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Evaluate Policy and Visualization

Below is a tutorial on how to evaluate a policy and visualize the results.

Step 1: Evaluate the policy

cd {'PATH/TO/PROJECT/DIRECTORY'}
python run/scripts/evaluate.py --ckpt {'PATH/TO/CHECKPOINT'}

Available arguments

--num-humans        # Number of humans in the scene
--ckpt              # Path to the checkpoint
--ckpt-num          # Checkpoint number, without the prefix zeros
--env-name          # Environment setup configured under activepose/env_config.py
--map-name          # Map name
--render-steps      # Number of steps to evaluate (or render if --no-render is not specified)
--num-episodes      # Number of episodes to evaluate
--no-render         # Disable rendering (only evaluate the policy, significantly faster)
--use-gt            # Use ground truth 2D pose as input instead of using predicted 2D pose by default

An example of evaluating the policy with checkpoint ray_results/mappo_ctcr_wdl/PPO_1bd01_00000_Feb08/checkpoint_001400/checkpoint_1400. This is the default pattern generated by Ray RLlib.

python run/scripts/evaluate.py --ckpt ray_results/mappo_ctcr_wdl/PPO_1bd01_00000_Feb08 --ckpt-num 1400

Or you can without specifying the checkpoint number to evaluate the latest checkpoint:

python run/scripts/evaluate.py --ckpt ray_results/mappo_ctcr_wdl/PPO_1bd01_00000_Feb08

If you choose to render the results (that is to not specify --no-render), the 3D pose estimation sequences and 2D camera recordings will be saved under the folder render_data.

Step 2: Using 3DPoseViewer to Visualize

Note: make sure to leave render option ON when evaluating the policy.

We develop a interactive tool 3DPoseViewer to visualize the reconstruction results and learned camera policy. If you would like to use this viewer alone (visualize your own data), please find the instructions here

Quickstart

cd {ROJECT_ROOT}
python -m run.scripts.visualize

GUI

plot

Load 3D pose estimation sequences from evaluation

  1. Click Open File and navigate to the folder render_data/{HOSTNAME}/{PATH_TO_EVALUATION_RESULTS}.

  2. Select the 3d.zip file and click Open.

Load 2D camera recordings from evaluation

  1. Under the same directory as above, there is another folder called 2d. Click into the folder.

  2. Make sure the desired file type is set to Videos (*.mp4, *.avi, *.mov) as shown in the figure below.

  3. Select all mp4 files and click Open.