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jfx_node_ros
Commit d2311b6d authored by oscar's avatar oscar
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上传mota的计算指标的逻辑

parent d6f5d7a2
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MOTA/CMakeLists.txt 0 → 100644
View file @ d2311b6d
cmake_minimum_required(VERSION 3.0.2)
project(mota)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fprofile-arcs -ftest-coverage -pthread")
#SET(CMAKE_BUILD_TYPE "Debug")
SET(CMAKE_BUILD_TYPE "Release")
# set(CMAKE_POSITION_INDEPENDENT_CODE TRUE)
# include_directories(./)
# include_directories(./include)
# include_directories(./src/)
# include_directories(./src/DeInflate)
# include_directories(./src/Endecryption)
add_executable(test main.cpp)
# target_link_libraries(test
# crypto
# ssl
# z
# )
# add_executable(test1 test1.cpp)
# target_link_libraries(test1
# crypto
# ssl
# z
# )
# add_executable(test3 test3.cpp)
# target_link_libraries(test3
# crypto
# ssl
# z
# )
# add_executable(main
# main.cpp
# src/DeInflate/DeInflate.cpp
# )
# target_link_libraries(main
# crypto
# ssl
# z
# )
# add_library(generateLicense SHARED
# src/DeInflate/DeInflate.cpp
# src/GenerateLicense.cpp
# src/Endecryption/EncryptWithRsa.cpp
# src/Endecryption/Endecrypt.cpp
# )
# target_link_libraries(generateLicense
# crypto.a
# ssl.a
# /usr/local/lib/libz.a
# )
# add_executable(generate
# Generate.cpp
# # src/CheckLicense.cpp
# # src/Endecryption/DecryptWithRsa.cpp
# )
# target_link_libraries(generate
# # crypto
# # ssl
# # z
# generateLicense
# dl
# )
MOTA/main.cpp 0 → 100644
View file @ d2311b6d
#include <iostream>
#include <fstream>
#include <sstream>
#include <vector>
#include <map>
#include <cmath>
using namespace std;
struct BoundingBox {
float x;
float y;
float z;
float length;
float width;
float height;
float orientation;
};
struct Object {
int object_id;
int frame_id;
BoundingBox bbox;
float confidence;
int type;
string class_name;
};
// 读取CSV格式的文件
vector<Object> read_csv_file(const string& filename) {
vector<Object> data;
ifstream file(filename);
string line;
while (getline(file, line)) {
if (line.empty()) {
continue;
}
stringstream ss(line);
string field;
vector<string> fields;
while (getline(ss, field, ',')) {
fields.push_back(field);
}
Object obj;
obj.object_id = stoi(fields[0]);
obj.frame_id = stoi(fields[1]);
obj.bbox.x = stof(fields[2]);
obj.bbox.y = stof(fields[3]);
obj.bbox.z = stof(fields[4]);
obj.bbox.length = stof(fields[5]);
obj.bbox.width = stof(fields[6]);
obj.bbox.height = stof(fields[7]);
obj.bbox.orientation = stof(fields[8]);
obj.confidence = stof(fields[9]);
obj.type = stoi(fields[10]);
obj.class_name = fields[11];
data.push_back(obj);
}
return data;
}
// 计算IoU
float calculate_iou_3d(const BoundingBox& bbox1, const BoundingBox& bbox2) {
float dx = abs(bbox1.x - bbox2.x);
float dy = abs(bbox1.y - bbox2.y);
float dz = abs(bbox1.z - bbox2.z);
float delta_l = abs(bbox1.length - bbox2.length);
float delta_w = abs(bbox1.width - bbox2.width);
float delta_h = abs(bbox1.height - bbox2.height);
float delta_o = abs(bbox1.orientation - bbox2.orientation);
float delta_xyz = sqrt(dx * dx + dy * dy + dz * dz);
float delta_dim = sqrt(delta_l * delta_l + delta_w * delta_w + delta_h * delta_h);
float delta_orien = delta_o;
float iou_xyz = 1.0f - delta_xyz / (bbox1.length + bbox1.width + bbox1.height + bbox2.length + bbox2.width + bbox2.height);
float iou_dim = 1.0f - delta_dim / (bbox1.length + bbox1.width + bbox1.height + bbox2.length + bbox2.width + bbox2.height);
float iou_orien = 1.0f - delta_orien / M_PI;
float iou = iou_xyz * iou_dim * iou_orien;
return iou;
}
// 计算匹配分数
map<int, map<int, map<int, float>>> calculate_match_score_3d(
const vector<Object>& tracking_data, const vector<Object>& gt_data, float iou_threshold) {
map<int, map<int, map<int, float>>> match_score;
for (const auto& obj1 : tracking_data) {
for (const auto& obj2 : gt_data) {
if (obj1.frame_id == obj2.frame_id) {
float iou = calculate_iou_3d(obj1.bbox, obj2.bbox);
if (iou > iou_threshold) {
match_score[obj1.frame_id][obj1.object_id][obj2.object_id] = iou;
}
}
}
}
return match_score;
}
// 确定真实值和跟踪结果之间的匹配关系
map<int, map<int, int>> get_matches(const map<int, map<int, map<int, float>>>& match_score) {
map<int, map<int, int>> matches;
for (const auto& frame_pair : match_score) {
matches[frame_pair.first];
map<int, int> used_objects;
map<int, int> used_gt_objects;
for (const auto& object_pair : frame_pair.second) {
int object_id = object_pair.first;
int max_gt_object_id = -1;
float max_iou = 0;
for (const auto& gt_object_pair : object_pair.second) {
int gt_object_id = gt_object_pair.first;
float iou = gt_object_pair.second;
if (iou > max_iou && used_gt_objects.count(gt_object_id) == 0) {
max_iou = iou;
max_gt_object_id = gt_object_id;
}
}
if (max_gt_object_id != -1) {
matches[frame_pair.first][object_id] = max_gt_object_id;
used_objects[object_id] = 1;
used_gt_objects[max_gt_object_id] = 1;
}
}
for (const auto& object_pair : frame_pair.second) {
int object_id = object_pair.first;
if (used_objects.count(object_id) == 0) {
matches[frame_pair.first][object_id] = -1;
}
}
for (const auto& gt_object_pair : frame_pair.second.begin()->second) {
int gt_object_id = gt_object_pair.first;
if (used_gt_objects.count(gt_object_id) == 0) {
matches[frame_pair.first][-1] = gt_object_id;
}
}
}
return matches;
}
// 计算MOTA指标
float calculate_mota_3d(const vector<Object>& tracking_data, const vector<Object>& gt_data, float iou_threshold) {
auto match_score = calculate_match_score_3d(tracking_data, gt_data, iou_threshold);
auto matches = get_matches(match_score);
int num_misses = 0;
int num_false_positives = 0;
int num_switches = 0;
int num_objects = 0;
for (const auto& frame_pair : matches) {
for (const auto& object_pair : frame_pair.second) {
int object_id = object_pair.first;
int gt_object_id = object_pair.second;
if (object_id == -1) {
num_misses++;
} else if (gt_object_id == -1) {
num_false_positives++;
} else {
num_objects++;
if (match_score[frame_pair.first][object_id][gt_object_id] < iou_threshold) {
num_switches++;
}
}
}
}
float mota = 1.0f - (float)(num_misses + num_false_positives + num_switches) / num_objects;
return mota;
}
int main(int argc, char** argv)
{
std::string tracking_csv = "tracking_data.csv";
std::string gt_csv = "gt_data.csv";
if( argc == 3 )
{
tracking_csv = argv[1];
gt_csv = argv[2];
}
// 读取跟踪结果和真值
vector<Object> tracking_data = read_csv_file(tracking_csv);
vector<Object> gt_data = read_csv_file(gt_csv);
// 计算MOTA指标
float iou_threshold = 0.5;
float mota = calculate_mota_3d(tracking_data, gt_data, iou_threshold);
cout << "MOTA = " << mota << endl;
return 0;
}
\ No newline at end of file
launch/jfx_node_ros.launch
View file @ d2311b6d
<launch>
<arg name="parampath" default="$(find jfx_node_ros)/config/params.yaml"/>
<arg name="run_mode" default="1"/>
<arg name="run_mode" default="2"/>
<arg name="originDataPath" default="/media/sf_originData/data"/>
<arg name="gps_load_file" default="/media/sf_originData/102022041610.nav/102022041610_traj.txt"/>
<arg name="outPutSaveDir" default="/media/sf_originData/detect_data/"/>
<arg name="playDetectTxt" default="/media/sf_originData/detect_data/detect_gps_7.txt"/>
<arg name="playDetectTxt" default="/media/sf_originData/detect_data/detect_gps_31.csv"/>
<arg name="pcdFileFolder" default="/media/sf_pcd_image/mesh"/>
<arg name="image0FileFolder" default="/media/sf_pcd_image/102022041610/image0"/>
<arg name="image1FileFolder" default="/media/sf_pcd_image/102022041610/image1"/>
<arg name="save_data_folder" default="/media/sf_originData/save_data"/>
<arg name="start_timestamp" default="/1650066200187"/>
<arg name="finish_timestamp" default="/1650066240187"/>
<arg name="send_pcd" default="1"/>
<arg name="send_image" default="1"/>
<arg name="play_save_gps_csv" default="/media/sf_originData/save_data/20230515-154612/detec_gps.csv"/>
<arg name="play_save_detect_folder" default="/media/sf_originData/save_data/20230515-154612/detect"/>
<arg name="play_save_pcd_folder" default="/media/sf_originData/save_data/20230515-154612/pcd"/>
<arg name="play_save_image0_folder" default="/media/sf_originData/save_data/20230515-154612/image0"/>
<arg name="play_save_image1_folder" default="/media/sf_originData/save_data/20230515-154612/image1"/>
<node pkg="jfx_node_ros" type="jfx_node_ros" name="jfx_node_ros" output="screen" >
<param name="parampath" value="$(arg parampath)" />
<param name="run_mode" value="$(arg run_mode)" />
......@@ -20,7 +28,15 @@
<param name="pcdFileFolder" value="$(arg pcdFileFolder)" />
<param name="image0FileFolder" value="$(arg image0FileFolder)" />
<param name="image1FileFolder" value="$(arg image1FileFolder)" />
<param name="save_data_folder" value="$(arg save_data_folder)" />
<param name="start_timestamp" value="$(arg start_timestamp)" />
<param name="finish_timestamp" value="$(arg finish_timestamp)" />
<param name="send_pcd" value="$(arg send_pcd)" />
<param name="send_image" value="$(arg send_image)" />
<param name="play_save_gps_csv" value="$(arg play_save_gps_csv)" />
<param name="play_save_detect_folder" value="$(arg play_save_detect_folder)" />
<param name="play_save_pcd_folder" value="$(arg play_save_pcd_folder)" />
<param name="play_save_image0_folder" value="$(arg play_save_image0_folder)" />
<param name="play_save_image1_folder" value="$(arg play_save_image1_folder)" />
</node>
</launch>
src/SendRosMsg.cpp
View file @ d2311b6d
This diff is collapsed.
src/SendRosMsg.hpp
View file @ d2311b6d
......@@ -16,6 +16,8 @@ public:
int Play(ros::NodeHandle& nh);
int SaveFiles(ros::NodeHandle& nh);
ros::Publisher m_pubFusionRes;//发送融合后的结果
ros::Publisher m_pubLocalization;//发送定位结果
ros::Publisher m_pubBoundingBoxes;//发送3D框信息
......
src/main.cpp
View file @ d2311b6d
......@@ -19,11 +19,13 @@ struct FileInfo
std::string fileName;
std::string filePath;
std::string pcdFile;
int carNum;
};
int LoadImageList(std::ifstream& file,std::string path,std::vector<FileInfo>& lists);
int FindImageInfoFromTimstamp(uint64_t timestamp,std::vector<FileInfo>& lists,std::string& outFile);
int SaveFile(std::ofstream& file,std::string path,FileInfo& fileInfo,std::vector<std::string>& values,std::vector<FileInfo>& image0List,std::vector<FileInfo>& image1List);
int GetCarNumFromFile(std::string& file);
int main(int argc, char** argv) {
ros::init(argc, argv, "jfx_node_ros");
......@@ -73,6 +75,8 @@ int main(int argc, char** argv) {
info.pcdFile = subDir + "/output/" + ts + ".pcd";
double timestamp = std::stod(ts);
info.timestamp = timestamp*1000;
std::string carFile = directory + "/" + subFile;
info.carNum = GetCarNumFromFile(carFile);
filenames.push_back(info);
}
}
......@@ -123,6 +127,8 @@ int main(int argc, char** argv) {
do
{
std::getline(gpsFile, line);
if(line.at(line.size() -1) == '\r')
line.erase(line.end()-1);
if(line.empty())
break;
std::vector<std::string> values;
......@@ -202,6 +208,14 @@ int main(int argc, char** argv) {
ros::spin();
}
else if(run_mode == 2)
{
LoadFileSendRosMsg sendMsg = {};
int ret = sendMsg.SaveFiles(phpriv_nh);
if(ret != 0)
printf("finish error ret = %d",ret);
ros::spin();
}
return 0;
......@@ -220,14 +234,14 @@ int SaveFile(std::ofstream& file,std::string path,FileInfo& fileInfo,std::vector
frame = 1;
last_timestamp = fileInfo.timestamp;
perid_start = fileInfo.timestamp;
std::string save_file = path + "/" + "detect_gps_" + std::to_string(perid) + ".txt";
std::string save_file = path + "/" + "detect_gps_" + std::to_string(perid) + ".csv";
file.open(save_file,std::ios::out);
printf("save perid = %d begin , file = %s\n",perid,save_file.c_str());
needPrint = 1;
}
else
{
if(fileInfo.timestamp - last_timestamp < 200)
if(fileInfo.timestamp - last_timestamp < 500)
{
frame++;
}
......@@ -235,9 +249,10 @@ int SaveFile(std::ofstream& file,std::string path,FileInfo& fileInfo,std::vector
{
file.close();
printf("save perid = %d end frame = %d, perid time = %llu\n",perid, frame, last_timestamp - perid_start);
printf("delay time = %llu\n",fileInfo.timestamp - last_timestamp);
perid++;
frame = 1;
std::string save_file = path + "/" + "detect_gps_" + std::to_string(perid) + ".txt";
std::string save_file = path + "/" + "detect_gps_" + std::to_string(perid) + ".csv";
file.open(save_file,std::ios::out);
printf("save perid = %d begin , file = %s\n",perid,save_file.c_str());
perid_start = fileInfo.timestamp;
......@@ -256,6 +271,7 @@ int SaveFile(std::ofstream& file,std::string path,FileInfo& fileInfo,std::vector
{
lineData << "," << iter;
}
lineData << "," << fileInfo.carNum;
lineData << std::endl;
std::string str = lineData.str();
if(needPrint == 1)
......@@ -326,3 +342,75 @@ int FindImageInfoFromTimstamp(uint64_t timestamp,std::vector<FileInfo>& lists,st
else
return -1;
}
int GetCarNumFromFile(std::string& file)
{
std::ifstream detFile;
detFile.open(file, std::ios::in);
int num = 0;
do
{
std::string line;
std::getline(detFile, line);
if(line.empty())
break;
std::vector<std::string> _values;
std::stringstream _linestream(line);
std::string _cell;
_values.clear();
while (std::getline(_linestream, _cell, ' '))
{
_values.push_back(_cell);
}
float score = std::stof(_values[7]);
if(score < 0.4)
continue;
num++;
}while(1);
detFile.close();
return num;
}
/*
以下是一个C++程序，可以读取给定的CSV文件，并根据每行中的信息创建目录和拷贝文件。你需要将程序中的`csvFilePath`修改为你要读取的CSV文件路径。请注意，此程序假定文件名中没有空格或特殊字符。
```c++
#include <iostream>
#include <fstream>
#include <sstream>
#include <filesystem>
int main() {
const std::string csvFilePath = "/path/to/csv/file.csv"; // 修改为你的CSV文件路径
std::ifstream csvFile(csvFilePath);
if (!csvFile.is_open()) {
std::cerr << "Failed to open file: " << csvFilePath << std::endl;
return 1;
}
std::string line;
while (std::getline(csvFile, line)) {
std::istringstream lineStream(line);
std::string name, path1, path2;
if (std::getline(lineStream, name, ',') &&
std::getline(lineStream, path1, ',') &&
std::getline(lineStream, path2, ',')) {
// 创建目录
std::filesystem::path dirPath = std::filesystem::path(".") / name;
std::filesystem::create_directory(dirPath);
std::filesystem::create_directory(dirPath / "file1");
std::filesystem::create_directory(dirPath / "file2");
// 拷贝文件
std::filesystem::copy_file(path1, dirPath / "file1" / std::filesystem::path(path1).filename(), std::filesystem::copy_options::overwrite_existing);
std::filesystem::copy_file(path2, dirPath / "file2" / std::filesystem::path(path2).filename(), std::filesystem::copy_options::overwrite_existing);
}
}
return 0;
}
```
这个程序使用了C++17中的`std::filesystem`库，需要在编译时加上`-std=c++17 -lstdc++fs`选项。例如，使用`g++`编译可以使用以下命令：
```bash
g++ -std=c++17 -lstdc++fs your_program.cpp -o your_program
```
*/
\ No newline at end of file
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