shinanliu / 3d_object_detection_evaluation_metrics Goto Github PK

usage

compile

g++ -O3 -DNDEBUG -o evaluate_3d eval.cpp -lglog -std=c++11

run

./evaluate_3d gt.txt det_cyj.txt {out_file_name[can be ingored]}

Format

gt_format

# 1

000001.png //(file_name)

3 1280 1920 1//(img_chanel img_height img_width flip)

2 //ignore num

1 0.00 0 1.96 280.38 185.10 344.90 215.59 1.49 1.76 4.01 -15.71 2.16 38.26 1.57 3

1 0.00 0 1.88 365.14 184.54 406.11 205.20 1.38 1.80 3.41 -15.89 2.23 51.17 1.58 2

3 //gt num

1 0.00 0 -1.57 599.41 156.40 629.75 189.25 2.85 2.63 12.34 0.47 1.49 69.44 -1.56 1

1 0.00 0 1.85 387.63 181.54 423.81 203.12 1.67 1.87 3.69 -16.53 2.39 58.49 1.57 2

2 0.00 3 -1.65 676.60 163.95 688.98 193.93 1.86 0.60 2.02 4.59 1.32 45.84 -1.55 1

label-truncation-occlusion-alpha-x1-y1-x2-y2-h-w-l-t1-t2-t3-ry severity_level

label: class_label

truncation: & occlusion 0.00 0

alpha:Observation angle of object, ranging [-pi..pi]

x1 y1 x2 y2: 2D BBox coordinate

h w l: 3D object dimensions: height, width, length (in meters)

t1 t2 t3: 3D object location x,y,z in camera coordinates (in meters)

ry:Rotation ry around Y-axis in camera coordinates [-pi..pi]

severity_level: 1, 2, 3

det_format

000001.png 1 1.98 386.06 180.49 422.45 200.67 1.46 1.49 2.95 -14.20 2.06 50.00 1.70 0.650 0.77442261094 1

000002.png 1 0.04 658.79 191.24 702.51 220.33 1.46 1.49 2.95 3.00 2.06 31.80 0.13 0.962 0.914835452597 1

000002.png 3 -1.16 559.00 143.75 572.67 215.48 1.76 0.66 0.49 -1.30 1.15 21.00 -1.22 0.092 0.513634007548 1

000002.png 3 -0.74 101.53 145.11 133.74 231.87 1.76 0.66 0.49 -14.20 1.46 20.70 -1.34 0.055 0.705416749366 1

img_name-cls-alpha-x1-y1-x2-y2-h-w-l-t1-t2-t3-ry-score-"1"