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Repository: garrickbrazil/M3D-RPN
Branch: master
Commit: bf204e3f95f6
Files: 70
Total size: 1.9 MB
Directory structure:
gitextract_uv27bso4/
├── LICENSE
├── data/
│ ├── kitti_split1/
│ │ ├── devkit/
│ │ │ ├── cpp/
│ │ │ │ ├── CMakeLists.txt
│ │ │ │ ├── build.sh
│ │ │ │ ├── evaluate_object.cpp
│ │ │ │ └── mail.h
│ │ │ ├── mapping/
│ │ │ │ ├── train_mapping.txt
│ │ │ │ └── train_rand.txt
│ │ │ ├── matlab/
│ │ │ │ ├── computeBox3D.m
│ │ │ │ ├── computeOrientation3D.m
│ │ │ │ ├── drawBox2D.m
│ │ │ │ ├── drawBox3D.m
│ │ │ │ ├── projectToImage.m
│ │ │ │ ├── readCalibration.m
│ │ │ │ ├── readLabels.m
│ │ │ │ ├── run_demo.m
│ │ │ │ ├── run_readWriteDemo.m
│ │ │ │ ├── run_statistics.m
│ │ │ │ ├── visualization.m
│ │ │ │ └── writeLabels.m
│ │ │ └── readme.txt
│ │ ├── setup_split.py
│ │ ├── test.txt
│ │ ├── train.txt
│ │ ├── trainval.txt
│ │ └── val.txt
│ └── kitti_split2/
│ ├── devkit/
│ │ ├── cpp/
│ │ │ ├── CMakeLists.txt
│ │ │ ├── build.sh
│ │ │ ├── evaluate_object.cpp
│ │ │ └── mail.h
│ │ ├── mapping/
│ │ │ ├── train_mapping.txt
│ │ │ └── train_rand.txt
│ │ ├── matlab/
│ │ │ ├── computeBox3D.m
│ │ │ ├── computeOrientation3D.m
│ │ │ ├── drawBox2D.m
│ │ │ ├── drawBox3D.m
│ │ │ ├── projectToImage.m
│ │ │ ├── readCalibration.m
│ │ │ ├── readLabels.m
│ │ │ ├── run_demo.m
│ │ │ ├── run_readWriteDemo.m
│ │ │ ├── run_statistics.m
│ │ │ ├── visualization.m
│ │ │ └── writeLabels.m
│ │ └── readme.txt
│ ├── kitti_ids_new.mat
│ └── setup_split.py
├── lib/
│ ├── augmentations.py
│ ├── core.py
│ ├── imdb_util.py
│ ├── loss/
│ │ └── rpn_3d.py
│ ├── nms/
│ │ ├── Makefile
│ │ ├── cpu_nms.c
│ │ ├── cpu_nms.pyx
│ │ ├── gpu_nms.cpp
│ │ ├── gpu_nms.hpp
│ │ ├── gpu_nms.pyx
│ │ ├── nms_kernel.cu
│ │ ├── py_cpu_nms.py
│ │ └── setup.py
│ ├── rpn_util.py
│ └── util.py
├── models/
│ ├── densenet121_3d_dilate.py
│ └── densenet121_3d_dilate_depth_aware.py
├── python_packages.txt
├── readme.md
├── scripts/
│ ├── config/
│ │ ├── kitti_3d_multi_main.py
│ │ └── kitti_3d_multi_warmup.py
│ ├── test_rpn_3d.py
│ └── train_rpn_3d.py
└── setup.md
================================================
FILE CONTENTS
================================================
================================================
FILE: LICENSE
================================================
MIT License
Copyright (c) 2020 Garrick Brazil
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
================================================
FILE: data/kitti_split1/devkit/cpp/CMakeLists.txt
================================================
cmake_minimum_required (VERSION 2.6)
project(devkit_object)
add_executable(evaluate_object evaluate_object.cpp)
================================================
FILE: data/kitti_split1/devkit/cpp/build.sh
================================================
cd data/kitti_split1/devkit/cpp/
g++ -O3 -DNDEBUG -o evaluate_object evaluate_object.cpp
cd ../../../../
================================================
FILE: data/kitti_split1/devkit/cpp/evaluate_object.cpp
================================================
#include <iostream>
#include <algorithm>
#include <stdio.h>
#include <math.h>
#include <vector>
#include <numeric>
#include <strings.h>
#include <assert.h>
#include <dirent.h>
#include <boost/numeric/ublas/matrix.hpp>
#include <boost/numeric/ublas/io.hpp>
#include <boost/geometry.hpp>
#include <boost/geometry/geometries/point_xy.hpp>
#include <boost/geometry/geometries/polygon.hpp>
#include <boost/geometry/geometries/adapted/c_array.hpp>
#include "mail.h"
BOOST_GEOMETRY_REGISTER_C_ARRAY_CS(cs::cartesian)
typedef boost::geometry::model::polygon<boost::geometry::model::d2::point_xy<double> > Polygon;
using namespace std;
/*=======================================================================
STATIC EVALUATION PARAMETERS
=======================================================================*/
// holds the number of test images on the server
//const int32_t N_TESTIMAGES = 7518;
//const int32_t N_TESTIMAGES = 7480;
const int32_t N_TESTIMAGES = 3769;
//const int32_t N_TESTIMAGES = 3712;
// easy, moderate and hard evaluation level
enum DIFFICULTY{EASY=0, MODERATE=1, HARD=2};
// evaluation metrics: image, ground or 3D
enum METRIC{IMAGE=0, GROUND=1, BOX3D=2};
// evaluation parameter
const int32_t MIN_HEIGHT[3] = {40, 25, 25}; // minimum height for evaluated groundtruth/detections
const int32_t MAX_OCCLUSION[3] = {0, 1, 2}; // maximum occlusion level of the groundtruth used for evaluation
const double MAX_TRUNCATION[3] = {0.15, 0.3, 0.5}; // maximum truncation level of the groundtruth used for evaluation
// evaluated object classes
enum CLASSES{CAR=0, PEDESTRIAN=1, CYCLIST=2};
const int NUM_CLASS = 3;
// parameters varying per class
vector<string> CLASS_NAMES;
vector<string> CLASS_NAMES_CAP;
// the minimum overlap required for 2D evaluation on the image/ground plane and 3D evaluation
const double MIN_OVERLAP[3][3] = {{0.7, 0.5, 0.5}, {0.7, 0.5, 0.5}, {0.7, 0.5, 0.5}};
// no. of recall steps that should be evaluated (discretized)
const double N_SAMPLE_PTS = 41;
// initialize class names
void initGlobals () {
CLASS_NAMES.push_back("car");
CLASS_NAMES.push_back("pedestrian");
CLASS_NAMES.push_back("cyclist");
CLASS_NAMES_CAP.push_back("Car");
CLASS_NAMES_CAP.push_back("Pedestrian");
CLASS_NAMES_CAP.push_back("Cyclist");
}
/*=======================================================================
DATA TYPES FOR EVALUATION
=======================================================================*/
// holding data needed for precision-recall and precision-aos
struct tPrData {
vector<double> v; // detection score for computing score thresholds
double similarity; // orientation similarity
int32_t tp; // true positives
int32_t fp; // false positives
int32_t fn; // false negatives
tPrData () :
similarity(0), tp(0), fp(0), fn(0) {}
};
// holding bounding boxes for ground truth and detections
struct tBox {
string type; // object type as car, pedestrian or cyclist,...
double x1; // left corner
double y1; // top corner
double x2; // right corner
double y2; // bottom corner
double alpha; // image orientation
tBox (string type, double x1,double y1,double x2,double y2,double alpha) :
type(type),x1(x1),y1(y1),x2(x2),y2(y2),alpha(alpha) {}
};
// holding ground truth data
struct tGroundtruth {
tBox box; // object type, box, orientation
double truncation; // truncation 0..1
int32_t occlusion; // occlusion 0,1,2 (non, partly, fully)
double ry;
double t1, t2, t3;
double h, w, l;
tGroundtruth () :
box(tBox("invalild",-1,-1,-1,-1,-10)),truncation(-1),occlusion(-1) {}
tGroundtruth (tBox box,double truncation,int32_t occlusion) :
box(box),truncation(truncation),occlusion(occlusion) {}
tGroundtruth (string type,double x1,double y1,double x2,double y2,double alpha,double truncation,int32_t occlusion) :
box(tBox(type,x1,y1,x2,y2,alpha)),truncation(truncation),occlusion(occlusion) {}
};
// holding detection data
struct tDetection {
tBox box; // object type, box, orientation
double thresh; // detection score
double ry;
double t1, t2, t3;
double h, w, l;
tDetection ():
box(tBox("invalid",-1,-1,-1,-1,-10)),thresh(-1000) {}
tDetection (tBox box,double thresh) :
box(box),thresh(thresh) {}
tDetection (string type,double x1,double y1,double x2,double y2,double alpha,double thresh) :
box(tBox(type,x1,y1,x2,y2,alpha)),thresh(thresh) {}
};
/*=======================================================================
FUNCTIONS TO LOAD DETECTION AND GROUND TRUTH DATA ONCE, SAVE RESULTS
=======================================================================*/
vector<tDetection> loadDetections(string file_name, bool &compute_aos,
vector<bool> &eval_image, vector<bool> &eval_ground,
vector<bool> &eval_3d, bool &success) {
// holds all detections (ignored detections are indicated by an index vector
vector<tDetection> detections;
FILE *fp = fopen(file_name.c_str(),"r");
if (!fp) {
success = false;
return detections;
}
while (!feof(fp)) {
tDetection d;
double trash;
char str[255];
if (fscanf(fp, "%s %lf %lf %lf %lf %lf %lf %lf %lf %lf %lf %lf %lf %lf %lf %lf",
str, &trash, &trash, &d.box.alpha, &d.box.x1, &d.box.y1,
&d.box.x2, &d.box.y2, &d.h, &d.w, &d.l, &d.t1, &d.t2, &d.t3,
&d.ry, &d.thresh)==16) {
// d.thresh = 1;
d.box.type = str;
detections.push_back(d);
// orientation=-10 is invalid, AOS is not evaluated if at least one orientation is invalid
if(d.box.alpha == -10)
compute_aos = false;
// a class is only evaluated if it is detected at least once
for (int c = 0; c < NUM_CLASS; c++) {
if (!strcasecmp(d.box.type.c_str(), CLASS_NAMES[c].c_str()) || !strcasecmp(d.box.type.c_str(), CLASS_NAMES_CAP[c].c_str())) {
if (!eval_image[c] && d.box.x1 >= 0)
eval_image[c] = true;
if (!eval_ground[c] && d.t1 != -1000 && d.t3 != -1000 && d.w > 0 && d.l > 0)
eval_ground[c] = true;
if (!eval_3d[c] && d.t1 != -1000 && d.t2 != -1000 && d.t3 != -1000 && d.h > 0 && d.w > 0 && d.l > 0)
eval_3d[c] = true;
break;
}
}
}
}
fclose(fp);
success = true;
return detections;
}
vector<tGroundtruth> loadGroundtruth(string file_name,bool &success) {
// holds all ground truth (ignored ground truth is indicated by an index vector
vector<tGroundtruth> groundtruth;
FILE *fp = fopen(file_name.c_str(),"r");
if (!fp) {
success = false;
return groundtruth;
}
while (!feof(fp)) {
tGroundtruth g;
char str[255];
if (fscanf(fp, "%s %lf %d %lf %lf %lf %lf %lf %lf %lf %lf %lf %lf %lf %lf",
str, &g.truncation, &g.occlusion, &g.box.alpha,
&g.box.x1, &g.box.y1, &g.box.x2, &g.box.y2,
&g.h, &g.w, &g.l, &g.t1,
&g.t2, &g.t3, &g.ry )==15) {
g.box.type = str;
groundtruth.push_back(g);
}
}
fclose(fp);
success = true;
return groundtruth;
}
void saveStats (const vector<double> &precision, const vector<double> &aos, FILE *fp_det, FILE *fp_ori) {
// save precision to file
if(precision.empty())
return;
for (int32_t i=0; i<precision.size(); i++)
fprintf(fp_det,"%f ",precision[i]);
fprintf(fp_det,"\n");
// save orientation similarity, only if there were no invalid orientation entries in submission (alpha=-10)
if(aos.empty())
return;
for (int32_t i=0; i<aos.size(); i++)
fprintf(fp_ori,"%f ",aos[i]);
fprintf(fp_ori,"\n");
}
/*=======================================================================
EVALUATION HELPER FUNCTIONS
=======================================================================*/
// criterion defines whether the overlap is computed with respect to both areas (ground truth and detection)
// or with respect to box a or b (detection and "dontcare" areas)
inline double imageBoxOverlap(tBox a, tBox b, int32_t criterion=-1){
// overlap is invalid in the beginning
double o = -1;
// get overlapping area
double x1 = max(a.x1, b.x1);
double y1 = max(a.y1, b.y1);
double x2 = min(a.x2, b.x2);
double y2 = min(a.y2, b.y2);
// compute width and height of overlapping area
double w = x2-x1;
double h = y2-y1;
// set invalid entries to 0 overlap
if(w<=0 || h<=0)
return 0;
// get overlapping areas
double inter = w*h;
double a_area = (a.x2-a.x1) * (a.y2-a.y1);
double b_area = (b.x2-b.x1) * (b.y2-b.y1);
// intersection over union overlap depending on users choice
if(criterion==-1) // union
o = inter / (a_area+b_area-inter);
else if(criterion==0) // bbox_a
o = inter / a_area;
else if(criterion==1) // bbox_b
o = inter / b_area;
// overlap
return o;
}
inline double imageBoxOverlap(tDetection a, tGroundtruth b, int32_t criterion=-1){
return imageBoxOverlap(a.box, b.box, criterion);
}
// compute polygon of an oriented bounding box
template <typename T>
Polygon toPolygon(const T& g) {
using namespace boost::numeric::ublas;
using namespace boost::geometry;
matrix<double> mref(2, 2);
mref(0, 0) = cos(g.ry); mref(0, 1) = sin(g.ry);
mref(1, 0) = -sin(g.ry); mref(1, 1) = cos(g.ry);
static int count = 0;
matrix<double> corners(2, 4);
double data[] = {g.l / 2, g.l / 2, -g.l / 2, -g.l / 2,
g.w / 2, -g.w / 2, -g.w / 2, g.w / 2};
std::copy(data, data + 8, corners.data().begin());
matrix<double> gc = prod(mref, corners);
for (int i = 0; i < 4; ++i) {
gc(0, i) += g.t1;
gc(1, i) += g.t3;
}
double points[][2] = {{gc(0, 0), gc(1, 0)},{gc(0, 1), gc(1, 1)},{gc(0, 2), gc(1, 2)},{gc(0, 3), gc(1, 3)},{gc(0, 0), gc(1, 0)}};
Polygon poly;
append(poly, points);
return poly;
}
// measure overlap between bird's eye view bounding boxes, parametrized by (ry, l, w, tx, tz)
inline double groundBoxOverlap(tDetection d, tGroundtruth g, int32_t criterion = -1) {
using namespace boost::geometry;
Polygon gp = toPolygon(g);
Polygon dp = toPolygon(d);
std::vector<Polygon> in, un;
intersection(gp, dp, in);
union_(gp, dp, un);
double inter_area = in.empty() ? 0 : area(in.front());
double union_area = area(un.front());
double o;
if(criterion==-1) // union
o = inter_area / union_area;
else if(criterion==0) // bbox_a
o = inter_area / area(dp);
else if(criterion==1) // bbox_b
o = inter_area / area(gp);
return o;
}
// measure overlap between 3D bounding boxes, parametrized by (ry, h, w, l, tx, ty, tz)
inline double box3DOverlap(tDetection d, tGroundtruth g, int32_t criterion = -1) {
using namespace boost::geometry;
Polygon gp = toPolygon(g);
Polygon dp = toPolygon(d);
std::vector<Polygon> in, un;
intersection(gp, dp, in);
union_(gp, dp, un);
double ymax = min(d.t2, g.t2);
double ymin = max(d.t2 - d.h, g.t2 - g.h);
double inter_area = in.empty() ? 0 : area(in.front());
double inter_vol = inter_area * max(0.0, ymax - ymin);
double det_vol = d.h * d.l * d.w;
double gt_vol = g.h * g.l * g.w;
double o;
if(criterion==-1) // union
o = inter_vol / (det_vol + gt_vol - inter_vol);
else if(criterion==0) // bbox_a
o = inter_vol / det_vol;
else if(criterion==1) // bbox_b
o = inter_vol / gt_vol;
return o;
}
vector<double> getThresholds(vector<double> &v, double n_groundtruth){
// holds scores needed to compute N_SAMPLE_PTS recall values
vector<double> t;
// sort scores in descending order
// (highest score is assumed to give best/most confident detections)
sort(v.begin(), v.end(), greater<double>());
// get scores for linearly spaced recall
double current_recall = 0;
for(int32_t i=0; i<v.size(); i++){
// check if right-hand-side recall with respect to current recall is close than left-hand-side one
// in this case, skip the current detection score
double l_recall, r_recall, recall;
l_recall = (double)(i+1)/n_groundtruth;
if(i<(v.size()-1))
r_recall = (double)(i+2)/n_groundtruth;
else
r_recall = l_recall;
if( (r_recall-current_recall) < (current_recall-l_recall) && i<(v.size()-1))
continue;
// left recall is the best approximation, so use this and goto next recall step for approximation
recall = l_recall;
// the next recall step was reached
t.push_back(v[i]);
current_recall += 1.0/(N_SAMPLE_PTS-1.0);
}
return t;
}
void cleanData(CLASSES current_class, const vector<tGroundtruth> >, 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);
}
}
tPrData computeStatistics(CLASSES current_class, const vector<tGroundtruth> >,
const vector<tDetection> &det, const vector<tGroundtruth> &dc,
const vector<int32_t> &ignored_gt, const vector<int32_t> &ignored_det,
bool compute_fp, double (*boxoverlap)(tDetection, tGroundtruth, int32_t),
METRIC metric, bool compute_aos=false, double thresh=0, bool debug=false){
tPrData stat = tPrData();
const double NO_DETECTION = -10000000;
vector<double> delta; // holds angular difference for TPs (needed for AOS evaluation)
vector<bool> assigned_detection; // holds wether a detection was assigned to a valid or ignored ground truth
assigned_detection.assign(det.size(), false);
vector<bool> ignored_threshold;
ignored_threshold.assign(det.size(), false); // holds detections with a threshold lower than thresh if FP are computed
// detections with a low score are ignored for computing precision (needs FP)
if(compute_fp)
for(int32_t i=0; i<det.size(); i++)
if(det[i].thresh<thresh)
ignored_threshold[i] = true;
// evaluate all ground truth boxes
for(int32_t i=0; i<gt.size(); i++){
// this ground truth is not of the current or a neighboring class and therefore ignored
if(ignored_gt[i]==-1)
continue;
/*=======================================================================
find candidates (overlap with ground truth > 0.5) (logical len(det))
=======================================================================*/
int32_t det_idx = -1;
double valid_detection = NO_DETECTION;
double max_overlap = 0;
// search for a possible detection
bool assigned_ignored_det = false;
for(int32_t j=0; j<det.size(); j++){
// detections not of the current class, already assigned or with a low threshold are ignored
if(ignored_det[j]==-1)
continue;
if(assigned_detection[j])
continue;
if(ignored_threshold[j])
continue;
// find the maximum score for the candidates and get idx of respective detection
double overlap = boxoverlap(det[j], gt[i], -1);
// for computing recall thresholds, the candidate with highest score is considered
if(!compute_fp && overlap>MIN_OVERLAP[metric][current_class] && det[j].thresh>valid_detection){
det_idx = j;
valid_detection = det[j].thresh;
}
// for computing pr curve values, the candidate with the greatest overlap is considered
// if the greatest overlap is an ignored detection (min_height), the overlapping detection is used
else if(compute_fp && overlap>MIN_OVERLAP[metric][current_class] && (overlap>max_overlap || assigned_ignored_det) && ignored_det[j]==0){
max_overlap = overlap;
det_idx = j;
valid_detection = 1;
assigned_ignored_det = false;
}
else if(compute_fp && overlap>MIN_OVERLAP[metric][current_class] && valid_detection==NO_DETECTION && ignored_det[j]==1){
det_idx = j;
valid_detection = 1;
assigned_ignored_det = true;
}
}
/*=======================================================================
compute TP, FP and FN
=======================================================================*/
// nothing was assigned to this valid ground truth
if(valid_detection==NO_DETECTION && ignored_gt[i]==0) {
stat.fn++;
}
// only evaluate valid ground truth <=> detection assignments (considering difficulty level)
else if(valid_detection!=NO_DETECTION && (ignored_gt[i]==1 || ignored_det[det_idx]==1))
assigned_detection[det_idx] = true;
// found a valid true positive
else if(valid_detection!=NO_DETECTION){
// write highest score to threshold vector
stat.tp++;
stat.v.push_back(det[det_idx].thresh);
// compute angular difference of detection and ground truth if valid detection orientation was provided
if(compute_aos)
delta.push_back(gt[i].box.alpha - det[det_idx].box.alpha);
// clean up
assigned_detection[det_idx] = true;
}
}
// if FP are requested, consider stuff area
if(compute_fp){
// count fp
for(int32_t i=0; i<det.size(); i++){
// count false positives if required (height smaller than required is ignored (ignored_det==1)
if(!(assigned_detection[i] || ignored_det[i]==-1 || ignored_det[i]==1 || ignored_threshold[i]))
stat.fp++;
}
// do not consider detections overlapping with stuff area
int32_t nstuff = 0;
for(int32_t i=0; i<dc.size(); i++){
for(int32_t j=0; j<det.size(); j++){
// detections not of the current class, already assigned, with a low threshold or a low minimum height are ignored
if(assigned_detection[j])
continue;
if(ignored_det[j]==-1 || ignored_det[j]==1)
continue;
if(ignored_threshold[j])
continue;
// compute overlap and assign to stuff area, if overlap exceeds class specific value
double overlap = boxoverlap(det[j], dc[i], 0);
if(overlap>MIN_OVERLAP[metric][current_class]){
assigned_detection[j] = true;
nstuff++;
}
}
}
// FP = no. of all not to ground truth assigned detections - detections assigned to stuff areas
stat.fp -= nstuff;
// if all orientation values are valid, the AOS is computed
if(compute_aos){
vector<double> tmp;
// FP have a similarity of 0, for all TP compute AOS
tmp.assign(stat.fp, 0);
for(int32_t i=0; i<delta.size(); i++)
tmp.push_back((1.0+cos(delta[i]))/2.0);
// be sure, that all orientation deltas are computed
assert(tmp.size()==stat.fp+stat.tp);
assert(delta.size()==stat.tp);
// get the mean orientation similarity for this image
if(stat.tp>0 || stat.fp>0)
stat.similarity = accumulate(tmp.begin(), tmp.end(), 0.0);
// there was neither a FP nor a TP, so the similarity is ignored in the evaluation
else
stat.similarity = -1;
}
}
return stat;
}
/*=======================================================================
EVALUATE CLASS-WISE
=======================================================================*/
bool eval_class (FILE *fp_det, FILE *fp_ori, CLASSES current_class,
const vector< vector<tGroundtruth> > &groundtruth,
const vector< vector<tDetection> > &detections, bool compute_aos,
double (*boxoverlap)(tDetection, tGroundtruth, int32_t),
vector<double> &precision, vector<double> &aos,
DIFFICULTY difficulty, METRIC metric) {
assert(groundtruth.size() == detections.size());
// init
int32_t n_gt=0; // total no. of gt (denominator of recall)
vector<double> v, thresholds; // detection scores, evaluated for recall discretization
vector< vector<int32_t> > ignored_gt, ignored_det; // index of ignored gt detection for current class/difficulty
vector< vector<tGroundtruth> > dontcare; // index of dontcare areas, included in ground truth
// for all test images do
for (int32_t i=0; i<groundtruth.size(); i++){
// holds ignored ground truth, ignored detections and dontcare areas for current frame
vector<int32_t> i_gt, i_det;
vector<tGroundtruth> dc;
// only evaluate objects of current class and ignore occluded, truncated objects
cleanData(current_class, groundtruth[i], detections[i], i_gt, dc, i_det, n_gt, difficulty);
ignored_gt.push_back(i_gt);
ignored_det.push_back(i_det);
dontcare.push_back(dc);
// compute statistics to get recall values
tPrData pr_tmp = tPrData();
pr_tmp = computeStatistics(current_class, groundtruth[i], detections[i], dc, i_gt, i_det, false, boxoverlap, metric);
// add detection scores to vector over all images
for(int32_t j=0; j<pr_tmp.v.size(); j++)
v.push_back(pr_tmp.v[j]);
}
// get scores that must be evaluated for recall discretization
thresholds = getThresholds(v, n_gt);
// compute TP,FP,FN for relevant scores
vector<tPrData> pr;
pr.assign(thresholds.size(),tPrData());
for (int32_t i=0; i<groundtruth.size(); i++){
// for all scores/recall thresholds do:
for(int32_t t=0; t<thresholds.size(); t++){
tPrData tmp = tPrData();
tmp = computeStatistics(current_class, groundtruth[i], detections[i], dontcare[i],
ignored_gt[i], ignored_det[i], true, boxoverlap, metric,
compute_aos, thresholds[t], t==38);
// add no. of TP, FP, FN, AOS for current frame to total evaluation for current threshold
pr[t].tp += tmp.tp;
pr[t].fp += tmp.fp;
pr[t].fn += tmp.fn;
if(tmp.similarity!=-1)
pr[t].similarity += tmp.similarity;
}
}
// compute recall, precision and AOS
vector<double> recall;
precision.assign(N_SAMPLE_PTS, 0);
if(compute_aos)
aos.assign(N_SAMPLE_PTS, 0);
double r=0;
for (int32_t i=0; i<thresholds.size(); i++){
r = pr[i].tp/(double)(pr[i].tp + pr[i].fn);
recall.push_back(r);
precision[i] = pr[i].tp/(double)(pr[i].tp + pr[i].fp);
if(compute_aos)
aos[i] = pr[i].similarity/(double)(pr[i].tp + pr[i].fp);
}
// filter precision and AOS using max_{i..end}(precision)
for (int32_t i=0; i<thresholds.size(); i++){
precision[i] = *max_element(precision.begin()+i, precision.end());
if(compute_aos)
aos[i] = *max_element(aos.begin()+i, aos.end());
}
// save statisics and finish with success
saveStats(precision, aos, fp_det, fp_ori);
return true;
}
void saveAndPlotPlots(string dir_name,string file_name,string obj_type,vector<double> vals[],bool is_aos){
char command[1024];
// save plot data to file
FILE *fp = fopen((dir_name + "/" + file_name + ".txt").c_str(),"w");
printf("save %s\n", (dir_name + "/" + file_name + ".txt").c_str());
for (int32_t i=0; i<(int)N_SAMPLE_PTS; i++)
fprintf(fp,"%f %f %f %f\n",(double)i/(N_SAMPLE_PTS-1.0),vals[0][i],vals[1][i],vals[2][i]);
fclose(fp);
// create png + eps
for (int32_t j=0; j<2; j++) {
// open file
FILE *fp = fopen((dir_name + "/" + file_name + ".gp").c_str(),"w");
// save gnuplot instructions
if (j==0) {
fprintf(fp,"set term png size 450,315 font \"Helvetica\" 11\n");
fprintf(fp,"set output \"%s.png\"\n",file_name.c_str());
} else {
fprintf(fp,"set term postscript eps enhanced color font \"Helvetica\" 20\n");
fprintf(fp,"set output \"%s.eps\"\n",file_name.c_str());
}
// set labels and ranges
fprintf(fp,"set size ratio 0.7\n");
fprintf(fp,"set xrange [0:1]\n");
fprintf(fp,"set yrange [0:1]\n");
fprintf(fp,"set xlabel \"Recall\"\n");
if (!is_aos) fprintf(fp,"set ylabel \"Precision\"\n");
else fprintf(fp,"set ylabel \"Orientation Similarity\"\n");
obj_type[0] = toupper(obj_type[0]);
fprintf(fp,"set title \"%s\"\n",obj_type.c_str());
// line width
int32_t lw = 5;
if (j==0) lw = 3;
// plot error curve
fprintf(fp,"plot ");
fprintf(fp,"\"%s.txt\" using 1:2 title 'Easy' with lines ls 1 lw %d,",file_name.c_str(),lw);
fprintf(fp,"\"%s.txt\" using 1:3 title 'Moderate' with lines ls 2 lw %d,",file_name.c_str(),lw);
fprintf(fp,"\"%s.txt\" using 1:4 title 'Hard' with lines ls 3 lw %d",file_name.c_str(),lw);
// close file
fclose(fp);
// run gnuplot => create png + eps
sprintf(command,"cd %s; gnuplot %s",dir_name.c_str(),(file_name + ".gp").c_str());
system(command);
}
// create pdf and crop
sprintf(command,"cd %s; ps2pdf %s.eps %s_large.pdf",dir_name.c_str(),file_name.c_str(),file_name.c_str());
system(command);
sprintf(command,"cd %s; pdfcrop %s_large.pdf %s.pdf",dir_name.c_str(),file_name.c_str(),file_name.c_str());
system(command);
sprintf(command,"cd %s; rm %s_large.pdf",dir_name.c_str(),file_name.c_str());
system(command);
}
bool eval(string result_sha,Mail* mail){
// set some global parameters
initGlobals();
// ground truth and result directories
string gt_dir = "data/kitti_split1/validation/label_2";
string result_dir = 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...");
for (int32_t i=0; i<N_TESTIMAGES; i++) {
// file name
char file_name[256];
sprintf(file_name,"%06d.txt",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;
//mail->msg("Checking 2D evaluation (%s) ...", CLASS_NAMES[c].c_str());
if (eval_image[c]) {
mail->msg("Starting 2D evaluation (%s) ...", CLASS_NAMES[c].c_str());
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);
}
mail->msg(" done.");
}
}
// 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;
//mail->msg("Checking bird's eye evaluation (%s) ...", CLASS_NAMES[c].c_str());
if (eval_ground[c]) {
mail->msg("Starting bird's eye evaluation (%s) ...", CLASS_NAMES[c].c_str());
fp_det = fopen((result_dir + "/stats_" + CLASS_NAMES[c] + "_detection_ground.txt").c_str(), "w");
vector<double> precision[3], aos[3];
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);
mail->msg(" done.");
}
}
// eval 3D bounding boxes
for (int c = 0; c < NUM_CLASS; c++) {
CLASSES cls = (CLASSES)c;
//mail->msg("Checking 3D evaluation (%s) ...", CLASS_NAMES[c].c_str());
if (eval_3d[c]) {
mail->msg("Starting 3D evaluation (%s) ...", CLASS_NAMES[c].c_str());
fp_det = fopen((result_dir + "/stats_" + CLASS_NAMES[c] + "_detection_3d.txt").c_str(), "w");
vector<double> precision[3], aos[3];
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);
mail->msg(" done.");
}
}
// success
return true;
}
int32_t main (int32_t argc,char *argv[]) {
// we need 2 or 4 arguments!
if (argc!=2 && argc!=4) {
cout << "Usage: ./eval_detection result_sha [user_sha email]" << endl;
return 1;
}
// read arguments
string result_sha = argv[1];
// init notification mail
Mail *mail;
if (argc==4) mail = new Mail(argv[3]);
else mail = new Mail();
mail->msg("Thank you for participating in our evaluation!");
// run evaluation
if (eval(result_sha,mail)) {
mail->msg("Your evaluation results are available at:");
mail->msg("http://www.cvlibs.net/datasets/kitti/user_submit_check_login.php?benchmark=object&user=%s&result=%s",argv[2], result_sha.c_str());
} else {
system(("rm -r results/" + result_sha).c_str());
mail->msg("An error occured while processing your results.");
mail->msg("Please make sure that the data in your zip archive has the right format!");
}
// send mail and exit
delete mail;
return 0;
}
================================================
FILE: data/kitti_split1/devkit/cpp/mail.h
================================================
#ifndef MAIL_H
#define MAIL_H
#include <stdio.h>
#include <stdarg.h>
#include <string.h>
class Mail {
public:
Mail (std::string email = "") {
if (email.compare("")) {
mail = popen("/usr/lib/sendmail -t -f noreply@cvlibs.net","w");
fprintf(mail,"To: %s\n", email.c_str());
fprintf(mail,"From: noreply@cvlibs.net\n");
fprintf(mail,"Subject: KITTI Evaluation Benchmark\n");
fprintf(mail,"\n\n");
} else {
mail = 0;
}
}
~Mail() {
if (mail) {
pclose(mail);
}
}
void msg (const char *format, ...) {
va_list args;
va_start(args,format);
if (mail) {
vfprintf(mail,format,args);
fprintf(mail,"\n");
}
vprintf(format,args);
printf("\n");
va_end(args);
}
private:
FILE *mail;
};
#endif
================================================
FILE: data/kitti_split1/devkit/mapping/train_mapping.txt
================================================
2011_09_26 2011_09_26_drive_0005_sync 0000000109
2011_09_26 2011_09_26_drive_0005_sync 0000000125
2011_09_26 2011_09_26_drive_0005_sync 0000000127
2011_09_26 2011_09_26_drive_0005_sync 0000000130
2011_09_26 2011_09_26_drive_0005_sync 0000000133
2011_09_26 2011_09_26_drive_0005_sync 0000000136
2011_09_26 2011_09_26_drive_0005_sync 0000000139
2011_09_26 2011_09_26_drive_0005_sync 0000000142
2011_09_26 2011_09_26_drive_0005_sync 0000000145
2011_09_26 2011_09_26_drive_0005_sync 0000000151
2011_09_26 2011_09_26_drive_0009_sync 0000000001
2011_09_26 2011_09_26_drive_0009_sync 0000000002
2011_09_26 2011_09_26_drive_0009_sync 0000000003
2011_09_26 2011_09_26_drive_0009_sync 0000000004
2011_09_26 2011_09_26_drive_0009_sync 0000000005
2011_09_26 2011_09_26_drive_0009_sync 0000000006
2011_09_26 2011_09_26_drive_0009_sync 0000000007
2011_09_26 2011_09_26_drive_0009_sync 0000000008
2011_09_26 2011_09_26_drive_0009_sync 0000000009
2011_09_26 2011_09_26_drive_0009_sync 0000000010
2011_09_26 2011_09_26_drive_0009_sync 0000000011
2011_09_26 2011_09_26_drive_0009_sync 0000000012
2011_09_26 2011_09_26_drive_0009_sync 0000000013
2011_09_26 2011_09_26_drive_0009_sync 0000000014
2011_09_26 2011_09_26_drive_0009_sync 0000000015
2011_09_26 2011_09_26_drive_0009_sync 0000000016
2011_09_26 2011_09_26_drive_0009_sync 0000000017
2011_09_26 2011_09_26_drive_0009_sync 0000000018
2011_09_26 2011_09_26_drive_0009_sync 0000000019
2011_09_26 2011_09_26_drive_0009_sync 0000000020
2011_09_26 2011_09_26_drive_0009_sync 0000000021
2011_09_26 2011_09_26_drive_0009_sync 0000000022
2011_09_26 2011_09_26_drive_0009_sync 0000000023
2011_09_26 2011_09_26_drive_0009_sync 0000000024
2011_09_26 2011_09_26_drive_0009_sync 0000000025
2011_09_26 2011_09_26_drive_0009_sync 0000000026
2011_09_26 2011_09_26_drive_0009_sync 0000000027
2011_09_26 2011_09_26_drive_0009_sync 0000000028
2011_09_26 2011_09_26_drive_0009_sync 0000000029
2011_09_26 2011_09_26_drive_0009_sync 0000000030
2011_09_26 2011_09_26_drive_0009_sync 0000000031
2011_09_26 2011_09_26_drive_0009_sync 0000000032
2011_09_26 2011_09_26_drive_0009_sync 0000000033
2011_09_26 2011_09_26_drive_0009_sync 0000000034
2011_09_26 2011_09_26_drive_0009_sync 0000000035
2011_09_26 2011_09_26_drive_0009_sync 0000000036
2011_09_26 2011_09_26_drive_0009_sync 0000000037
2011_09_26 2011_09_26_drive_0009_sync 0000000038
2011_09_26 2011_09_26_drive_0009_sync 0000000039
2011_09_26 2011_09_26_drive_0009_sync 0000000040
2011_09_26 2011_09_26_drive_0009_sync 0000000041
2011_09_26 2011_09_26_drive_0009_sync 0000000042
2011_09_26 2011_09_26_drive_0009_sync 0000000043
2011_09_26 2011_09_26_drive_0009_sync 0000000044
2011_09_26 2011_09_26_drive_0009_sync 0000000045
2011_09_26 2011_09_26_drive_0009_sync 0000000046
2011_09_26 2011_09_26_drive_0009_sync 0000000047
2011_09_26 2011_09_26_drive_0009_sync 0000000048
2011_09_26 2011_09_26_drive_0009_sync 0000000049
2011_09_26 2011_09_26_drive_0009_sync 0000000050
2011_09_26 2011_09_26_drive_0009_sync 0000000051
2011_09_26 2011_09_26_drive_0009_sync 0000000052
2011_09_26 2011_09_26_drive_0009_sync 0000000053
2011_09_26 2011_09_26_drive_0009_sync 0000000054
2011_09_26 2011_09_26_drive_0009_sync 0000000055
2011_09_26 2011_09_26_drive_0009_sync 0000000056
2011_09_26 2011_09_26_drive_0009_sync 0000000057
2011_09_26 2011_09_26_drive_0009_sync 0000000058
2011_09_26 2011_09_26_drive_0009_sync 0000000059
2011_09_26 2011_09_26_drive_0009_sync 0000000060
2011_09_26 2011_09_26_drive_0009_sync 0000000061
2011_09_26 2011_09_26_drive_0009_sync 0000000062
2011_09_26 2011_09_26_drive_0009_sync 0000000063
2011_09_26 2011_09_26_drive_0009_sync 0000000064
2011_09_26 2011_09_26_drive_0009_sync 0000000065
2011_09_26 2011_09_26_drive_0009_sync 0000000066
2011_09_26 2011_09_26_drive_0009_sync 0000000067
2011_09_26 2011_09_26_drive_0009_sync 0000000068
2011_09_26 2011_09_26_drive_0009_sync 0000000069
2011_09_26 2011_09_26_drive_0009_sync 0000000070
2011_09_26 2011_09_26_drive_0009_sync 0000000071
2011_09_26 2011_09_26_drive_0009_sync 0000000072
2011_09_26 2011_09_26_drive_0009_sync 0000000073
2011_09_26 2011_09_26_drive_0009_sync 0000000074
2011_09_26 2011_09_26_drive_0009_sync 0000000075
2011_09_26 2011_09_26_drive_0009_sync 0000000076
2011_09_26 2011_09_26_drive_0009_sync 0000000077
2011_09_26 2011_09_26_drive_0009_sync 0000000081
2011_09_26 2011_09_26_drive_0009_sync 0000000085
2011_09_26 2011_09_26_drive_0009_sync 0000000086
2011_09_26 2011_09_26_drive_0009_sync 0000000087
2011_09_26 2011_09_26_drive_0009_sync 0000000088
2011_09_26 2011_09_26_drive_0009_sync 0000000089
2011_09_26 2011_09_26_drive_0009_sync 0000000090
2011_09_26 2011_09_26_drive_0009_sync 0000000091
2011_09_26 2011_09_26_drive_0009_sync 0000000095
2011_09_26 2011_09_26_drive_0009_sync 0000000096
2011_09_26 2011_09_26_drive_0009_sync 0000000097
2011_09_26 2011_09_26_drive_0009_sync 0000000098
2011_09_26 2011_09_26_drive_0009_sync 0000000099
2011_09_26 2011_09_26_drive_0009_sync 0000000100
2011_09_26 2011_09_26_drive_0009_sync 0000000101
2011_09_26 2011_09_26_drive_0009_sync 0000000102
2011_09_26 2011_09_26_drive_0009_sync 0000000103
2011_09_26 2011_09_26_drive_0009_sync 0000000104
2011_09_26 2011_09_26_drive_0009_sync 0000000107
2011_09_26 2011_09_26_drive_0009_sync 0000000110
2011_09_26 2011_09_26_drive_0009_sync 0000000111
2011_09_26 2011_09_26_drive_0009_sync 0000000112
2011_09_26 2011_09_26_drive_0009_sync 0000000113
2011_09_26 2011_09_26_drive_0009_sync 0000000114
2011_09_26 2011_09_26_drive_0009_sync 0000000115
2011_09_26 2011_09_26_drive_0009_sync 0000000116
2011_09_26 2011_09_26_drive_0009_sync 0000000117
2011_09_26 2011_09_26_drive_0009_sync 0000000118
2011_09_26 2011_09_26_drive_0009_sync 0000000119
2011_09_26 2011_09_26_drive_0009_sync 0000000120
2011_09_26 2011_09_26_drive_0009_sync 0000000121
2011_09_26 2011_09_26_drive_0009_sync 0000000122
2011_09_26 2011_09_26_drive_0009_sync 0000000123
2011_09_26 2011_09_26_drive_0009_sync 0000000124
2011_09_26 2011_09_26_drive_0009_sync 0000000125
2011_09_26 2011_09_26_drive_0009_sync 0000000126
2011_09_26 2011_09_26_drive_0009_sync 0000000127
2011_09_26 2011_09_26_drive_0009_sync 0000000128
2011_09_26 2011_09_26_drive_0009_sync 0000000129
2011_09_26 2011_09_26_drive_0009_sync 0000000130
2011_09_26 2011_09_26_drive_0009_sync 0000000131
2011_09_26 2011_09_26_drive_0009_sync 0000000132
2011_09_26 2011_09_26_drive_0009_sync 0000000133
2011_09_26 2011_09_26_drive_0009_sync 0000000134
2011_09_26 2011_09_26_drive_0009_sync 0000000135
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2011_10_03
gitextract_uv27bso4/ ├── LICENSE ├── data/ │ ├── kitti_split1/ │ │ ├── devkit/ │ │ │ ├── cpp/ │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── build.sh │ │ │ │ ├── evaluate_object.cpp │ │ │ │ └── mail.h │ │ │ ├── mapping/ │ │ │ │ ├── train_mapping.txt │ │ │ │ └── train_rand.txt │ │ │ ├── matlab/ │ │ │ │ ├── computeBox3D.m │ │ │ │ ├── computeOrientation3D.m │ │ │ │ ├── drawBox2D.m │ │ │ │ ├── drawBox3D.m │ │ │ │ ├── projectToImage.m │ │ │ │ ├── readCalibration.m │ │ │ │ ├── readLabels.m │ │ │ │ ├── run_demo.m │ │ │ │ ├── run_readWriteDemo.m │ │ │ │ ├── run_statistics.m │ │ │ │ ├── visualization.m │ │ │ │ └── writeLabels.m │ │ │ └── readme.txt │ │ ├── setup_split.py │ │ ├── test.txt │ │ ├── train.txt │ │ ├── trainval.txt │ │ └── val.txt │ └── kitti_split2/ │ ├── devkit/ │ │ ├── cpp/ │ │ │ ├── CMakeLists.txt │ │ │ ├── build.sh │ │ │ ├── evaluate_object.cpp │ │ │ └── mail.h │ │ ├── mapping/ │ │ │ ├── train_mapping.txt │ │ │ └── train_rand.txt │ │ ├── matlab/ │ │ │ ├── computeBox3D.m │ │ │ ├── computeOrientation3D.m │ │ │ ├── drawBox2D.m │ │ │ ├── drawBox3D.m │ │ │ ├── projectToImage.m │ │ │ ├── readCalibration.m │ │ │ ├── readLabels.m │ │ │ ├── run_demo.m │ │ │ ├── run_readWriteDemo.m │ │ │ ├── run_statistics.m │ │ │ ├── visualization.m │ │ │ └── writeLabels.m │ │ └── readme.txt │ ├── kitti_ids_new.mat │ └── setup_split.py ├── lib/ │ ├── augmentations.py │ ├── core.py │ ├── imdb_util.py │ ├── loss/ │ │ └── rpn_3d.py │ ├── nms/ │ │ ├── Makefile │ │ ├── cpu_nms.c │ │ ├── cpu_nms.pyx │ │ ├── gpu_nms.cpp │ │ ├── gpu_nms.hpp │ │ ├── gpu_nms.pyx │ │ ├── nms_kernel.cu │ │ ├── py_cpu_nms.py │ │ └── setup.py │ ├── rpn_util.py │ └── util.py ├── models/ │ ├── densenet121_3d_dilate.py │ └── densenet121_3d_dilate_depth_aware.py ├── python_packages.txt ├── readme.md ├── scripts/ │ ├── config/ │ │ ├── kitti_3d_multi_main.py │ │ └── kitti_3d_multi_warmup.py │ ├── test_rpn_3d.py │ └── train_rpn_3d.py └── setup.md
SYMBOL INDEX (601 symbols across 19 files)
FILE: data/kitti_split1/devkit/cpp/evaluate_object.cpp
type DIFFICULTY (line 41) | enum DIFFICULTY{EASY=0, MODERATE=1, HARD=2}
type METRIC (line 44) | enum METRIC{IMAGE=0, GROUND=1, BOX3D=2}
type CLASSES (line 52) | enum CLASSES{CAR=0, PEDESTRIAN=1, CYCLIST=2}
function initGlobals (line 65) | void initGlobals () {
type tPrData (line 79) | struct tPrData {
method tPrData (line 85) | tPrData () :
type tBox (line 90) | struct tBox {
method tBox (line 97) | tBox (string type, double x1,double y1,double x2,double y2,double alph...
type tGroundtruth (line 102) | struct tGroundtruth {
method tGroundtruth (line 109) | tGroundtruth () :
method tGroundtruth (line 111) | tGroundtruth (tBox box,double truncation,int32_t occlusion) :
method tGroundtruth (line 113) | tGroundtruth (string type,double x1,double y1,double x2,double y2,doub...
type tDetection (line 118) | struct tDetection {
method tDetection (line 124) | tDetection ():
method tDetection (line 126) | tDetection (tBox box,double thresh) :
method tDetection (line 128) | tDetection (string type,double x1,double y1,double x2,double y2,double...
function loadDetections (line 136) | vector<tDetection> loadDetections(string file_name, bool &compute_aos,
function loadGroundtruth (line 184) | vector<tGroundtruth> loadGroundtruth(string file_name,bool &success) {
function saveStats (line 210) | void saveStats (const vector<double> &precision, const vector<double> &a...
function imageBoxOverlap (line 233) | inline double imageBoxOverlap(tBox a, tBox b, int32_t criterion=-1){
function imageBoxOverlap (line 269) | inline double imageBoxOverlap(tDetection a, tGroundtruth b, int32_t crit...
function Polygon (line 275) | Polygon toPolygon(const T& g) {
function groundBoxOverlap (line 300) | inline double groundBoxOverlap(tDetection d, tGroundtruth g, int32_t cri...
function box3DOverlap (line 323) | inline double box3DOverlap(tDetection d, tGroundtruth g, int32_t criteri...
function getThresholds (line 352) | vector<double> getThresholds(vector<double> &v, double n_groundtruth){
function cleanData (line 387) | void cleanData(CLASSES current_class, const vector<tGroundtruth> >, co...
function tPrData (line 462) | tPrData computeStatistics(CLASSES current_class, const vector<tGroundtru...
method tPrData (line 85) | tPrData () :
function eval_class (line 626) | bool eval_class (FILE *fp_det, FILE *fp_ori, CLASSES current_class,
function saveAndPlotPlots (line 712) | void saveAndPlotPlots(string dir_name,string file_name,string obj_type,v...
function eval (line 775) | bool eval(string result_sha,Mail* mail){
function main (line 903) | int32_t main (int32_t argc,char *argv[]) {
FILE: data/kitti_split1/devkit/cpp/mail.h
function class (line 8) | class Mail {
FILE: data/kitti_split2/devkit/cpp/evaluate_object.cpp
type DIFFICULTY (line 41) | enum DIFFICULTY{EASY=0, MODERATE=1, HARD=2}
type METRIC (line 44) | enum METRIC{IMAGE=0, GROUND=1, BOX3D=2}
type CLASSES (line 52) | enum CLASSES{CAR=0, PEDESTRIAN=1, CYCLIST=2}
function initGlobals (line 65) | void initGlobals () {
type tPrData (line 79) | struct tPrData {
method tPrData (line 85) | tPrData () :
type tBox (line 90) | struct tBox {
method tBox (line 97) | tBox (string type, double x1,double y1,double x2,double y2,double alph...
type tGroundtruth (line 102) | struct tGroundtruth {
method tGroundtruth (line 109) | tGroundtruth () :
method tGroundtruth (line 111) | tGroundtruth (tBox box,double truncation,int32_t occlusion) :
method tGroundtruth (line 113) | tGroundtruth (string type,double x1,double y1,double x2,double y2,doub...
type tDetection (line 118) | struct tDetection {
method tDetection (line 124) | tDetection ():
method tDetection (line 126) | tDetection (tBox box,double thresh) :
method tDetection (line 128) | tDetection (string type,double x1,double y1,double x2,double y2,double...
function loadDetections (line 136) | vector<tDetection> loadDetections(string file_name, bool &compute_aos,
function loadGroundtruth (line 184) | vector<tGroundtruth> loadGroundtruth(string file_name,bool &success) {
function saveStats (line 210) | void saveStats (const vector<double> &precision, const vector<double> &a...
function imageBoxOverlap (line 233) | inline double imageBoxOverlap(tBox a, tBox b, int32_t criterion=-1){
function imageBoxOverlap (line 269) | inline double imageBoxOverlap(tDetection a, tGroundtruth b, int32_t crit...
function Polygon (line 275) | Polygon toPolygon(const T& g) {
function groundBoxOverlap (line 300) | inline double groundBoxOverlap(tDetection d, tGroundtruth g, int32_t cri...
function box3DOverlap (line 323) | inline double box3DOverlap(tDetection d, tGroundtruth g, int32_t criteri...
function getThresholds (line 352) | vector<double> getThresholds(vector<double> &v, double n_groundtruth){
function cleanData (line 387) | void cleanData(CLASSES current_class, const vector<tGroundtruth> >, co...
function tPrData (line 462) | tPrData computeStatistics(CLASSES current_class, const vector<tGroundtru...
method tPrData (line 85) | tPrData () :
function eval_class (line 626) | bool eval_class (FILE *fp_det, FILE *fp_ori, CLASSES current_class,
function saveAndPlotPlots (line 712) | void saveAndPlotPlots(string dir_name,string file_name,string obj_type,v...
function eval (line 775) | bool eval(string result_sha,Mail* mail){
function main (line 903) | int32_t main (int32_t argc,char *argv[]) {
FILE: data/kitti_split2/devkit/cpp/mail.h
function class (line 8) | class Mail {
FILE: lib/augmentations.py
class Compose (line 23) | class Compose(object):
method __init__ (line 27) | def __init__(self, transforms):
method __call__ (line 30) | def __call__(self, img, imobj=None):
class ConvertToFloat (line 36) | class ConvertToFloat(object):
method __call__ (line 40) | def __call__(self, image, imobj=None):
class Normalize (line 44) | class Normalize(object):
method __init__ (line 48) | def __init__(self, mean, stds):
method __call__ (line 52) | def __call__(self, image, imobj=None):
class Resize (line 60) | class Resize(object):
method __init__ (line 68) | def __init__(self, size):
method __call__ (line 71) | def __call__(self, image, imobj=None):
class RandomSaturation (line 134) | class RandomSaturation(object):
method __init__ (line 141) | def __init__(self, distort_prob, lower=0.5, upper=1.5):
method __call__ (line 150) | def __call__(self, image, imobj=None):
class RandomHue (line 157) | class RandomHue(object):
method __init__ (line 164) | def __init__(self, distort_prob, delta=18.0):
method __call__ (line 169) | def __call__(self, image, imobj=None):
class ConvertColor (line 177) | class ConvertColor(object):
method __init__ (line 181) | def __init__(self, current='BGR', transform='HSV'):
method __call__ (line 185) | def __call__(self, image, imobj=None):
class RandomContrast (line 201) | class RandomContrast(object):
method __init__ (line 206) | def __init__(self, distort_prob, lower=0.5, upper=1.5):
method __call__ (line 215) | def __call__(self, image, imobj=None):
class RandomMirror (line 222) | class RandomMirror(object):
method __init__ (line 228) | def __init__(self, mirror_prob):
method __call__ (line 231) | def __call__(self, image, imobj):
class RandomBrightness (line 273) | class RandomBrightness(object):
method __init__ (line 278) | def __init__(self, distort_prob, delta=32):
method __call__ (line 284) | def __call__(self, image, imobj=None):
class PhotometricDistort (line 291) | class PhotometricDistort(object):
method __init__ (line 295) | def __init__(self, distort_prob):
method __call__ (line 312) | def __call__(self, image, imobj):
class Augmentation (line 331) | class Augmentation(object):
method __init__ (line 337) | def __init__(self, conf):
method __call__ (line 361) | def __call__(self, img, imobj):
class Preprocess (line 365) | class Preprocess(object):
method __init__ (line 370) | def __init__(self, size, mean, stds):
method __call__ (line 382) | def __call__(self, img):
FILE: lib/core.py
function init_config (line 36) | def init_config(conf_name):
function init_training_model (line 49) | def init_training_model(conf, cache_folder):
function adjust_lr (line 100) | def adjust_lr(conf, optimizer, iter):
function intersect (line 151) | def intersect(box_a, box_b, mode='combinations', data_type=None):
function iou3d (line 208) | def iou3d(corners_3d_b1, corners_3d_b2, vol):
function iou (line 239) | def iou(box_a, box_b, mode='combinations', data_type=None):
function iou_ign (line 293) | def iou_ign(box_a, box_b, mode='combinations', data_type=None):
function freeze_layers (line 334) | def freeze_layers(network, blacklist=None, whitelist=None, verbose=False):
function load_weights (line 367) | def load_weights(model, path, remove_module=False):
function log_stats (line 402) | def log_stats(tracker, iteration, start_time, start_iter, max_iter, skip...
function display_stats (line 461) | def display_stats(vis, tracker, iteration, start_time, start_iter, max_i...
function compute_stats (line 514) | def compute_stats(tracker, stats):
function next_iteration (line 559) | def next_iteration(loader, iterator):
function init_training_paths (line 583) | def init_training_paths(conf_name, use_tmp_folder=None):
function init_torch (line 619) | def init_torch(rng_seed, cuda_seed):
function init_visdom (line 642) | def init_visdom(conf_name, visdom_port):
function check_tensors (line 660) | def check_tensors():
function resume_checkpoint (line 673) | def resume_checkpoint(optim, model, weights_dir, iteration):
function save_checkpoint (line 685) | def save_checkpoint(optim, model, weights_dir, iteration):
function checkpoint_names (line 699) | def checkpoint_names(weights_dir, iteration):
function print_weights (line 711) | def print_weights(model):
FILE: lib/imdb_util.py
class Dataset (line 29) | class Dataset(torch.utils.data.Dataset):
method __init__ (line 35) | def __init__(self, conf, root, cache_folder=None):
method __getitem__ (line 203) | def __getitem__(self, index):
method collate (line 268) | def collate(batch):
method __len__ (line 291) | def __len__(self):
function read_kitti_cal (line 298) | def read_kitti_cal(calfile):
function read_kitti_poses (line 339) | def read_kitti_poses(posefile):
function read_kitti_label (line 400) | def read_kitti_label(file, p2, use_3d_for_2d=False):
function balance_samples (line 544) | def balance_samples(conf, imdb):
FILE: lib/loss/rpn_3d.py
class RPN_3D_loss (line 14) | class RPN_3D_loss(nn.Module):
method __init__ (line 16) | def __init__(self, conf):
method forward (line 53) | def forward(self, cls, prob, bbox_2d, bbox_3d, imobjs, feat_size):
FILE: lib/nms/cpu_nms.c
type PyObject (line 315) | typedef PyObject *(*__Pyx_PyCFunctionFast) (PyObject *self, PyObject *co...
type PyObject (line 316) | typedef PyObject *(*__Pyx_PyCFunctionFastWithKeywords) (PyObject *self, ...
type Py_tss_t (line 352) | typedef int Py_tss_t;
function CYTHON_INLINE (line 353) | static CYTHON_INLINE int PyThread_tss_create(Py_tss_t *key) {
function CYTHON_INLINE (line 357) | static CYTHON_INLINE Py_tss_t * PyThread_tss_alloc(void) {
function CYTHON_INLINE (line 362) | static CYTHON_INLINE void PyThread_tss_free(Py_tss_t *key) {
function CYTHON_INLINE (line 365) | static CYTHON_INLINE int PyThread_tss_is_created(Py_tss_t *key) {
function CYTHON_INLINE (line 368) | static CYTHON_INLINE void PyThread_tss_delete(Py_tss_t *key) {
function CYTHON_INLINE (line 372) | static CYTHON_INLINE int PyThread_tss_set(Py_tss_t *key, void *value) {
function CYTHON_INLINE (line 375) | static CYTHON_INLINE void * PyThread_tss_get(Py_tss_t *key) {
type Py_hash_t (line 498) | typedef long Py_hash_t;
type __Pyx_PyAsyncMethodsStruct (line 521) | typedef struct {
function CYTHON_INLINE (line 535) | static CYTHON_INLINE float __PYX_NAN() {
type __Pyx_StringTabEntry (line 576) | typedef struct {PyObject **p; const char *s; const Py_ssize_t n; const c...
function CYTHON_INLINE (line 642) | static CYTHON_INLINE size_t __Pyx_Py_UNICODE_strlen(const Py_UNICODE *u) {
function __Pyx_init_sys_getdefaultencoding_params (line 673) | static int __Pyx_init_sys_getdefaultencoding_params(void) {
function __Pyx_init_sys_getdefaultencoding_params (line 723) | static int __Pyx_init_sys_getdefaultencoding_params(void) {
function CYTHON_INLINE (line 755) | static CYTHON_INLINE void __Pyx_pretend_to_initialize(void* ptr) { (void...
type __Pyx_StructField_ (line 799) | struct __Pyx_StructField_
type __Pyx_TypeInfo (line 801) | typedef struct {
type __Pyx_StructField (line 811) | typedef struct __Pyx_StructField_ {
type __Pyx_BufFmt_StackElem (line 816) | typedef struct {
type __Pyx_BufFmt_Context (line 820) | typedef struct {
type npy_int8 (line 841) | typedef npy_int8 __pyx_t_5numpy_int8_t;
type npy_int16 (line 850) | typedef npy_int16 __pyx_t_5numpy_int16_t;
type npy_int32 (line 859) | typedef npy_int32 __pyx_t_5numpy_int32_t;
type npy_int64 (line 868) | typedef npy_int64 __pyx_t_5numpy_int64_t;
type npy_uint8 (line 877) | typedef npy_uint8 __pyx_t_5numpy_uint8_t;
type npy_uint16 (line 886) | typedef npy_uint16 __pyx_t_5numpy_uint16_t;
type npy_uint32 (line 895) | typedef npy_uint32 __pyx_t_5numpy_uint32_t;
type npy_uint64 (line 904) | typedef npy_uint64 __pyx_t_5numpy_uint64_t;
type npy_float32 (line 913) | typedef npy_float32 __pyx_t_5numpy_float32_t;
type npy_float64 (line 922) | typedef npy_float64 __pyx_t_5numpy_float64_t;
type npy_long (line 931) | typedef npy_long __pyx_t_5numpy_int_t;
type npy_longlong (line 940) | typedef npy_longlong __pyx_t_5numpy_long_t;
type npy_longlong (line 949) | typedef npy_longlong __pyx_t_5numpy_longlong_t;
type npy_ulong (line 958) | typedef npy_ulong __pyx_t_5numpy_uint_t;
type npy_ulonglong (line 967) | typedef npy_ulonglong __pyx_t_5numpy_ulong_t;
type npy_ulonglong (line 976) | typedef npy_ulonglong __pyx_t_5numpy_ulonglong_t;
type npy_intp (line 985) | typedef npy_intp __pyx_t_5numpy_intp_t;
type npy_uintp (line 994) | typedef npy_uintp __pyx_t_5numpy_uintp_t;
type npy_double (line 1003) | typedef npy_double __pyx_t_5numpy_float_t;
type npy_double (line 1012) | typedef npy_double __pyx_t_5numpy_double_t;
type npy_longdouble (line 1021) | typedef npy_longdouble __pyx_t_5numpy_longdouble_t;
type std (line 1025) | typedef ::std::complex< float > __pyx_t_float_complex;
type __pyx_t_float_complex (line 1027) | typedef float _Complex __pyx_t_float_complex;
type __pyx_t_float_complex (line 1030) | typedef struct { float real, imag; } __pyx_t_float_complex;
type std (line 1037) | typedef ::std::complex< double > __pyx_t_double_complex;
type __pyx_t_double_complex (line 1039) | typedef double _Complex __pyx_t_double_complex;
type __pyx_t_double_complex (line 1042) | typedef struct { double real, imag; } __pyx_t_double_complex;
type npy_cfloat (line 1056) | typedef npy_cfloat __pyx_t_5numpy_cfloat_t;
type npy_cdouble (line 1065) | typedef npy_cdouble __pyx_t_5numpy_cdouble_t;
type npy_clongdouble (line 1074) | typedef npy_clongdouble __pyx_t_5numpy_clongdouble_t;
type npy_cdouble (line 1083) | typedef npy_cdouble __pyx_t_5numpy_complex_t;
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function CYTHON_INLINE (line 1778) | static CYTHON_INLINE __pyx_t_5numpy_float32_t __pyx_f_7cpu_nms_max(__pyx...
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function PyObject (line 1867) | static PyObject *__pyx_pw_7cpu_nms_1cpu_nms(PyObject *__pyx_self, PyObje...
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function CYTHON_INLINE (line 3906) | static CYTHON_INLINE PyObject *__pyx_f_5numpy_PyDataType_SHAPE(PyArray_D...
function CYTHON_INLINE (line 3980) | static CYTHON_INLINE char *__pyx_f_5numpy__util_dtypestring(PyArray_Desc...
function CYTHON_INLINE (line 4726) | static CYTHON_INLINE void __pyx_f_5numpy_set_array_base(PyArrayObject *_...
function CYTHON_INLINE (line 4822) | static CYTHON_INLINE PyObject *__pyx_f_5numpy_get_array_base(PyArrayObje...
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function CYTHON_INLINE (line 5153) | static CYTHON_INLINE int __pyx_f_5numpy_import_ufunc(void) {
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function __Pyx_modinit_function_export_code (line 5610) | static int __Pyx_modinit_function_export_code(void) {
function __Pyx_modinit_type_init_code (line 5618) | static int __Pyx_modinit_type_init_code(void) {
function __Pyx_modinit_type_import_code (line 5626) | static int __Pyx_modinit_type_import_code(void) {
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function __Pyx_copy_spec_to_module (line 5700) | static int __Pyx_copy_spec_to_module(PyObject *spec, PyObject *moddict, ...
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function __Pyx_RaiseArgtupleInvalid (line 5951) | static void __Pyx_RaiseArgtupleInvalid(
function __Pyx_RaiseDoubleKeywordsError (line 5977) | static void __Pyx_RaiseDoubleKeywordsError(
function __Pyx_ParseOptionalKeywords (line 5991) | static int __Pyx_ParseOptionalKeywords(
function __Pyx__ArgTypeTest (line 6093) | static int __Pyx__ArgTypeTest(PyObject *obj, PyTypeObject *type, const c...
function CYTHON_INLINE (line 6114) | static CYTHON_INLINE int __Pyx_Is_Little_Endian(void)
function __Pyx_BufFmt_Init (line 6125) | static void __Pyx_BufFmt_Init(__Pyx_BufFmt_Context* ctx,
function __Pyx_BufFmt_ParseNumber (line 6152) | static int __Pyx_BufFmt_ParseNumber(const char** ts) {
function __Pyx_BufFmt_ExpectNumber (line 6167) | static int __Pyx_BufFmt_ExpectNumber(const char **ts) {
function __Pyx_BufFmt_RaiseUnexpectedChar (line 6174) | static void __Pyx_BufFmt_RaiseUnexpectedChar(char ch) {
function __Pyx_BufFmt_TypeCharToStandardSize (line 6202) | static size_t __Pyx_BufFmt_TypeCharToStandardSize(char ch, int is_comple...
function __Pyx_BufFmt_TypeCharToNativeSize (line 6220) | static size_t __Pyx_BufFmt_TypeCharToNativeSize(char ch, int is_complex) {
type __Pyx_st_short (line 6239) | typedef struct { char c; short x; } __Pyx_st_short;
type __Pyx_st_int (line 6240) | typedef struct { char c; int x; } __Pyx_st_int;
type __Pyx_st_long (line 6241) | typedef struct { char c; long x; } __Pyx_st_long;
type __Pyx_st_float (line 6242) | typedef struct { char c; float x; } __Pyx_st_float;
type __Pyx_st_double (line 6243) | typedef struct { char c; double x; } __Pyx_st_double;
type __Pyx_st_longdouble (line 6244) | typedef struct { char c; long double x; } __Pyx_st_longdouble;
type __Pyx_st_void_p (line 6245) | typedef struct { char c; void *x; } __Pyx_st_void_p;
type __Pyx_st_longlong (line 6247) | typedef struct { char c; PY_LONG_LONG x; } __Pyx_st_longlong;
function __Pyx_BufFmt_TypeCharToAlignment (line 6249) | static size_t __Pyx_BufFmt_TypeCharToAlignment(char ch, CYTHON_UNUSED in...
type __Pyx_pad_short (line 6271) | typedef struct { short x; char c; } __Pyx_pad_short;
type __Pyx_pad_int (line 6272) | typedef struct { int x; char c; } __Pyx_pad_int;
type __Pyx_pad_long (line 6273) | typedef struct { long x; char c; } __Pyx_pad_long;
type __Pyx_pad_float (line 6274) | typedef struct { float x; char c; } __Pyx_pad_float;
type __Pyx_pad_double (line 6275) | typedef struct { double x; char c; } __Pyx_pad_double;
type __Pyx_pad_longdouble (line 6276) | typedef struct { long double x; char c; } __Pyx_pad_longdouble;
type __Pyx_pad_void_p (line 6277) | typedef struct { void *x; char c; } __Pyx_pad_void_p;
type __Pyx_pad_longlong (line 6279) | typedef struct { PY_LONG_LONG x; char c; } __Pyx_pad_longlong;
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function __Pyx_BufFmt_TypeCharToGroup (line 6299) | static char __Pyx_BufFmt_TypeCharToGroup(char ch, int is_complex) {
function __Pyx_BufFmt_RaiseExpected (line 6320) | static void __Pyx_BufFmt_RaiseExpected(__Pyx_BufFmt_Context* ctx) {
function __Pyx_BufFmt_ProcessTypeChunk (line 6344) | static int __Pyx_BufFmt_ProcessTypeChunk(__Pyx_BufFmt_Context* ctx) {
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function CYTHON_INLINE (line 6627) | static CYTHON_INLINE void __Pyx_SafeReleaseBuffer(Py_buffer* info) {
function __Pyx_ZeroBuffer (line 6632) | static void __Pyx_ZeroBuffer(Py_buffer* buf) {
function __Pyx__GetBufferAndValidate (line 6639) | static int __Pyx__GetBufferAndValidate(
function PyObject (line 6674) | static PyObject *__Pyx_GetItemInt_Generic(PyObject *o, PyObject* j) {
function CYTHON_INLINE (line 6681) | static CYTHON_INLINE PyObject *__Pyx_GetItemInt_List_Fast(PyObject *o, P...
function CYTHON_INLINE (line 6699) | static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Tuple_Fast(PyObject *o, ...
function CYTHON_INLINE (line 6717) | static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Fast(PyObject *o, Py_ssi...
function PyObject (line 6762) | static PyObject *__Pyx_PyObject_GetIndex(PyObject *obj, PyObject* index) {
function PyObject (line 6780) | static PyObject *__Pyx_PyObject_GetItem(PyObject *obj, PyObject* key) {
function CYTHON_INLINE (line 6790) | static CYTHON_INLINE int __Pyx_TypeTest(PyObject *obj, PyTypeObject *typ...
function PyObject (line 6804) | static PyObject* __Pyx_PyInt_AddObjC(PyObject *op1, PyObject *op2, CYTHO...
function CYTHON_INLINE (line 6926) | static CYTHON_INLINE PyObject * __Pyx_PyCFunction_FastCall(PyObject *fun...
function PyObject (line 6950) | static PyObject* __Pyx_PyFunction_FastCallNoKw(PyCodeObject *co, PyObjec...
function CYTHON_INLINE (line 7069) | static CYTHON_INLINE PyObject* __Pyx_PyObject_Call(PyObject *func, PyObj...
function CYTHON_INLINE (line 7089) | static CYTHON_INLINE PyObject* __Pyx_PyObject_CallMethO(PyObject *func, ...
function PyObject (line 7109) | static PyObject* __Pyx__PyObject_CallOneArg(PyObject *func, PyObject *ar...
function CYTHON_INLINE (line 7119) | static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func,...
function CYTHON_INLINE (line 7137) | static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func,...
function __Pyx_RaiseBufferIndexError (line 7196) | static void __Pyx_RaiseBufferIndexError(int axis) {
function CYTHON_INLINE (line 7203) | static CYTHON_INLINE void __Pyx_ErrRestoreInState(PyThreadState *tstate,...
function CYTHON_INLINE (line 7215) | static CYTHON_INLINE void __Pyx_ErrFetchInState(PyThreadState *tstate, P...
function __Pyx_Raise (line 7227) | static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb,
function __Pyx_Raise (line 7278) | static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, P...
function PyObject (line 7386) | static PyObject *__Pyx_PyDict_GetItem(PyObject *d, PyObject* key) {
function CYTHON_INLINE (line 7404) | static CYTHON_INLINE void __Pyx_RaiseTooManyValuesError(Py_ssize_t expec...
function CYTHON_INLINE (line 7410) | static CYTHON_INLINE void __Pyx_RaiseNeedMoreValuesError(Py_ssize_t inde...
function CYTHON_INLINE (line 7417) | static CYTHON_INLINE void __Pyx_RaiseNoneNotIterableError(void) {
function CYTHON_INLINE (line 7423) | static CYTHON_INLINE void __Pyx__ExceptionSave(PyThreadState *tstate, Py...
function CYTHON_INLINE (line 7437) | static CYTHON_INLINE void __Pyx__ExceptionReset(PyThreadState *tstate, P...
function __Pyx_PyErr_ExceptionMatchesTuple (line 7462) | static int __Pyx_PyErr_ExceptionMatchesTuple(PyObject *exc_type, PyObjec...
function CYTHON_INLINE (line 7475) | static CYTHON_INLINE int __Pyx_PyErr_ExceptionMatchesInState(PyThreadSta...
function __Pyx_GetException (line 7489) | static int __Pyx_GetException(PyObject **type, PyObject **value, PyObjec...
function PyObject (line 7556) | static PyObject *__Pyx_Import(PyObject *name, PyObject *from_list, int l...
function __Pyx_CLineForTraceback (line 7622) | static int __Pyx_CLineForTraceback(CYTHON_UNUSED PyThreadState *tstate, ...
function __pyx_bisect_code_objects (line 7658) | static int __pyx_bisect_code_objects(__Pyx_CodeObjectCacheEntry* entries...
function PyCodeObject (line 7679) | static PyCodeObject *__pyx_find_code_object(int code_line) {
function __pyx_insert_code_object (line 7693) | static void __pyx_insert_code_object(int code_line, PyCodeObject* code_o...
function PyCodeObject (line 7741) | static PyCodeObject* __Pyx_CreateCodeObjectForTraceback(
function __Pyx_AddTraceback (line 7793) | static void __Pyx_AddTraceback(const char *funcname, int c_line,
function __Pyx_GetBuffer (line 7823) | static int __Pyx_GetBuffer(PyObject *obj, Py_buffer *view, int flags) {
function __Pyx_ReleaseBuffer (line 7829) | static void __Pyx_ReleaseBuffer(Py_buffer *view) {
function CYTHON_INLINE (line 7845) | static CYTHON_INLINE PyObject* __Pyx_PyInt_From_int(int value) {
function CYTHON_INLINE (line 7898) | static CYTHON_INLINE PyObject* __Pyx_PyInt_From_long(long value) {
function CYTHON_INLINE (line 7931) | static CYTHON_INLINE __pyx_t_float_complex __pyx_t_float_complex_from_pa...
function CYTHON_INLINE (line 7935) | static CYTHON_INLINE __pyx_t_float_complex __pyx_t_float_complex_from_pa...
function CYTHON_INLINE (line 7940) | static CYTHON_INLINE __pyx_t_float_complex __pyx_t_float_complex_from_pa...
function CYTHON_INLINE (line 7951) | static CYTHON_INLINE int __Pyx_c_eq_float(__pyx_t_float_complex a, __pyx...
function CYTHON_INLINE (line 7954) | static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_sum_float(__pyx_t_flo...
function CYTHON_INLINE (line 7960) | static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_diff_float(__pyx_t_fl...
function CYTHON_INLINE (line 7966) | static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_prod_float(__pyx_t_fl...
function CYTHON_INLINE (line 7973) | static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_quot_float(__pyx_t_fl...
function CYTHON_INLINE (line 7993) | static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_quot_float(__pyx_t_fl...
function CYTHON_INLINE (line 8004) | static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_neg_float(__pyx_t_flo...
function CYTHON_INLINE (line 8010) | static CYTHON_INLINE int __Pyx_c_is_zero_float(__pyx_t_float_complex a) {
function CYTHON_INLINE (line 8013) | static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_conj_float(__pyx_t_fl...
function CYTHON_INLINE (line 8020) | static CYTHON_INLINE float __Pyx_c_abs_float(__pyx_t_float_complex z) {
function CYTHON_INLINE (line 8027) | static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_pow_float(__pyx_t_flo...
function CYTHON_INLINE (line 8086) | static CYTHON_INLINE __pyx_t_double_complex __pyx_t_double_complex_from_...
function CYTHON_INLINE (line 8090) | static CYTHON_INLINE __pyx_t_double_complex __pyx_t_double_complex_from_...
function CYTHON_INLINE (line 8095) | static CYTHON_INLINE __pyx_t_double_complex __pyx_t_double_complex_from_...
function CYTHON_INLINE (line 8106) | static CYTHON_INLINE int __Pyx_c_eq_double(__pyx_t_double_complex a, __p...
function CYTHON_INLINE (line 8109) | static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_sum_double(__pyx_t_d...
function CYTHON_INLINE (line 8115) | static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_diff_double(__pyx_t_...
function CYTHON_INLINE (line 8121) | static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_prod_double(__pyx_t_...
function CYTHON_INLINE (line 8128) | static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_quot_double(__pyx_t_...
function CYTHON_INLINE (line 8148) | static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_quot_double(__pyx_t_...
function CYTHON_INLINE (line 8159) | static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_neg_double(__pyx_t_d...
function CYTHON_INLINE (line 8165) | static CYTHON_INLINE int __Pyx_c_is_zero_double(__pyx_t_double_complex a) {
function CYTHON_INLINE (line 8168) | static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_conj_double(__pyx_t_...
function CYTHON_INLINE (line 8175) | static CYTHON_INLINE double __Pyx_c_abs_double(__pyx_t_double_complex z) {
function CYTHON_INLINE (line 8182) | static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_pow_double(__pyx_t_d...
function CYTHON_INLINE (line 8239) | static CYTHON_INLINE PyObject* __Pyx_PyInt_From_enum__NPY_TYPES(enum NPY...
function __Pyx_InBases (line 8649) | static int __Pyx_InBases(PyTypeObject *a, PyTypeObject *b) {
function CYTHON_INLINE (line 8657) | static CYTHON_INLINE int __Pyx_IsSubtype(PyTypeObject *a, PyTypeObject *...
function __Pyx_inner_PyErr_GivenExceptionMatches2 (line 8673) | static int __Pyx_inner_PyErr_GivenExceptionMatches2(PyObject *err, PyObj...
function CYTHON_INLINE (line 8695) | static CYTHON_INLINE int __Pyx_inner_PyErr_GivenExceptionMatches2(PyObje...
function CYTHON_INLINE (line 8703) | static CYTHON_INLINE int __Pyx_PyErr_GivenExceptionMatches(PyObject *err...
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function PyObject (line 8738) | static PyObject *__Pyx_ImportModule(const char *name) {
function PyTypeObject (line 8756) | static PyTypeObject *__Pyx_ImportType(const char *module_name, const cha...
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function CYTHON_INLINE (line 8854) | static CYTHON_INLINE const char* __Pyx_PyObject_AsString(PyObject* o) {
function CYTHON_INLINE (line 8881) | static CYTHON_INLINE const char* __Pyx_PyUnicode_AsStringAndSize(PyObjec...
function CYTHON_INLINE (line 8923) | static CYTHON_INLINE int __Pyx_PyObject_IsTrue(PyObject* x) {
function PyObject (line 8928) | static PyObject* __Pyx_PyNumber_IntOrLongWrongResultType(PyObject* resul...
function CYTHON_INLINE (line 8997) | static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject* b) {
function CYTHON_INLINE (line 9059) | static CYTHON_INLINE PyObject * __Pyx_PyInt_FromSize_t(size_t ival) {
FILE: lib/nms/gpu_nms.cpp
function CYTHON_MAYBE_UNUSED_VAR (line 218) | void CYTHON_MAYBE_UNUSED_VAR( const T& ) { }
function __Pyx_call_destructor (line 280) | void __Pyx_call_destructor(T& x) {
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method T (line 289) | T *operator&() { return ptr; }
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function CYTHON_INLINE (line 371) | static CYTHON_INLINE Py_tss_t * PyThread_tss_alloc(void) {
function CYTHON_INLINE (line 376) | static CYTHON_INLINE void PyThread_tss_free(Py_tss_t *key) {
function CYTHON_INLINE (line 379) | static CYTHON_INLINE int PyThread_tss_is_created(Py_tss_t *key) {
function CYTHON_INLINE (line 382) | static CYTHON_INLINE void PyThread_tss_delete(Py_tss_t *key) {
function CYTHON_INLINE (line 386) | static CYTHON_INLINE int PyThread_tss_set(Py_tss_t *key, void *value) {
function CYTHON_INLINE (line 389) | static CYTHON_INLINE void * PyThread_tss_get(Py_tss_t *key) {
function CYTHON_INLINE (line 549) | static CYTHON_INLINE float __PYX_NAN() {
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function __Pyx_init_sys_getdefaultencoding_params (line 738) | static int __Pyx_init_sys_getdefaultencoding_params(void) {
function CYTHON_INLINE (line 770) | static CYTHON_INLINE void __Pyx_pretend_to_initialize(void* ptr) { (void...
type __Pyx_StructField_ (line 814) | struct __Pyx_StructField_
type __Pyx_StructField_ (line 818) | struct __Pyx_StructField_
type __Pyx_StructField_ (line 826) | struct __Pyx_StructField_ {
type __Pyx_CodeObjectCache (line 1397) | struct __Pyx_CodeObjectCache {
type __Pyx_CodeObjectCache (line 1402) | struct __Pyx_CodeObjectCache
type NPY_TYPES (line 1536) | enum NPY_TYPES
function PyObject (line 1728) | static PyObject *__pyx_pw_7gpu_nms_1gpu_nms(PyObject *__pyx_self, PyObje...
function PyObject (line 1811) | static PyObject *__pyx_pf_7gpu_nms_gpu_nms(CYTHON_UNUSED PyObject *__pyx...
function CYTHON_UNUSED (line 2180) | static CYTHON_UNUSED int __pyx_pw_5numpy_7ndarray_1__getbuffer__(PyObjec...
function __pyx_pf_5numpy_7ndarray___getbuffer__ (line 2191) | static int __pyx_pf_5numpy_7ndarray___getbuffer__(PyArrayObject *__pyx_v...
function CYTHON_UNUSED (line 2942) | static CYTHON_UNUSED void __pyx_pw_5numpy_7ndarray_3__releasebuffer__(Py...
function __pyx_pf_5numpy_7ndarray_2__releasebuffer__ (line 2951) | static void __pyx_pf_5numpy_7ndarray_2__releasebuffer__(PyArrayObject *_...
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function CYTHON_INLINE (line 3173) | static CYTHON_INLINE PyObject *__pyx_f_5numpy_PyArray_MultiIterNew4(PyOb...
function CYTHON_INLINE (line 3220) | static CYTHON_INLINE PyObject *__pyx_f_5numpy_PyArray_MultiIterNew5(PyOb...
function CYTHON_INLINE (line 3267) | static CYTHON_INLINE PyObject *__pyx_f_5numpy_PyDataType_SHAPE(PyArray_D...
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function __Pyx_BufFmt_ParseNumber (line 5433) | static int __Pyx_BufFmt_ParseNumber(const char** ts) {
function __Pyx_BufFmt_ExpectNumber (line 5448) | static int __Pyx_BufFmt_ExpectNumber(const char **ts) {
function __Pyx_BufFmt_RaiseUnexpectedChar (line 5455) | static void __Pyx_BufFmt_RaiseUnexpectedChar(char ch) {
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function __Pyx_BufFmt_TypeCharToNativeSize (line 5501) | static size_t __Pyx_BufFmt_TypeCharToNativeSize(char ch, int is_complex) {
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function __Pyx__GetBufferAndValidate (line 5920) | static int __Pyx__GetBufferAndValidate(
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function PyObject (line 5969) | static PyObject *__Pyx_GetBuiltinName(PyObject *name) {
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function CYTHON_INLINE (line 6030) | static CYTHON_INLINE int __Pyx_TypeTest(PyObject *obj, PyTypeObject *typ...
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function CYTHON_INLINE (line 6068) | static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Tuple_Fast(PyObject *o, ...
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function PyObject (line 6184) | static PyObject* __Pyx_PyFunction_FastCallNoKw(PyCodeObject *co, PyObjec...
function CYTHON_INLINE (line 6303) | static CYTHON_INLINE PyObject* __Pyx_PyObject_CallMethO(PyObject *func, ...
function PyObject (line 6323) | static PyObject* __Pyx__PyObject_CallOneArg(PyObject *func, PyObject *ar...
function CYTHON_INLINE (line 6333) | static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func,...
function CYTHON_INLINE (line 6351) | static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func,...
function __Pyx_RaiseBufferIndexError (line 6383) | static void __Pyx_RaiseBufferIndexError(int axis) {
function __Pyx_RaiseBufferFallbackError (line 6389) | static void __Pyx_RaiseBufferFallbackError(void) {
function CYTHON_INLINE (line 6396) | static CYTHON_INLINE void __Pyx_ErrRestoreInState(PyThreadState *tstate,...
function CYTHON_INLINE (line 6408) | static CYTHON_INLINE void __Pyx_ErrFetchInState(PyThreadState *tstate, P...
function __Pyx_Raise (line 6420) | static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb,
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function __Pyx_CLineForTraceback (line 6815) | static int __Pyx_CLineForTraceback(CYTHON_UNUSED PyThreadState *tstate, ...
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function __Pyx_AddTraceback (line 6986) | static void __Pyx_AddTraceback(const char *funcname, int c_line,
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function __Pyx_ReleaseBuffer (line 7022) | static void __Pyx_ReleaseBuffer(Py_buffer *view) {
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function CYTHON_INLINE (line 7135) | static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_quot_float(__pyx_t_fl...
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function CYTHON_INLINE (line 7252) | static CYTHON_INLINE __pyx_t_double_complex __pyx_t_double_complex_from_...
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function CYTHON_INLINE (line 7344) | static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_pow_double(__pyx_t_d...
function CYTHON_INLINE (line 7401) | static CYTHON_INLINE PyObject* __Pyx_PyInt_From_enum__NPY_TYPES(enum NPY...
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function CYTHON_INLINE (line 7810) | static CYTHON_INLINE PyObject* __Pyx_PyInt_From_long(long value) {
function __Pyx_InBases (line 8031) | static int __Pyx_InBases(PyTypeObject *a, PyTypeObject *b) {
function CYTHON_INLINE (line 8039) | static CYTHON_INLINE int __Pyx_IsSubtype(PyTypeObject *a, PyTypeObject *...
function __Pyx_inner_PyErr_GivenExceptionMatches2 (line 8055) | static int __Pyx_inner_PyErr_GivenExceptionMatches2(PyObject *err, PyObj...
function CYTHON_INLINE (line 8077) | static CYTHON_INLINE int __Pyx_inner_PyErr_GivenExceptionMatches2(PyObje...
function CYTHON_INLINE (line 8085) | static CYTHON_INLINE int __Pyx_PyErr_GivenExceptionMatches(PyObject *err...
function CYTHON_INLINE (line 8092) | static CYTHON_INLINE int __Pyx_PyErr_GivenExceptionMatches2(PyObject *er...
function __Pyx_check_binary_version (line 8102) | static int __Pyx_check_binary_version(void) {
function PyObject (line 8120) | static PyObject *__Pyx_ImportModule(const char *name) {
function PyTypeObject (line 8138) | static PyTypeObject *__Pyx_ImportType(const char *module_name, const cha...
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function CYTHON_INLINE (line 8233) | static CYTHON_INLINE PyObject* __Pyx_PyUnicode_FromString(const char* c_...
function CYTHON_INLINE (line 8236) | static CYTHON_INLINE const char* __Pyx_PyObject_AsString(PyObject* o) {
function CYTHON_INLINE (line 8263) | static CYTHON_INLINE const char* __Pyx_PyUnicode_AsStringAndSize(PyObjec...
function CYTHON_INLINE (line 8305) | static CYTHON_INLINE int __Pyx_PyObject_IsTrue(PyObject* x) {
function PyObject (line 8310) | static PyObject* __Pyx_PyNumber_IntOrLongWrongResultType(PyObject* resul...
function CYTHON_INLINE (line 8379) | static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject* b) {
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FILE: lib/nms/py_cpu_nms.py
function py_cpu_nms (line 10) | def py_cpu_nms(dets, thresh):
FILE: lib/nms/setup.py
function find_in_path (line 16) | def find_in_path(name, path):
function locate_cuda (line 27) | def locate_cuda():
function customize_compiler_for_nvcc (line 67) | def customize_compiler_for_nvcc(self):
class custom_build_ext (line 106) | class custom_build_ext(build_ext):
method build_extensions (line 107) | def build_extensions(self):
FILE: lib/rpn_util.py
function generate_anchors (line 22) | def generate_anchors(conf, imdb, cache_folder):
function anchor_center (line 162) | def anchor_center(w, h, stride):
function cluster_anchors (line 181) | def cluster_anchors(feat_stride, anchors, test_scale, imdb, lbls, ilbls,...
function compute_targets (line 425) | def compute_targets(gts_val, gts_ign, box_lbls, rois, fg_thresh, ign_thr...
function hill_climb (line 530) | def hill_climb(p2, p2_inv, box_2d, x2d, y2d, z2d, w3d, h3d, l3d, ry3d, s...
function clsInd2Name (line 590) | def clsInd2Name(lbls, ind):
function clsName2Ind (line 601) | def clsName2Ind(lbls, cls):
function compute_bbox_stats (line 611) | def compute_bbox_stats(conf, imdb, cache_folder=''):
function flatten_tensor (line 771) | def flatten_tensor(input):
function unflatten_tensor (line 783) | def unflatten_tensor(input, feat_size, anchors):
function project_3d (line 800) | def project_3d(p2, x3d, y3d, z3d, w3d, h3d, l3d, ry3d, return_3d=False):
function project_3d_corners (line 852) | def project_3d_corners(p2, x3d, y3d, z3d, w3d, h3d, l3d, ry3d):
function bbCoords2XYWH (line 912) | def bbCoords2XYWH(box):
function bbXYWH2Coords (line 925) | def bbXYWH2Coords(box):
function bbox_transform_3d (line 938) | def bbox_transform_3d(ex_rois_2d, ex_rois_3d, gt_rois):
function bbox_transform (line 971) | def bbox_transform(ex_rois, gt_rois):
function bbox_transform_inv (line 1000) | def bbox_transform_inv(boxes, deltas, means=None, stds=None):
function determine_ignores (line 1052) | def determine_ignores(gts, lbls, ilbls, min_gt_vis=0.99, min_gt_h=0, max...
function locate_anchors (line 1077) | def locate_anchors(anchors, feat_size, stride, convert_tensor=False):
function calc_output_size (line 1149) | def calc_output_size(res, stride):
function im_detect_3d (line 1164) | def im_detect_3d(im, net, rpn_conf, preprocess, p2, gpu=0, synced=False):
function get_2D_from_3D (line 1299) | def get_2D_from_3D(p2, cx3d, cy3d, cz3d, w3d, h3d, l3d, rotY):
function test_kitti_3d (line 1316) | def test_kitti_3d(dataset_test, net, rpn_conf, results_path, test_path, ...
function parse_kitti_result (line 1453) | def parse_kitti_result(respath):
function parse_kitti_vo (line 1482) | def parse_kitti_vo(respath):
function test_projection (line 1506) | def test_projection(p2, p2_inv, box_2d, cx, cy, z, w3d, h3d, l3d, rotY):
FILE: lib/util.py
function copyfile (line 28) | def copyfile(src, dst):
function pretty_print (line 32) | def pretty_print(name, input, val_width=40, key_width=0):
function absolute_import (line 84) | def absolute_import(file_path):
function init_log_file (line 103) | def init_log_file(folder_path, suffix=None, log_level=logging.INFO):
function denorm_image (line 131) | def denorm_image(im, image_means, image_stds):
function compute_eta (line 145) | def compute_eta(start_time, idx, total):
function interp_color (line 169) | def interp_color(dist, bounds=[0, 1], color_lo=(0,0, 250), color_hi=(0, ...
function create_colorbar (line 179) | def create_colorbar(height, width, color_lo=(0,0, 250), color_hi=(0, 250...
function mkdir_if_missing (line 193) | def mkdir_if_missing(directory, delete_if_exist=False):
function list_files (line 208) | def list_files(base_dir, file_pattern):
function file_parts (line 220) | def file_parts(file_path):
function pickle_write (line 235) | def pickle_write(file_path, obj):
function pickle_read (line 244) | def pickle_read(file_path):
function get_color (line 253) | def get_color(ind, hex=False):
function draw_3d_box (line 293) | def draw_3d_box(im, verts, color=(0, 200, 200), thickness=1):
function draw_bev (line 301) | def draw_bev(canvas_bev, z3d, l3d, w3d, x3d, ry3d, color=(0, 200, 200), ...
function draw_line (line 333) | def draw_line(im, v1, v2, color=(0, 200, 200), thickness=1):
function draw_circle (line 338) | def draw_circle(im, pos, radius=5, thickness=1, color=(250, 100, 100), f...
function draw_2d_box (line 345) | def draw_2d_box(im, box, color=(0, 200, 200), thickness=1):
function imshow (line 357) | def imshow(im, fig_num=None):
function imwrite (line 368) | def imwrite(im, path):
function imread (line 373) | def imread(path):
function draw_tick_marks (line 378) | def draw_tick_marks(im, ticks):
function draw_text (line 389) | def draw_text(im, text, pos, scale=0.4, color=(0, 0, 0), font=cv2.FONT_H...
function mat2euler (line 416) | def mat2euler(R):
function fig_to_im (line 432) | def fig_to_im(fig):
function imzoom (line 452) | def imzoom(im, zoom=0):
function imhstack (line 477) | def imhstack(im1, im2):
function euler2mat (line 494) | def euler2mat(x, y, z):
function convertAlpha2Rot (line 516) | def convertAlpha2Rot(alpha, z3d, x3d):
function convertRot2Alpha (line 527) | def convertRot2Alpha(ry3d, z3d, x3d):
FILE: models/densenet121_3d_dilate.py
function dilate_layer (line 7) | def dilate_layer(layer, val):
class RPN (line 13) | class RPN(nn.Module):
method __init__ (line 16) | def __init__(self, phase, base, conf):
method forward (line 78) | def forward(self, x):
function build (line 149) | def build(conf, phase='train'):
FILE: models/densenet121_3d_dilate_depth_aware.py
function dilate_layer (line 8) | def dilate_layer(layer, val):
class LocalConv2d (line 13) | class LocalConv2d(nn.Module):
method __init__ (line 15) | def __init__(self, num_rows, num_feats_in, num_feats_out, kernel=1, pa...
method forward (line 25) | def forward(self, x):
class RPN (line 47) | class RPN(nn.Module):
method __init__ (line 49) | def __init__(self, phase, base, conf):
method forward (line 152) | def forward(self, x):
function build (line 273) | def build(conf, phase='train'):
FILE: scripts/config/kitti_3d_multi_main.py
function Config (line 4) | def Config():
FILE: scripts/config/kitti_3d_multi_warmup.py
function Config (line 4) | def Config():
FILE: scripts/train_rpn_3d.py
function main (line 23) | def main(argv):
Condensed preview — 70 files, each showing path, character count, and a content snippet. Download the .json file or copy for the full structured content (2,110K chars).
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{
"path": "LICENSE",
"chars": 1071,
"preview": "MIT License\n\nCopyright (c) 2020 Garrick Brazil\n\nPermission is hereby granted, free of charge, to any person obtaining a "
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"preview": "#include <iostream>\n#include <algorithm>\n#include <stdio.h>\n#include <math.h>\n#include <vector>\n#include <numeric>\n#incl"
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"preview": "function P = readCalibration(calib_dir,img_idx,cam)\n\n % load 3x4 projection matrix\n P = dlmread(sprintf('%s/%06d.txt',"
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"path": "data/kitti_split1/devkit/matlab/readLabels.m",
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{
"path": "data/kitti_split1/devkit/matlab/run_demo.m",
"chars": 2535,
"preview": "% KITTI OBJECT DETECTION AND ORIENTATION ESTIMATION BENCHMARK DEMONSTRATION\n% \n% This tool displays the images and the o"
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{
"path": "data/kitti_split1/devkit/matlab/run_readWriteDemo.m",
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"preview": "% clear and close everything\nclear all; close all;\ndisp('======= KITTI DevKit Demo =======');\n\nroot_dir = '/media/karls"
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"path": "data/kitti_split1/devkit/matlab/run_statistics.m",
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"preview": "% KITTI OBJECT DETECTION AND ORIENTATION ESTIMATION BENCHMARK STATISTICS\nclear all; close all; clc;\ndisp('======= KITTI "
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{
"path": "data/kitti_split1/devkit/matlab/visualization.m",
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"preview": "###########################################################################\n# THE KITTI VISION BENCHMARK SUIT"
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"path": "data/kitti_split1/setup_split.py",
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"path": "data/kitti_split2/devkit/matlab/run_demo.m",
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"preview": "% KITTI OBJECT DETECTION AND ORIENTATION ESTIMATION BENCHMARK STATISTICS\nclear all; close all; clc;\ndisp('======= KITTI "
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{
"path": "data/kitti_split2/devkit/matlab/visualization.m",
"chars": 2863,
"preview": "function varargout = visualization(mode,image_dir,varargin)\n\nswitch mode\n \n % init figure\n case 'init'\n \n % cre"
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"chars": 12202,
"preview": "###########################################################################\n# THE KITTI VISION BENCHMARK SUIT"
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"path": "data/kitti_split2/setup_split.py",
"chars": 3317,
"preview": "from importlib import import_module\nfrom getopt import getopt\nimport scipy.io as sio\nimport matplotlib.pyplot as plt\nfro"
},
{
"path": "lib/augmentations.py",
"chars": 11960,
"preview": "\"\"\"\nThis file contains all PyTroch data augmentation functions.\n\nEvery transform should have a __call__ function which t"
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"path": "lib/core.py",
"chars": 24733,
"preview": "\"\"\"\nThis file is meant to contain all functions of the detective framework\nwhich are \"specific\" to the framework but gen"
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"path": "lib/imdb_util.py",
"chars": 20579,
"preview": "\"\"\"\nThis file contains all image database (imdb) functionality,\nsuch as loading and reading information from a dataset.\n"
},
{
"path": "lib/loss/rpn_3d.py",
"chars": 26883,
"preview": "import torch.nn as nn\nimport torch.nn.functional as F\nimport sys\n\n# stop python from writing so much bytecode\nsys.dont_w"
},
{
"path": "lib/nms/Makefile",
"chars": 56,
"preview": "all:\n\tpython setup.py build_ext --inplace\n\trm -rf build\n"
},
{
"path": "lib/nms/cpu_nms.c",
"chars": 366262,
"preview": "/* Generated by Cython 0.28.2 */\n\n#define PY_SSIZE_T_CLEAN\n#include \"Python.h\"\n#ifndef Py_PYTHON_H\n #error Python hea"
},
{
"path": "lib/nms/cpu_nms.pyx",
"chars": 2241,
"preview": "# --------------------------------------------------------\n# Fast R-CNN\n# Copyright (c) 2015 Microsoft\n# Licensed under "
},
{
"path": "lib/nms/gpu_nms.cpp",
"chars": 342931,
"preview": "/* Generated by Cython 0.28.2 */\n\n#define PY_SSIZE_T_CLEAN\n#include \"Python.h\"\n#ifndef Py_PYTHON_H\n #error Python hea"
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"path": "lib/nms/gpu_nms.hpp",
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"path": "lib/nms/gpu_nms.pyx",
"chars": 1110,
"preview": "# --------------------------------------------------------\n# Faster R-CNN\n# Copyright (c) 2015 Microsoft\n# Licensed unde"
},
{
"path": "lib/nms/nms_kernel.cu",
"chars": 5064,
"preview": "// ------------------------------------------------------------------\n// Faster R-CNN\n// Copyright (c) 2015 Microsoft\n//"
},
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"path": "lib/nms/py_cpu_nms.py",
"chars": 1051,
"preview": "# --------------------------------------------------------\n# Fast R-CNN\n# Copyright (c) 2015 Microsoft\n# Licensed under "
},
{
"path": "lib/nms/setup.py",
"chars": 5177,
"preview": "# --------------------------------------------------------\n# Fast R-CNN\n# Copyright (c) 2015 Microsoft\n# Licensed under "
},
{
"path": "lib/rpn_util.py",
"chars": 52974,
"preview": "\"\"\"\nThis file is meant to contain functions which are\nspecific to region proposal networks.\n\"\"\"\n\nimport matplotlib.pyplo"
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{
"path": "lib/util.py",
"chars": 14546,
"preview": "\"\"\"\nThis file is meant to contain generic utility functions\nwhich can be easily re-used in any project, and are not\nspec"
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{
"path": "models/densenet121_3d_dilate.py",
"chars": 6303,
"preview": "import torch.nn as nn\nfrom torchvision import models\nfrom lib.rpn_util import *\nimport torch\n\n\ndef dilate_layer(layer, v"
},
{
"path": "models/densenet121_3d_dilate_depth_aware.py",
"chars": 15002,
"preview": "import torch.nn as nn\nfrom torchvision import models\nfrom lib.rpn_util import *\nimport torch.nn.functional as F\nimport t"
},
{
"path": "python_packages.txt",
"chars": 17302,
"preview": "# packages in environment at /home/garrick/anaconda3:\n#\n# Name Version Build Chann"
},
{
"path": "readme.md",
"chars": 3582,
"preview": "# M3D-RPN: Monocular 3D Region Proposal Network for Object Detection\n\nGarrick Brazil, Xiaoming Liu\n\n## Introduction\n\n\nMo"
},
{
"path": "scripts/config/kitti_3d_multi_main.py",
"chars": 3459,
"preview": "from easydict import EasyDict as edict\nimport numpy as np\n\ndef Config():\n\n conf = edict()\n \n # ------------"
},
{
"path": "scripts/config/kitti_3d_multi_warmup.py",
"chars": 3341,
"preview": "from easydict import EasyDict as edict\nimport numpy as np\n\ndef Config():\n\n conf = edict()\n \n # ------------"
},
{
"path": "scripts/test_rpn_3d.py",
"chars": 1613,
"preview": "# -----------------------------------------\n# python modules\n# -----------------------------------------\nfrom importlib "
},
{
"path": "scripts/train_rpn_3d.py",
"chars": 5672,
"preview": "# -----------------------------------------\n# python modules\n# -----------------------------------------\nfrom easydict i"
},
{
"path": "setup.md",
"chars": 3072,
"preview": "\n# Setup for M3D-RPN\n\nThis document acts as a (suggested) guide for setting up cuda, Python 3, and Anaconda. If componen"
}
]
// ... and 1 more files (download for full content)
About this extraction
This page contains the full source code of the garrickbrazil/M3D-RPN GitHub repository, extracted and formatted as plain text for AI agents and large language models (LLMs). The extraction includes 70 files (1.9 MB), approximately 794.9k tokens, and a symbol index with 601 extracted functions, classes, methods, constants, and types. Use this with OpenClaw, Claude, ChatGPT, Cursor, Windsurf, or any other AI tool that accepts text input. You can copy the full output to your clipboard or download it as a .txt file.
Extracted by GitExtract — free GitHub repo to text converter for AI. Built by Nikandr Surkov.