From 89af92b97eb1a85f7062ba82e0d5bb24cd6590c4 Mon Sep 17 00:00:00 2001
From: holger-nutonomy <39502217+holger-nutonomy@users.noreply.github.com>
Date: Tue, 21 May 2019 07:56:46 +0800
Subject: [PATCH] Print per class metrics after evaluation (#159)

---
 python-sdk/nuscenes/eval/detection/evaluate.py | 15 +++++++++++++++
 1 file changed, 15 insertions(+)

diff --git a/python-sdk/nuscenes/eval/detection/evaluate.py b/python-sdk/nuscenes/eval/detection/evaluate.py
index 47ed1cc8..5ca8eb23 100644
--- a/python-sdk/nuscenes/eval/detection/evaluate.py
+++ b/python-sdk/nuscenes/eval/detection/evaluate.py
@@ -229,6 +229,21 @@ def main(self,
         print('NDS: %.4f' % (metrics_summary['nd_score']))
         print('Eval time: %.1fs' % metrics_summary['eval_time'])
 
+        # Print per-class metrics.
+        print()
+        print('Per-class results:')
+        print('Object Class\tAP\tATE\tASE\tAOE\tAVE\tAAE')
+        class_aps = metrics_summary['mean_dist_aps']
+        class_tps = metrics_summary['label_tp_errors']
+        for class_name in class_aps.keys():
+            print('%s\t%.3f\t%.3f\t%.3f\t%.3f\t%.3f\t%.3f'
+                  % (class_name, class_aps[class_name],
+                     class_tps[class_name]['trans_err'],
+                     class_tps[class_name]['scale_err'],
+                     class_tps[class_name]['orient_err'],
+                     class_tps[class_name]['vel_err'],
+                     class_tps[class_name]['attr_err']))
+
         return metrics_summary