Method plot_istereo

Utility/Visualize/Matplotlib_Visualize.py:221–280

Plot the IStereoDepth output in various subplots. Plot depth, gtdepth, cov and mask as much as possible.

(output: IStereoDepth.Output, frame: StereoFrame)

    @register
    @staticmethod
    def plot_istereo(output: IStereoDepth.Output, frame: StereoFrame) -> Figure:
        """Plot the IStereoDepth output in various subplots. Plot depth, gtdepth, cov and mask as much as possible.
        """
        if frame.stereo.gt_depth is not None:
            depth_err = (output.depth.detach().cpu() - frame.stereo.gt_depth).abs()
        else:
            depth_err = None
        
        plot_args = [
            # Row 1
            # Plot left camera
            Plot.plot_image(frame.stereo.imageL.detach().cpu().permute(0, 2, 3, 1)[0])
                >> Plot.plot_no_border()
                >> Chain.side_effect(lambda ax: ax.set_title(f"Frame {frame.frame_idx} L", loc="left")),
            
            # Plot right camera
            Plot.plot_image(frame.stereo.imageR.detach().cpu().permute(0, 2, 3, 1)[0])
                >> Plot.plot_no_border()
                >> Chain.side_effect(lambda ax: ax.set_title(f"Frame {frame.frame_idx} R", loc="left")),
            
            # Empty
            None,
            
            # Row 2
            # Plot Predicted Depth
            Plot.plot_scalarmap(output.depth.detach().cpu()[0, 0], colorbar=True)
                >> Plot.plot_no_border()
                >> Chain.side_effect(lambda ax: ax.set_title(f"Pred Depth", loc="left")),
            
            # Plot predicted cov
            Plot.plot_scalarmap(None if output.cov is None else output.cov.sqrt().detach().cpu()[0, 0], colorbar=True)
                >> Plot.plot_no_border()
                >> Chain.side_effect(lambda ax: ax.set_title(f"Depth Cov (sqrt)", loc="left")),
                
            # Plot depth error
            Plot.plot_scalarmap(None if depth_err is None else depth_err[0, 0].log10(), colorbar=True) 
                >> Plot.plot_no_border()
                >> Chain.side_effect(lambda ax: ax.set_title("Depth Err (log)", loc="left")),
            
            # Row 3
            # Plot gt Depth
            Plot.plot_scalarmap(None if frame.stereo.gt_depth is None else frame.stereo.gt_depth.detach().cpu()[0, 0], colorbar=True)
                >> Plot.plot_no_border()
                >> Chain.side_effect(lambda ax: ax.set_title(f"GT Depth", loc="left")),
                
            # Plot predicted cov (pred mask)
            Plot.plot_scalarmap(None if output.cov is None else output.cov.sqrt().detach().cpu()[0, 0], colorbar=True)
                >> Plot.plot_mask(None if output.mask is None else output.mask[0, 0].detach().cpu())
                >> Plot.plot_no_border()
                >> Chain.side_effect(lambda ax: ax.set_title(f"Depth Cov (sqrt, Pred Mask)", loc="left")),
            
            # Plot depth error (pred mask)
            Plot.plot_scalarmap(None if depth_err is None else depth_err[0, 0].log10(), colorbar=True)
                >> Plot.plot_mask(None if output.mask is None else output.mask[0, 0].detach().cpu())
                >> Plot.plot_no_border()
                >> Chain.side_effect(lambda ax: ax.set_title("Depth Err (log, Pred Mask)", loc="left")),
        ]