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metrics_summary.json
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metrics_summary.json
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{
"label_aps": {
"car": {
"0.5": 0.7301550320647987,
"1.0": 0.8392486699219621,
"2.0": 0.8772810165968838,
"4.0": 0.8906054429207482
},
"truck": {
"0.5": 0.22124259263842608,
"1.0": 0.401555782962413,
"2.0": 0.5054858954491456,
"4.0": 0.5622321156052095
},
"bus": {
"0.5": 0.20160610219801342,
"1.0": 0.4817934893059072,
"2.0": 0.6302936029539689,
"4.0": 0.6729760433860377
},
"trailer": {
"0.5": 0.016511127031910204,
"1.0": 0.15489300249362317,
"2.0": 0.28048940602200606,
"4.0": 0.3835690170674054
},
"construction_vehicle": {
"0.5": 0.0,
"1.0": 0.05795477084607464,
"2.0": 0.16590407870008197,
"4.0": 0.24050741777241927
},
"pedestrian": {
"0.5": 0.7602758295210841,
"1.0": 0.7775712433239843,
"2.0": 0.7927329258789905,
"4.0": 0.8094658408763451
},
"motorcycle": {
"0.5": 0.4057996841245103,
"1.0": 0.536057373684074,
"2.0": 0.5562118776047275,
"4.0": 0.5727054114313487
},
"bicycle": {
"0.5": 0.14177324034762281,
"1.0": 0.1690078367435701,
"2.0": 0.17121792697363739,
"4.0": 0.17754782544328937
},
"traffic_cone": {
"0.5": 0.6224116345980327,
"1.0": 0.639745947073238,
"2.0": 0.6693911267260308,
"4.0": 0.7156710288398554
},
"barrier": {
"0.5": 0.4686388050942534,
"1.0": 0.6305673973160528,
"2.0": 0.6993072793205549,
"4.0": 0.7221633392983474
}
},
"mean_dist_aps": {
"car": 0.8343225403760981,
"truck": 0.4226290966637985,
"bus": 0.4966673094609818,
"trailer": 0.2088656381537362,
"construction_vehicle": 0.11609156682964397,
"pedestrian": 0.785011459900101,
"motorcycle": 0.517693586711165,
"bicycle": 0.16488670737702993,
"traffic_cone": 0.6618049343092892,
"barrier": 0.6301692052573021
},
"mean_ap": 0.4838142045039146,
"label_tp_errors": {
"car": {
"trans_err": 0.1891902797535114,
"scale_err": 0.1648192722333949,
"orient_err": 0.11499946634372246,
"vel_err": 0.3893623583676156,
"attr_err": 0.20488495474026522
},
"truck": {
"trans_err": 0.42844108210078596,
"scale_err": 0.23491842295116777,
"orient_err": 0.20160919866494686,
"vel_err": 0.3834446556724127,
"attr_err": 0.25859658137179353
},
"bus": {
"trans_err": 0.4631561999924074,
"scale_err": 0.26002286311569944,
"orient_err": 0.2240603460402281,
"vel_err": 1.01873892279035,
"attr_err": 0.31383828692691007
},
"trailer": {
"trans_err": 0.6571348881051028,
"scale_err": 0.26936261364471153,
"orient_err": 1.0808927236275778,
"vel_err": 0.6580421225759872,
"attr_err": 0.26584254816302705
},
"construction_vehicle": {
"trans_err": 0.827423352489653,
"scale_err": 0.5122969820984888,
"orient_err": 1.1865319203334526,
"vel_err": 0.11733500540884557,
"attr_err": 0.30556554425257243
},
"pedestrian": {
"trans_err": 0.15714494768372866,
"scale_err": 0.29688372057933426,
"orient_err": 0.47830688743442523,
"vel_err": 0.32922221033494775,
"attr_err": 0.10730998683709424
},
"motorcycle": {
"trans_err": 0.25485626557485164,
"scale_err": 0.27262881448153886,
"orient_err": 0.8012120215332252,
"vel_err": 0.7510018091529977,
"attr_err": 0.23364348612988067
},
"bicycle": {
"trans_err": 0.23842924635598212,
"scale_err": 0.3038435473308245,
"orient_err": 0.8494253756209954,
"vel_err": 0.4009393373338877,
"attr_err": 0.026103656165464617
},
"traffic_cone": {
"trans_err": 0.1636802362374422,
"scale_err": 0.38390469306115754,
"orient_err": NaN,
"vel_err": NaN,
"attr_err": NaN
},
"barrier": {
"trans_err": 0.2632134214442734,
"scale_err": 0.31606767661697927,
"orient_err": 0.14164587680710697,
"vel_err": NaN,
"attr_err": NaN
}
},
"tp_errors": {
"trans_err": 0.3642669919737739,
"scale_err": 0.30147486061132966,
"orient_err": 0.5642982018228534,
"vel_err": 0.5060108027046305,
"attr_err": 0.214473130573376
},
"tp_scores": {
"trans_err": 0.6357330080262261,
"scale_err": 0.6985251393886703,
"orient_err": 0.4357017981771466,
"vel_err": 0.4939891972953695,
"attr_err": 0.785526869426624
},
"nd_score": 0.5468547034833608,
"eval_time": 88.96010518074036,
"cfg": {
"class_range": {
"car": 50,
"truck": 50,
"bus": 50,
"trailer": 50,
"construction_vehicle": 50,
"pedestrian": 40,
"motorcycle": 40,
"bicycle": 40,
"traffic_cone": 30,
"barrier": 30
},
"dist_fcn": "center_distance",
"dist_ths": [
0.5,
1.0,
2.0,
4.0
],
"dist_th_tp": 2.0,
"min_recall": 0.1,
"min_precision": 0.1,
"max_boxes_per_sample": 500,
"mean_ap_weight": 5
},
"meta": {
"use_camera": false,
"use_lidar": true,
"use_radar": false,
"use_map": false,
"use_external": false
}
}