upload

last.pth

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bc835f5b152b8038e7446f8db9cd7c491339bdb9fc2c5def098436c708d6cd82
+size 8444266

preview_1step_scope_1/l1.py

@@ -0,0 +1,49 @@
+import json
+import numpy as np
+
+def denormalize_func(normalized_tensor, min_val=0, max_val=200):
+    tensor = (normalized_tensor + 1) / 2
+    tensor = tensor * (max_val - min_val) + min_val
+    # tensor = t.round(tensor).long()
+    return tensor
+
+
+# 读取JSON文件
+with open('action_val.json', 'r') as file:
+    data = json.load(file)
+
+# 初始化误差列表
+steering_errors = []
+speed_errors = []
+
+# 遍历每个场景，计算L1误差
+for scene_data in data:
+    action_pred = scene_data["action_pred"]
+    action_gt = scene_data["action_gt"]
+    
+    # 确保 action_pred 和 action_gt 的长度一致
+    min_length = min(len(action_pred), len(action_gt))
+    
+    # 计算每个时间步的转向角和速度误差
+    for i in range(min_length):
+        pred_steering, pred_speed = action_pred[i]
+        gt_steering, gt_speed = action_gt[i]
+        
+        # pred_steering = denormalize_func(pred_steering, -500, 500)
+        # gt_steering = denormalize_func(gt_steering, -500, 500)
+        # pred_speed = denormalize_func(pred_speed, 0, 70)
+        # gt_speed = denormalize_func(gt_speed, 0, 70)
+        
+        # 计算转向角和速度的绝对误差
+        steering_error = abs(pred_steering - gt_steering)
+        speed_error = abs(pred_speed - gt_speed)
+        
+        steering_errors.append(steering_error)
+        speed_errors.append(speed_error)
+
+# 计算转向角和速度的平均L1误差
+mean_steering_error = np.mean(steering_errors)
+mean_speed_error = np.mean(speed_errors)
+
+print("平均转向角L1误差:", mean_steering_error)
+print("平均速度L1误差:", mean_speed_error)

preview_1step_scope_1/plot.py

@@ -0,0 +1,42 @@
+import json
+import matplotlib.pyplot as plt
+
+# 读取JSON文件
+with open('action_val.json', 'r') as file:
+    data = json.load(file)
+
+# 提取数据
+scene_data = data[1]
+action_pred = scene_data["action_pred"]
+action_gt = scene_data["action_gt"]
+
+# 提取转向角和速度
+pred_steering_angles = [a[0] for a in action_pred]
+pred_speeds = [a[1] for a in action_pred]
+
+gt_steering_angles = [a[0] for a in action_gt]
+gt_speeds = [a[1] for a in action_gt]
+
+# 绘图
+plt.figure(figsize=(12, 5))
+
+# 转向角的 plot
+plt.subplot(1, 2, 1)
+plt.plot(pred_steering_angles, label='Predicted Steering Angle', color='blue', marker='o')
+plt.plot(gt_steering_angles, label='Ground Truth Steering Angle', color='orange', marker='o')
+plt.title("Steering Angle")
+plt.xlabel("Time Step")
+plt.ylabel("Angle")
+plt.legend()
+
+# 速度的 plot
+plt.subplot(1, 2, 2)
+plt.plot(pred_speeds, label='Predicted Speed', color='blue', marker='o')
+plt.plot(gt_speeds, label='Ground Truth Speed', color='orange', marker='o')
+plt.title("Speed")
+plt.xlabel("Time Step")
+plt.ylabel("Speed")
+plt.legend()
+
+plt.tight_layout()
+plt.savefig('val.jpg')