Add File

pcdet/datasets/kitti/kitti_object_eval_python/evaluate.py

@@ -0,0 +1,33 @@
+import time
+
+import fire
+
+import .kitti_common as kitti
+from .eval import get_coco_eval_result, get_official_eval_result
+
+
+def _read_imageset_file(path):
+    with open(path, 'r') as f:
+        lines = f.readlines()
+    return [int(line) for line in lines]
+
+
+def evaluate(label_path,
+             result_path,
+             label_split_file,
+             current_class=0,
+             coco=False,
+             score_thresh=-1):
+    dt_annos = kitti.get_label_annos(result_path)
+    if score_thresh > 0:
+        dt_annos = kitti.filter_annos_low_score(dt_annos, score_thresh)
+    val_image_ids = _read_imageset_file(label_split_file)
+    gt_annos = kitti.get_label_annos(label_path, val_image_ids)
+    if coco:
+        return get_coco_eval_result(gt_annos, dt_annos, current_class)
+    else:
+        return get_official_eval_result(gt_annos, dt_annos, current_class)
+
+
+if __name__ == '__main__':
+    fire.Fire()