bool eval()

in tools/kitti_eval/evaluate_object_3d_offline_ap11.cpp [792:916]
92 lines of code
21 McCabe index (conditional complexity)

bool eval(string gt_dir, string result_dir, Mail* mail){

  // set some global parameters
  initGlobals();

  // ground truth and result directories
  // string gt_dir         = "data/object/label_2";
  // string result_dir     = "results/" + result_sha;
  string plot_dir       = result_dir + "/plot";

  // create output directories
  system(("mkdir " + plot_dir).c_str());

  // hold detections and ground truth in memory
  vector< vector<tGroundtruth> > groundtruth;
  vector< vector<tDetection> >   detections;

  // holds wether orientation similarity shall be computed (might be set to false while loading detections)
  // and which labels where provided by this submission
  bool compute_aos=true;
  vector<bool> eval_image(NUM_CLASS, false);
  vector<bool> eval_ground(NUM_CLASS, false);
  vector<bool> eval_3d(NUM_CLASS, false);

  // for all images read groundtruth and detections
  mail->msg("Loading detections...");
  std::vector<int32_t> indices = getEvalIndices(result_dir + "/data/");
  printf("number of files for evaluation: %d\n", (int)indices.size());

  for (int32_t i=0; i<indices.size(); i++) {

    // file name
    char file_name[256];
    sprintf(file_name,"%06d.txt",indices.at(i));

    // read ground truth and result poses
    bool gt_success,det_success;
    vector<tGroundtruth> gt   = loadGroundtruth(gt_dir + "/" + file_name,gt_success);
    vector<tDetection>   det  = loadDetections(result_dir + "/data/" + file_name,
            compute_aos, eval_image, eval_ground, eval_3d, det_success);
    groundtruth.push_back(gt);
    detections.push_back(det);

    // check for errors
    if (!gt_success) {
      mail->msg("ERROR: Couldn't read: %s of ground truth. Please write me an email!", file_name);
      return false;
    }
    if (!det_success) {
      mail->msg("ERROR: Couldn't read: %s", file_name);
      return false;
    }
  }
  mail->msg("  done.");

  // holds pointers for result files
  FILE *fp_det=0, *fp_ori=0;

  // eval image 2D bounding boxes
  for (int c = 0; c < NUM_CLASS; c++) {
    CLASSES cls = (CLASSES)c;
    if (eval_image[c]) {
      fp_det = fopen((result_dir + "/stats_" + CLASS_NAMES[c] + "_detection.txt").c_str(), "w");
      if(compute_aos)
        fp_ori = fopen((result_dir + "/stats_" + CLASS_NAMES[c] + "_orientation.txt").c_str(),"w");
      vector<double> precision[3], aos[3];
      if(   !eval_class(fp_det, fp_ori, cls, groundtruth, detections, compute_aos, imageBoxOverlap, precision[0], aos[0], EASY, IMAGE)
         || !eval_class(fp_det, fp_ori, cls, groundtruth, detections, compute_aos, imageBoxOverlap, precision[1], aos[1], MODERATE, IMAGE)
         || !eval_class(fp_det, fp_ori, cls, groundtruth, detections, compute_aos, imageBoxOverlap, precision[2], aos[2], HARD, IMAGE)) {
        mail->msg("%s evaluation failed.", CLASS_NAMES[c].c_str());
        return false;
      }
      fclose(fp_det);
      saveAndPlotPlots(plot_dir, CLASS_NAMES[c] + "_detection", CLASS_NAMES[c], precision, 0);
      if(compute_aos){
        saveAndPlotPlots(plot_dir, CLASS_NAMES[c] + "_orientation", CLASS_NAMES[c], aos, 1);
        fclose(fp_ori);
      }
    }
  }
  printf("Finished 2D bounding box eval.\n");
  // don't evaluate AOS for birdview boxes and 3D boxes
  compute_aos = false;

  // eval bird's eye view bounding boxes
  for (int c = 0; c < NUM_CLASS; c++) {
    CLASSES cls = (CLASSES)c;
    if (eval_ground[c]) {
      fp_det = fopen((result_dir + "/stats_" + CLASS_NAMES[c] + "_detection_ground.txt").c_str(), "w");
      vector<double> precision[3], aos[3];
      printf("Going to eval ground for class: %s\n", CLASS_NAMES[c].c_str());
      if(   !eval_class(fp_det, fp_ori, cls, groundtruth, detections, compute_aos, groundBoxOverlap, precision[0], aos[0], EASY, GROUND)
         || !eval_class(fp_det, fp_ori, cls, groundtruth, detections, compute_aos, groundBoxOverlap, precision[1], aos[1], MODERATE, GROUND)
         || !eval_class(fp_det, fp_ori, cls, groundtruth, detections, compute_aos, groundBoxOverlap, precision[2], aos[2], HARD, GROUND)) {
        mail->msg("%s evaluation failed.", CLASS_NAMES[c].c_str());
        return false;
      }
      fclose(fp_det);
      saveAndPlotPlots(plot_dir, CLASS_NAMES[c] + "_detection_ground", CLASS_NAMES[c], precision, 0);
    }
  }
  printf("Finished Birdeye eval.\n");

  // eval 3D bounding boxes
  for (int c = 0; c < NUM_CLASS; c++) {
    CLASSES cls = (CLASSES)c;
    if (eval_3d[c]) {
      fp_det = fopen((result_dir + "/stats_" + CLASS_NAMES[c] + "_detection_3d.txt").c_str(), "w");
      vector<double> precision[3], aos[3];
      printf("Going to eval 3D box for class: %s\n", CLASS_NAMES[c].c_str());
      if(   !eval_class(fp_det, fp_ori, cls, groundtruth, detections, compute_aos, box3DOverlap, precision[0], aos[0], EASY, BOX3D)
         || !eval_class(fp_det, fp_ori, cls, groundtruth, detections, compute_aos, box3DOverlap, precision[1], aos[1], MODERATE, BOX3D)
         || !eval_class(fp_det, fp_ori, cls, groundtruth, detections, compute_aos, box3DOverlap, precision[2], aos[2], HARD, BOX3D)) {
        mail->msg("%s evaluation failed.", CLASS_NAMES[c].c_str());
        return false;
      }
      fclose(fp_det);
      saveAndPlotPlots(plot_dir, CLASS_NAMES[c] + "_detection_3d", CLASS_NAMES[c], precision, 0);
    }
  }
  printf("Finished 3D bounding box eval.\n");

  // success
  return true;
}