void cleanData()

in tools/kitti_eval/evaluate_object_3d_offline_ap40.cpp [383:456]

• 42 lines of code
• 21 McCabe index (conditional complexity)

void cleanData(CLASSES current_class, const vector<tGroundtruth> &gt, const vector<tDetection> &det, vector<int32_t> &ignored_gt, vector<tGroundtruth> &dc, vector<int32_t> &ignored_det, int32_t &n_gt, DIFFICULTY difficulty){

  // extract ground truth bounding boxes for current evaluation class
  for(int32_t i=0;i<gt.size(); i++){

    // only bounding boxes with a minimum height are used for evaluation
    double height = gt[i].box.y2 - gt[i].box.y1;

    // neighboring classes are ignored ("van" for "car" and "person_sitting" for "pedestrian")
    // (lower/upper cases are ignored)
    int32_t valid_class;

    // all classes without a neighboring class
    if(!strcasecmp(gt[i].box.type.c_str(), CLASS_NAMES[current_class].c_str()))
      valid_class = 1;

    // classes with a neighboring class
    else if(!strcasecmp(CLASS_NAMES[current_class].c_str(), "Pedestrian") && !strcasecmp("Person_sitting", gt[i].box.type.c_str()))
      valid_class = 0;
    else if(!strcasecmp(CLASS_NAMES[current_class].c_str(), "Car") && !strcasecmp("Van", gt[i].box.type.c_str()))
      valid_class = 0;

    // classes not used for evaluation
    else
      valid_class = -1;

    // ground truth is ignored, if occlusion, truncation exceeds the difficulty or ground truth is too small
    // (doesn't count as FN nor TP, although detections may be assigned)
    bool ignore = false;
    if(gt[i].occlusion>MAX_OCCLUSION[difficulty] || gt[i].truncation>MAX_TRUNCATION[difficulty] || height<MIN_HEIGHT[difficulty])
      ignore = true;

    // set ignored vector for ground truth
    // current class and not ignored (total no. of ground truth is detected for recall denominator)
    if(valid_class==1 && !ignore){
      ignored_gt.push_back(0);
      n_gt++;
    }

    // neighboring class, or current class but ignored
    else if(valid_class==0 || (ignore && valid_class==1))
      ignored_gt.push_back(1);

    // all other classes which are FN in the evaluation
    else
      ignored_gt.push_back(-1);
  }

  // extract dontcare areas
  for(int32_t i=0;i<gt.size(); i++)
    if(!strcasecmp("DontCare", gt[i].box.type.c_str()))
      dc.push_back(gt[i]);

  // extract detections bounding boxes of the current class
  for(int32_t i=0;i<det.size(); i++){

    // neighboring classes are not evaluated
    int32_t valid_class;
    if(!strcasecmp(det[i].box.type.c_str(), CLASS_NAMES[current_class].c_str()))
      valid_class = 1;
    else
      valid_class = -1;

    int32_t height = fabs(det[i].box.y1 - det[i].box.y2);

    // set ignored vector for detections
    if(height<MIN_HEIGHT[difficulty])
      ignored_det.push_back(1);
    else if(valid_class==1)
      ignored_det.push_back(0);
    else
      ignored_det.push_back(-1);
  }
}