def print_joint_occ_acc()

in src/eval.py [0:0]

• 39 lines of code
• 6 McCabe index (conditional complexity)

def print_joint_occ_acc(joint_occ, joint_acc_all, joint_acc_untracked, joint_acc_tracked):
    body_occ = None
    body_acc_all = None
    body_acc_untracked = None
    body_acc_tracked = None

    for k in joint_occ.keys():
        mean_occ = torch.mean(torch.cat(joint_occ[k], dim=0)).item()
        rmse_acc_all = torch.sqrt(torch.mean(torch.cat(joint_acc_all[k], dim=0))).item()
        rmse_acc_untracked = torch.sqrt(torch.mean(torch.cat(joint_acc_untracked[k], dim=0))).item()
        rmse_acc_tracked = torch.sqrt(torch.mean(torch.cat(joint_acc_tracked[k], dim=0))).item()

        mean_acc_all = torch.mean(torch.sqrt(torch.cat(joint_acc_all[k], dim=0))).item()
        mean_acc_untracked = torch.mean(torch.sqrt(torch.cat(joint_acc_untracked[k], dim=0))).item()
        mean_acc_tracked = torch.mean(torch.sqrt(torch.cat(joint_acc_tracked[k], dim=0))).item()

        if not k.startswith("finger") and k != "thumb" and k != "wrist_local_finger":
            if body_occ is None:
                body_occ = torch.cat(joint_occ[k], dim=0)
                body_acc_all = torch.cat(joint_acc_all[k], dim=0)
                body_acc_untracked = torch.cat(joint_acc_untracked[k], dim=0)
                body_acc_tracked = torch.cat(joint_acc_tracked[k], dim=0)
            else:
                body_occ = torch.cat([body_occ, *joint_occ[k]], dim=0)
                body_acc_all = torch.cat([body_acc_all, *joint_acc_all[k]], dim=0)
                body_acc_untracked = torch.cat([body_acc_untracked, *joint_acc_untracked[k]], dim=0)
                body_acc_tracked = torch.cat([body_acc_tracked, *joint_acc_tracked[k]], dim=0)

        print(f"{k:<20} occ: {mean_occ:.2f}   "
              f"acc_all: {rmse_acc_all:.3f} ({mean_acc_all:.3f})    "
              f"acc_untracked: {rmse_acc_untracked:.3f} ({mean_acc_untracked:.3f})    "
              f"acc_tracked: {rmse_acc_tracked:.3f} ({mean_acc_tracked:.3f})")

    mean_body_occ = torch.mean(body_occ).item()
    rmse_body_acc_all = torch.sqrt(torch.mean(body_acc_all)).item()
    rmse_body_acc_untracked = torch.sqrt(torch.mean(body_acc_untracked)).item()
    rmse_body_acc_tracked = torch.sqrt(torch.mean(body_acc_tracked)).item()
    mean_body_acc_all = torch.mean(torch.sqrt(body_acc_all)).item()
    mean_body_acc_untracked = torch.mean(torch.sqrt(body_acc_untracked)).item()
    mean_body_acc_tracked = torch.mean(torch.sqrt(body_acc_tracked)).item()

    print(f"{'body':<20} occ: {mean_body_occ:.2f}   "
          f"acc_all: {rmse_body_acc_all:.3f} ({mean_body_acc_all:.3f})    "
          f"acc_untracked: {rmse_body_acc_untracked:.3f} ({mean_body_acc_untracked:.3f})    "
          f"acc_tracked: {rmse_body_acc_tracked:.3f} ({mean_body_acc_tracked:.3f})")