JdeRobot · sergiopaniego · Sep 21, 2021
diff --git a/DetectionMetrics/CMakeLists.txt b/DetectionMetrics/CMakeLists.txt
@@ -34,7 +34,7 @@ include(FindPkgConfig)
  include(Deps/ice/CMakeLists.txt)
  include(Deps/numpy/CMakeLists.txt)
  include(Deps/yaml-cpp/CMakeLists.txt)
- include(Deps/ros/CMakeLists.txt)
+ #include(Deps/ros/CMakeLists.txt)
  include(Deps/opencv/CMakeLists.txt)
  include(Deps/qt/CMakeLists.txt)
 
@@ -46,9 +46,9 @@ SET( INTERFACES_CPP_DIR ${CMAKE_CURRENT_BINARY_DIR}/libs/interfaces/cpp/jderobot
 if(ZeroCIce_FOUND)
   add_definitions(-DICE)
 endif()
-if(roscpp_FOUND)
- 	add_definitions(-DJDERROS)
-endif()
+#if(roscpp_FOUND)
+# 	add_definitions(-DJDERROS)
+#endif()
 if(OpenCV_FOUND)
 	SET(ENABLE_DNN_CAFFE ON)
   add_definitions(-DENABLE_DNN_CAFFE)
@@ -62,14 +62,14 @@ endif(OpenCV_FOUND)
  add_subdirectory(SampleGenerationApp)
  add_subdirectory(Tools)
 
-if(roscpp_FOUND)
- add_subdirectory(DetectionMetricsROS)
-endif()
- file(COPY ${CMAKE_CURRENT_SOURCE_DIR}/ClassMappingHierarchy.xml
-     DESTINATION ${CMAKE_CURRENT_BINARY_DIR})
- file(COPY ${CMAKE_CURRENT_SOURCE_DIR}/ClassMappingHierarchy.xml
-     DESTINATION ${CMAKE_CURRENT_BINARY_DIR}/Tools)
+#if(roscpp_FOUND)
+# add_subdirectory(DetectionMetricsROS)
+#endif()
+# file(COPY ${CMAKE_CURRENT_SOURCE_DIR}/ClassMappingHierarchy.xml
+#     DESTINATION ${CMAKE_CURRENT_BINARY_DIR})
+# file(COPY ${CMAKE_CURRENT_SOURCE_DIR}/ClassMappingHierarchy.xml
+#     DESTINATION ${CMAKE_CURRENT_BINARY_DIR}/Tools)
 
- IF (BUILD_TEST)
+IF (BUILD_TEST)
 	add_subdirectory(test)
 ENDIF()
diff --git a/DetectionMetrics/DetectionMetricsLib/Common/Sample.cpp b/DetectionMetrics/DetectionMetricsLib/Common/Sample.cpp
@@ -181,7 +181,7 @@ Sample::Sample(const std::string &path, const std::string &id,bool loadDepth) {
 
     if (boost::filesystem::exists(boost::filesystem::path(path + "/" + id + ".json")))
         this->rectRegions=RectRegionsPtr(new RectRegions(path + "/" + id + ".json"));
-    else{
+    else {
         LOG(ERROR) << "Error " + id + " sample has not associated detection";
     }
 

diff --git a/DetectionMetrics/DetectionMetricsLib/DatasetConverters/CMakeLists.txt b/DetectionMetrics/DetectionMetricsLib/DatasetConverters/CMakeLists.txt
@@ -8,6 +8,8 @@ SET (DatasetConverters_SOURCE_FILES
   readers/COCODatasetReader
   readers/PascalVOCDatasetReader
   readers/PrincetonDatasetReader
+  readers/TrafficSensorGTDatasetReader
+  readers/TrafficSensorOutputDatasetReader
   writers/PascalVOCDatasetWriter
   readers/ImageNetDatasetReader
   readers/SpinelloDatasetReader

diff --git a/DetectionMetrics/DetectionMetricsLib/DatasetConverters/readers/COCODatasetReader.cpp b/DetectionMetrics/DetectionMetricsLib/DatasetConverters/readers/COCODatasetReader.cpp
@@ -65,7 +65,6 @@ bool COCODatasetReader::appendDataset(const std::string &datasetPath, const std:
     if(!a.IsArray())
         throw std::invalid_argument("Invalid Annotations file Passed, Images member isn't an array");
 
-
     std::string img_filename, img_dirname;
     std::size_t filename_id_start, filename_ext;
 
@@ -80,21 +79,17 @@ bool COCODatasetReader::appendDataset(const std::string &datasetPath, const std:
             LOG(INFO) << "Image Directory Found: " << img_dir.string() << '\n';
         } else {
             throw std::invalid_argument("Corresponding Image Directory can't be located, please place it in the same Directory as annotations if you wish to continue without reading images");
-
         }
 
         if(!doc.HasMember("images"))
             throw std::invalid_argument("Images Member not available, invalid annotations file passed");
 
-
         const rapidjson::Value& imgs = doc["images"];
 
         if(!imgs.IsArray())
             throw std::invalid_argument("Invalid Annotations file Passed, Images member isn't an array");
 
-
         for (rapidjson::Value::ConstValueIterator itr = imgs.Begin(); itr != imgs.End(); ++itr) {
-
             unsigned long int id = (*itr)["id"].GetUint64();
             std::string filename = (*itr)["file_name"].GetString();
 

diff --git a/DetectionMetrics/DetectionMetricsLib/DatasetConverters/readers/GenericDatasetReader.cpp b/DetectionMetrics/DetectionMetricsLib/DatasetConverters/readers/GenericDatasetReader.cpp
@@ -11,10 +11,10 @@ GenericDatasetReader::GenericDatasetReader(const std::string &path, const std::s
     if (std::find(this->availableImplementations.begin(), this->availableImplementations.end(), readerImplementation) != this->availableImplementations.end()){
         imp = getImplementation(readerImplementation);
         switch (imp) {
-	    case OPENIMAGES:
+            case OPENIMAGES:
                 this->openimagesDatasetReaderPtr = OpenImagesDatasetReaderPtr( new OpenImagesDatasetReader(path,classNamesFile,imagesRequired));
                 break;
-	    case IMAGENET:
+            case IMAGENET:
                 this->imagenetDatasetReaderPtr = ImageNetDatasetReaderPtr( new ImageNetDatasetReader(path,classNamesFile,imagesRequired));
                 break;
             case COCO:
@@ -35,6 +35,12 @@ GenericDatasetReader::GenericDatasetReader(const std::string &path, const std::s
             case PRINCETON:
                 this->princetonDatasetReaderPtr = PrincetonDatasetReaderPtr( new PrincetonDatasetReader(path,classNamesFile,imagesRequired));
                 break;
+            case TRAFFICSENSORGT:
+                this->trafficSensorGTDatasetReaderPtr = TrafficSensorGTDatasetReaderPtr(new TrafficSensorGTDatasetReader(path,classNamesFile,imagesRequired));
+                break;
+            case TRAFFICSENSOROUTPUT:
+                this->trafficSensorOutputDatasetReaderPtr = TrafficSensorOutputDatasetReaderPtr(new TrafficSensorOutputDatasetReader(path,classNamesFile,imagesRequired));
+                break;
             default:
                 LOG(WARNING)<<readerImplementation + " is not a valid reader implementation";
                 break;
@@ -110,33 +116,31 @@ void GenericDatasetReader::configureAvailablesImplementations(std::vector<std::s
     data.push_back("Spinello");
     data.push_back("Own");
     data.push_back("Princeton");
-
+    data.push_back("Traffic Sensor GT");
+    data.push_back("Traffic Sensor Output");
 }
 
 READER_IMPLEMENTATIONS GenericDatasetReader::getImplementation(const std::string& readerImplementation) {
     if (readerImplementation == "Open Images") {
-	return OPENIMAGES;
-    }
-    if (readerImplementation == "ImageNet"){
+	    return OPENIMAGES;
+    } else if (readerImplementation == "ImageNet"){
         return IMAGENET;
-    }
-    if (readerImplementation == "COCO"){
+    } else if (readerImplementation == "COCO"){
         return COCO;
-    }
-    if (readerImplementation == "Pascal VOC"){
+    } else if (readerImplementation == "Pascal VOC"){
         return PASCALVOC;
-    }
-    if (readerImplementation == "YOLO"){
+    } else if (readerImplementation == "YOLO"){
         return YOLO_1;
-    }
-    if (readerImplementation == "Spinello"){
+    } else if (readerImplementation == "Spinello"){
         return SPINELLO;
-    }
-    if (readerImplementation == "Own"){
+    } else if (readerImplementation == "Own"){
         return OWN;
-    }
-    if (readerImplementation == "Princeton"){
+    } else if (readerImplementation == "Princeton"){
         return PRINCETON;
+    } else if (readerImplementation == "Traffic Sensor GT"){
+        return TRAFFICSENSORGT;
+    } else if (readerImplementation == "Traffic Sensor Output"){
+        return TRAFFICSENSOROUTPUT;
     }
 }
 
@@ -158,6 +162,10 @@ DatasetReaderPtr GenericDatasetReader::getReader() {
             return this->ownDatasetReaderPtr;
         case PRINCETON:
             return this->princetonDatasetReaderPtr;
+        case TRAFFICSENSORGT:
+            return this->trafficSensorGTDatasetReaderPtr;
+        case TRAFFICSENSOROUTPUT:
+            return this->trafficSensorOutputDatasetReaderPtr;
         default:
             LOG(WARNING)<<imp + " is not a valid reader implementation";
             break;

diff --git a/DetectionMetrics/DetectionMetricsLib/DatasetConverters/readers/GenericDatasetReader.h b/DetectionMetrics/DetectionMetricsLib/DatasetConverters/readers/GenericDatasetReader.h
@@ -15,10 +15,12 @@
 #include <DatasetConverters/readers/DatasetReader.h>
 #include "OwnDatasetReader.h"
 #include "PrincetonDatasetReader.h"
+#include "TrafficSensorGTDatasetReader.h"
+#include "TrafficSensorOutputDatasetReader.h"
 #include "SamplesReader.h"
 
 
-enum READER_IMPLEMENTATIONS{OWN, SPINELLO, PASCALVOC, COCO, IMAGENET, YOLO_1, PRINCETON, OPENIMAGES};
+enum READER_IMPLEMENTATIONS{OWN, SPINELLO, PASCALVOC, COCO, IMAGENET, YOLO_1, PRINCETON, OPENIMAGES, TRAFFICSENSORGT, TRAFFICSENSOROUTPUT};
 
 
 class GenericDatasetReader {
@@ -40,6 +42,8 @@ class GenericDatasetReader {
     COCODatasetReaderPtr cocoDatasetReaderPtr;
     ImageNetDatasetReaderPtr imagenetDatasetReaderPtr;
     OpenImagesDatasetReaderPtr openimagesDatasetReaderPtr;
+    TrafficSensorGTDatasetReaderPtr trafficSensorGTDatasetReaderPtr;
+    TrafficSensorOutputDatasetReaderPtr trafficSensorOutputDatasetReaderPtr;
     SamplesReaderPtr samplesReaderPtr;
 
     std::vector<std::string> availableImplementations;

diff --git a/DetectionMetrics/DetectionMetricsLib/DatasetConverters/readers/ImageNetDatasetReader.cpp b/DetectionMetrics/DetectionMetricsLib/DatasetConverters/readers/ImageNetDatasetReader.cpp
@@ -74,10 +74,9 @@ bool ImageNetDatasetReader::appendDataset(const std::string &datasetPath, const
     boost::filesystem::path boostDatasetPath(datasetPath);
 
     if (!boost::filesystem::is_directory(boostDatasetPath)) {
-        throw std::invalid_argument("Invalid File received for Imagenet Parser");
+        throw std::invalid_argument("Invalid File received for ImageNet Parser");
     }
 
-
     path img_dir;
 
     if (imagesRequired) {
@@ -87,14 +86,11 @@ bool ImageNetDatasetReader::appendDataset(const std::string &datasetPath, const
         } else {
             LOG(WARNING) << "Corresponding Image Directory, can't be located, Skipping" << '\n';
         }
-
     }
 
-
     boost::filesystem::directory_iterator end_itr;
-    for (boost::filesystem::directory_iterator itr(boostDatasetPath); itr!=end_itr; ++itr)
-    {
-        if (!boost::filesystem::is_directory(*itr)){
+    for (boost::filesystem::directory_iterator itr(boostDatasetPath); itr!=end_itr; ++itr) {
+        if (!boost::filesystem::is_directory(*itr)) {
             LOG(INFO) << itr->path().string() << '\n';
             boost::property_tree::ptree tree;
 
@@ -105,23 +101,18 @@ bool ImageNetDatasetReader::appendDataset(const std::string &datasetPath, const
             std::string m_width = tree.get<std::string>("annotation.size.width");
             std::string m_height = tree.get<std::string>("annotation.size.height");
 
-
-
-
             Sample sample;
             sample.setSampleID(m_filename);
 
             if (imagesRequired) {
                 std::string imgPath = img_dir.string() + "/" + m_filename + ".JPEG";
                 sample.setColorImagePath(imgPath);
-
             }
 
-
             RectRegionsPtr rectRegions(new RectRegions());
 
             BOOST_FOREACH(boost::property_tree::ptree::value_type &v, tree.get_child("annotation")) {
-        // The data function is used to access the data stored in a node.
+                // The data function is used to access the data stored in a node.
                 if (v.first == "object") {
                     std::string object_name = v.second.get<std::string>("name");
                     int xmin = v.second.get<int>("bndbox.xmin");
@@ -131,13 +122,11 @@ bool ImageNetDatasetReader::appendDataset(const std::string &datasetPath, const
 
                     cv::Rect bounding(xmin, ymin, xmax - xmin, ymax - ymin);
                     rectRegions->add(bounding,object_name);
-
                 }
             }
 
             sample.setRectRegions(rectRegions);
             this->samples.push_back(sample);
-
         }
     }
 

diff --git a/DetectionMetrics/DetectionMetricsLib/DatasetConverters/readers/OwnDatasetReader.cpp b/DetectionMetrics/DetectionMetricsLib/DatasetConverters/readers/OwnDatasetReader.cpp
@@ -12,23 +12,18 @@ OwnDatasetReader::OwnDatasetReader(const std::string &path,const std::string& cl
     appendDataset(path);
 }
 
-OwnDatasetReader::OwnDatasetReader(const bool imagesRequired):DatasetReader(imagesRequired) {
-
-}
+OwnDatasetReader::OwnDatasetReader(const bool imagesRequired):DatasetReader(imagesRequired) {}
 
 bool OwnDatasetReader::appendDataset(const std::string &datasetPath, const std::string &datasetPrefix) {
     boost::filesystem::directory_iterator end_itr;
     boost::filesystem::path boostPath(datasetPath);
-
-
     std::vector<std::string> filesID;
 
     for (boost::filesystem::directory_iterator itr(boostPath); itr!=end_itr; ++itr)
     {
         if ((is_regular_file(itr->status()) && itr->path().extension()==".json") && (itr->path().string().find("-region") == std::string::npos)) {
             filesID.push_back(itr->path().filename().stem().string());
         }
-
     }
 
     std::sort(filesID.begin(),filesID.end());

diff --git a/DetectionMetrics/DetectionMetricsLib/DatasetConverters/readers/OwnDatasetReader.h b/DetectionMetrics/DetectionMetricsLib/DatasetConverters/readers/OwnDatasetReader.h
@@ -8,16 +8,14 @@
 #include <DatasetConverters/readers/DatasetReader.h>
 
 class OwnDatasetReader:public DatasetReader {
-public:
-    OwnDatasetReader(const std::string& path,const std::string& classNamesFile, const bool imagesRequired);
-    OwnDatasetReader(const bool imagesRequired);
-    bool appendDataset(const std::string& datasetPath, const std::string& datasetPrefix="");
-private:
-
+    public:
+        OwnDatasetReader(const std::string& path,const std::string& classNamesFile, const bool imagesRequired);
+        OwnDatasetReader(const bool imagesRequired);
+        bool appendDataset(const std::string& datasetPath, const std::string& datasetPrefix="");
+    private:
 };
 
 
 typedef boost::shared_ptr<OwnDatasetReader> OwnDatasetReaderPtr;
 
-
 #endif //SAMPLERGENERATOR_OWNDATASETREADER_H
diff --git a/DetectionMetrics/DetectionMetricsLib/DatasetConverters/readers/PrincetonDatasetReader.h b/DetectionMetrics/DetectionMetricsLib/DatasetConverters/readers/PrincetonDatasetReader.h
@@ -19,6 +19,4 @@ class PrincetonDatasetReader: public DatasetReader {
 
 typedef boost::shared_ptr<PrincetonDatasetReader> PrincetonDatasetReaderPtr;
 
-
-
 #endif //SAMPLERGENERATOR_PRINCETONDATASETREADER_H
diff --git a/...ionMetrics/DetectionMetricsLib/DatasetConverters/readers/TrafficSensorGTDatasetReader.cpp b/...ionMetrics/DetectionMetricsLib/DatasetConverters/readers/TrafficSensorGTDatasetReader.cpp
@@ -0,0 +1,63 @@
+#include <boost/filesystem.hpp>
+#include <glog/logging.h>
+#include <boost/lexical_cast.hpp>
+#include "DatasetConverters/readers/TrafficSensorGTDatasetReader.h"
+
+TrafficSensorGTDatasetReader::TrafficSensorGTDatasetReader(const std::string &path,const std::string& classNamesFile,const bool imagesRequired):DatasetReader(imagesRequired){
+    this->classNamesFile=classNamesFile;
+    appendDataset(path);
+}
+
+TrafficSensorGTDatasetReader::TrafficSensorGTDatasetReader(const bool imagesRequired):DatasetReader(imagesRequired) {}
+
+bool TrafficSensorGTDatasetReader::appendDataset(const std::string &datasetPath, const std::string &datasetPrefix) {
+    boost::filesystem::directory_iterator end_itr;
+    boost::filesystem::path boostPath(datasetPath);
+    std::vector<std::string> filesID;
+
+
+    for (boost::filesystem::directory_iterator itr(boostPath); itr!=end_itr; ++itr)
+    {
+        if ((is_regular_file(itr->status()) && itr->path().extension()==".xml") && (itr->path().string().find("-region") == std::string::npos)) {
+            filesID.push_back(itr->path().string());
+        }
+    }
+
+    std::sort(filesID.begin(),filesID.end());
+
+    for (auto it = filesID.begin(), end=filesID.end(); it != end; ++it) {
+
+        Sample sample;
+        sample.setSampleID(datasetPrefix + boost::filesystem::path(*it).filename().stem().string());
+
+        boost::property_tree::ptree tree;
+        boost::property_tree::read_xml(boost::filesystem::path(*it).string(), tree);
+
+        RectRegionsPtr rectRegions(new RectRegions());
+
+        std::string m_folder = tree.get<std::string>("annotation.folder");
+        std::string m_filename = tree.get<std::string>("annotation.filename");
+        std::string m_path = tree.get<std::string>("annotation.path");
+
+        BOOST_FOREACH(boost::property_tree::ptree::value_type &v, tree.get_child("annotation")) {
+            // The data function is used to access the data stored in a node.
+            if (v.first == "object") {
+                std::string object_name = v.second.get<std::string>("name");
+                int xmin = v.second.get<int>("bndbox.xmin");
+                int xmax = v.second.get<int>("bndbox.xmax");
+                int ymin = v.second.get<int>("bndbox.ymin");
+                int ymax = v.second.get<int>("bndbox.ymax");
+
+                cv::Rect bounding(xmin, ymin, xmax - xmin, ymax - ymin);
+                rectRegions->add(bounding, object_name);
+                sample.setRectRegions(rectRegions);
+            }
+        }
+
+        this->samples.push_back(sample);
+    }
+
+    LOG(INFO) << "Loaded: " + boost::lexical_cast<std::string>(this->samples.size()) + " samples";
+    printDatasetStats();
+    return true;
+}