KINO HViktorTsoi

GAN生成图像质量评价标准

将生成图像送进inception, 得到1x1000的预测向量;

1. 如果生成的样本比较真实,那么Inception应该给出某个比较明确的类别, 向量中某个值比较高, 因此预测向量的信息熵越低越好;

2. 如果生成的样本多样性好,那么对于产生的一批样本,其对应的这批类别标签的分布应该比较均匀(各个类别都生成了一些), 因此类别标签的信息熵越高越好;

Install oracle-java8-jdk:

sudo add-apt-repository -y ppa:webupd8team/java && sudo apt update && sudo apt -y install oracle-java8-installer

	import numpy as np
	import ros_numpy

	from sensor_msgs.msg import PointCloud2

	"""
	pc: 2d numpy array of shape (N, 4)
	"""

	pc_array = np.zeros(len(pc), dtype=[

	def transform_pointcloud(T_X_2_pc, pc):
	"""
	transform pointcloud to frame X with transformation T_X_2_pc
	:param T_x_2_pc: a transform matrix of shape(4, 4)
	:param pc: a 2d array of shape (N, D) (the first 3 dim of D is x, y, z; the rest dim can be any extra data)
	:return: a 2d array of shape (N, D)
	"""
	pc[:, :3] = np.matmul(
	T_X_2_pc,
	np.column_stack([pc[:, :3], np.ones(len(pc)).reshape(-1, 1)]).T

	import numpy as np

	def umeyama(X, Y):
	# From https://gist.github.com/CarloNicolini/7118015
	# and https://github.com/ethz-asl/maplab/blob/master/test/end-to-end-common/python/end_to_end_common/umeyama.py
	assert X.shape[0] == 3
	assert Y.shape[0] == 3
	assert X.shape[1] > 0
	assert Y.shape[1] > 0

	# !/usr/bin/env python3
	# coding=utf-8

	from __future__ import print_function, division, absolute_import
	import rospy
	from sensor_msgs.msg import PointCloud2
	from nav_msgs.msg import Odometry

	import cv2
	from cv_bridge import CvBridge, CvBridgeError

	import functools
	import json
	import os
	import random
	import shutil
	from collections import defaultdict

	import matplotlib.pyplot as plt
	import pycocotools
	from pycocotools import mask

	import array

	import cv2
	import numpy as np
	import numpy.linalg as LA
	import open3d as o3d
	import matplotlib.pyplot as plt

	def load_calib(calib_file_path):
	"""

	import numpy as np
	import cv2

	def correction(
	img,
	shadow_amount_percent, shadow_tone_percent, shadow_radius,
	highlight_amount_percent, highlight_tone_percent, highlight_radius,
	color_percent
	):
	"""

	get_cmake_property(_variableNames VARIABLES)
	foreach (_variableName ${_variableNames})
	message(STATUS "${_variableName}=${${_variableName}}")
	endforeach()