 1 |
| imgs = [[data["image"][i].permute(1, 2, 0).cpu().clip(0, 1)] * M for i in range(n_pairs)] |
| fig, ax = plot_image_grid(imgs, return_fig=True, set_lim=True) |
| ax = np.array(ax) |
|
|
| for i in range(n_pairs): |
| plot_vector_fields([up_fields[i][0]], axes=ax[i, [1]]) |
| |
|
|
| if "up_confidence" in pred.keys(): |
| plot_confidences([up_fields[i][3]], axes=ax[i, [4]]) |
|
|
| return {"up": fig} |
|
|
|
|
| def make_latitude_figure( |
| pred: Dict[str, torch.Tensor], data: Dict[str, torch.Tensor], n_pairs: int = 2 |
| ) -> Dict[str, Any]: |
| """Get predicted and ground truth latitude fields and errors. |
| |
| Args: |
| pred (Dict[str, torch.Tensor]): Predicted latitude field. |
| data (Dict[str, torch.Tensor]): Ground truth latitude field. |
| n_pairs (int, optional): Number of pairs to visualize. Defaults to 2. |
| |
| Returns: |
| Dict[str, Any]: Dictionary with figure. |
| """ |
| pred = batch_to_device(pred, "cpu", detach=True) |
| data = batch_to_device(data, "cpu", detach=True) |
|
|
| n_pairs = min(n_pairs, len(data["image"])) |
| latitude_fields = [] |
|
|
| if "latitude_field" not in pred.keys(): |
| return {} |
|
|
| for i in range(n_pairs): |
| row = [ |
| rad2deg(data["latitude_field"][i][0]), |
| |
| |
| ] |
| titles = ["Latitude GT"] |
|
|
| if "latitude_confidence" in pred.keys(): |
| row += [pred["latitude_confidence"][i]] |
| titles += ["Latitude Confidence"] |
|
|
| row = [r.float().numpy() if isinstance(r, torch.Tensor) else r for r in row] |
| latitude_fields.append(row) |
|
|
| |
| N, M = len(latitude_fields), len(latitude_fields[0]) + 1 |
| imgs = [[data["image"][i].permute(1, 2, 0).cpu().clip(0, 1)] * M for i in range(n_pairs)] |
| fig, ax = plot_image_grid(imgs, return_fig=True, set_lim=True) |
| ax = np.array(ax) |
|
|
| for i in range(n_pairs): |
| plot_latitudes([latitude_fields[i][0]], is_radians=False, axes=ax[i, [1]]) |
| |
|
|
| if "latitude_confidence" in pred.keys(): |
| plot_confidences([latitude_fields[i][3]], axes=ax[i, [4]]) |
|
|
| return {"latitude": fig} |
|
|
|
|
| def make_camera_figure( |
| pred: Dict[str, torch.Tensor], data: Dict[str, torch.Tensor], n_pairs: int = 2 |
| ) -> Dict[str, Any]: |
| """Get predicted and ground truth camera parameters. |
| |
| Args: |
| pred (Dict[str, torch.Tensor]): Predicted camera parameters. |
| data (Dict[str, torch.Tensor]): Ground truth camera parameters. |
| n_pairs (int, optional): Number of pairs to visualize. Defaults to 2. |
| |
| Returns: |
| Dict[str, Any]: Dictionary with figure. |
| """ |
| pred = batch_to_device(pred, "cpu", detach=True) |
| data = batch_to_device(data, "cpu", detach=True) |
|
|
| n_pairs = min(n_pairs, len(data["image"])) |
|
|
| if "camera" not in pred.keys(): |
| return {} |
|
|
| latitudes = [] |
| for i in range(n_pairs): |
| titles = ["Cameras GT"] |
| row = [get_latitude_field(data["camera"][i], data["gravity"][i])] |
|
|
| if "camera" in pred.keys() and "gravity" in pred.keys(): |
| row += [get_latitude_field(pred["camera"][i], pred["gravity"][i])] |
| titles += ["Cameras Pred"] |
|
|
| row = [rad2deg(r).squeeze(-1).float().numpy()[0] for r in row] |
| latitudes.append(row) |
|
|
| |
| N, M = len(latitudes), len(latitudes[0]) + 1 |
| imgs = [[data["image"][i].permute(1, 2, 0).cpu().clip(0, 1)] * M for i in range(n_pairs)] |
| fig, ax = plot_image_grid(imgs, titles=[["Image"] + titles] * N, return_fig=True, set_lim=True) |
| ax = np.array(ax) |
|
|
| for i in range(n_pairs): |
| plot_latitudes(latitudes[i], is_radians=False, axes=ax[i, 1:]) |
|
|
| return {"camera": fig} |
|
|
|
|
| def make_perspective_figures( |
| pred: Dict[str, torch.Tensor], data: Dict[str, torch.Tensor], n_pairs: int = 2 |
| ) -> Dict[str, Any]: |
| """Get predicted and ground truth perspective fields. |
| |
| Args: |
| pred (Dict[str, torch.Tensor]): Predicted perspective fields. |
| data (Dict[str, torch.Tensor]): Ground truth perspective fields. |
| n_pairs (int, optional): Number of pairs to visualize. Defaults to 2. |
| |
| Returns: |
| Dict[str, Any]: Dictionary with figure. |
| """ |
| n_pairs = min(n_pairs, len(data["image"])) |
| figures = make_up_figure(pred, data, n_pairs) |
| figures |= make_latitude_figure(pred, data, n_pairs) |
| |
|
|
| {f.tight_layout() for f in figures.values()} |
|
|
| return figures |
|
|
