00001
00060 #ifndef __COB_3D_MAPPING_COMMON_LABEL_RESULTS_H__
00061 #define __COB_3D_MAPPING_COMMON_LABEL_RESULTS_H__
00062
00063 #include <ostream>
00064 #include <fstream>
00065 #include <sstream>
00066 #include <limits>
00067 #include <string>
00068 #include "cob_3d_mapping_common/label_defines.h"
00069
00070 #define NUM_LBL 7
00071
00072 namespace cob_3d_mapping_common
00073 {
00074 class LabelResults
00075 {
00076 public:
00077 LabelResults(const std::string &rn,
00078 const std::string &rf,
00079 const bool mls) : rn_(rn), rf_(rf), mls_(mls), undef(0)
00080 {
00081 for (size_t i = 0; i < NUM_LBL; ++i)
00082 {
00083 exp[i] = 0;
00084 fp[i] = 0;
00085 fn[i] = 0;
00086 tp[i] = 0;
00087 tn[i] = 0;
00088 prec[i] = 0.0;
00089 rec[i] = 0.0;
00090 f1[i] = 0.0;
00091 }
00092 }
00093
00094 void calcResults()
00095 {
00096 all = 0;
00097 for(size_t i = 0; i < NUM_LBL; ++i)
00098 {
00099 all = exp[EVAL_PLANE]+exp[EVAL_EDGE]+exp[EVAL_SPH]+exp[EVAL_CYL]+exp[EVAL_COR];
00100 }
00101 for(size_t i = 0; i < NUM_LBL; ++i)
00102 {
00103 tp[i] = exp[i] - fn[i];
00104 tn[i] = all - exp[i] - fp[i];
00105 prec[i] = (float)tp[i] / (tp[i] + fp[i]);
00106 rec[i] = (float)tp[i] / (tp[i] + fn[i]);
00107 f1[i] = 2.0f * prec[i] * rec[i] / (prec[i] + rec[i]);
00108 }
00109 }
00110
00111 std::string writeToFile(const std::string &file,
00112 const std::string &p1 = "",
00113 const std::string &p2 = "",
00114 const std::string &p3 = "",
00115 const std::string &p4 = "") const
00116 {
00117 std::stringstream f;
00118 f << rn_ <<";"<< rf_ <<";"<< mls_ <<";";
00119 if (p1 == "")
00120 f << all <<";"<< undef <<";";
00121 else if (p2 == "")
00122 f << p1 <<";"<< all <<";"<< undef <<";";
00123 else if (p3 == "")
00124 f << p1 <<";"<< p2 <<";"<< all <<";"<< undef <<";";
00125 else if (p4 == "")
00126 f << p1 <<";"<< p2 <<";"<< p3 <<";"<< all <<";"<< undef <<";";
00127 else
00128 f << p1 <<";"<< p2 <<";"<< p3 <<";"<< p4 <<";"<< all <<";"<< undef <<";";
00129
00130 for(size_t i = 0; i < NUM_LBL; ++i)
00131 {
00132 f << exp[i] <<";"<< tp[i] <<";"<< fp[i] <<";"<< fn[i] <<";"
00133 << prec[i] <<";"<< rec[i] <<";"<< f1[i] <<";";
00134 }
00135 if (file != "")
00136 {
00137 std::fstream ffile;
00138 ffile.open(file.c_str(), std::fstream::out | std::fstream::app);
00139 ffile << f << std::endl;
00140 ffile.close();
00141 }
00142 return f.str();
00143 }
00144
00145 std::string writeToFile(const std::string &file,
00146 const float p1 = std::numeric_limits<float>::quiet_NaN(),
00147 const float p2 = std::numeric_limits<float>::quiet_NaN(),
00148 const float p3 = std::numeric_limits<float>::quiet_NaN(),
00149 const float p4 = std::numeric_limits<float>::quiet_NaN()) const
00150 {
00151 std::stringstream f;
00152 f << rn_ <<";"<< rf_ <<";"<< mls_ <<";";
00153 if (p1 != p1)
00154 f << all <<";"<< undef <<";";
00155 else if (p2 != p2)
00156 f << p1 <<";"<< all <<";"<< undef <<";";
00157 else if (p3 != p3)
00158 f << p1 <<";"<< p2 <<";"<< all <<";"<< undef <<";";
00159 else if (p4 != p4)
00160 f << p1 <<";"<< p2 <<";"<< p3 <<";"<< all <<";"<< undef <<";";
00161 else
00162 f << p1 <<";"<< p2 <<";"<< p3 <<";"<< p4 <<";"<< all <<";"<< undef <<";";
00163
00164 for(size_t i = 0; i < NUM_LBL; ++i)
00165 {
00166 f << exp[i] <<";"<< tp[i] <<";"<< fp[i] <<";"<< fn[i] <<";"
00167 << prec[i] <<";"<< rec[i] <<";"<< f1[i] <<";";
00168 }
00169 if (file != "")
00170 {
00171 std::fstream ffile;
00172 ffile.open(file.c_str(), std::fstream::out | std::fstream::app);
00173 ffile << f.str() << std::endl;
00174 ffile.close();
00175 }
00176 return f.str();
00177 }
00178
00179 std::string writeToFile(const std::string &file = "") const
00180 {
00181 std::stringstream f;
00182 f << rn_ <<";"<< rf_ <<";"<< mls_ <<";"<< all <<";"<< undef <<";";
00183
00184
00185 for(size_t i = 0; i < NUM_LBL; ++i)
00186 {
00187 f << exp[i] <<";"<< tp[i] <<";"<< fp[i] <<";"<< fn[i] <<";"
00188 << prec[i] <<";"<< rec[i] <<";"<< f1[i] <<";";
00189 }
00190 if (file != "")
00191 {
00192 std::fstream ffile;
00193 ffile.open(file.c_str(), std::fstream::out | std::fstream::app);
00194 ffile << f.str() << std::endl;
00195 ffile.close();
00196 }
00197 return f.str();
00198 }
00199
00200
00201 friend std::ostream& operator<< (std::ostream &os,const LabelResults &obj);
00202
00203 public:
00204 int exp [NUM_LBL];
00205 int fp [NUM_LBL];
00206 int fn [NUM_LBL];
00207 int tp [NUM_LBL];
00208 int tn [NUM_LBL];
00209 int undef;
00210 int all;
00211 float prec [NUM_LBL];
00212 float rec [NUM_LBL];
00213 float f1 [NUM_LBL];
00214
00215 private:
00216 std::string rn_;
00217 std::string rf_;
00218 bool mls_;
00219 };
00220
00221 std::ostream& operator<< (std::ostream &os, LabelResults &obj)
00222 {
00223 obj.calcResults();
00224 os << obj.writeToFile();
00225 return os;
00226 }
00227
00228 std::string writeHeader(const std::string &file = "",
00229 const std::string &p1 = "",
00230 const std::string &p2 = "",
00231 const std::string &p3 = "",
00232 const std::string &p4 = "")
00233 {
00234 std::stringstream f;
00235 f << "rn;"<<"rf;"<<"mls;";
00236 if (p1 != "")
00237 {
00238 if (p2 == "")
00239 f << p1 <<";";
00240 else if (p3 == "")
00241 f << p1 <<";" << p2 <<";";
00242 else if (p4 == "")
00243 f << p1 <<";" << p2 <<";" << p3 <<";";
00244 else
00245 f << p1 <<";" << p2 <<";" << p3 <<";" << p4 <<";";
00246 }
00247
00248 f << "all;"<<"undef;"
00249 << "exp(Plane);"<<"TP;"<<"FP;"<<"FN;"<<"Prec.;"<<"Rec.;"<<"F1;"
00250 << "exp(Edge);"<<"TP;"<<"FP;"<<"FN;"<<"Prec.;"<<"Rec.;"<<"F1;"
00251 << "exp(Sphere);"<<"TP;"<<"FP;"<<"FN;"<<"Prec.;"<<"Rec.;"<<"F1;"
00252 << "exp(Cylinder);"<<"TP;"<<"FP;"<<"FN;"<<"Prec.;"<<"Rec.;"<<"F1;"
00253 << "exp(Corner);"<<"TP;"<<"FP;"<<"FN;"<<"Prec.;"<<"Rec.;"<<"F1;"
00254 << "exp(EdgeCorner);"<<"TP;"<<"FP;"<<"FN;"<<"Prec.;"<<"Rec.;"<<"F1;"
00255 << "exp(Curved);"<<"TP;"<<"FP;"<<"FN;"<<"Prec.;"<<"Rec.;"<<"F1;";
00256
00257 if (file != "")
00258 {
00259 std::fstream ffile;
00260 ffile.open(file.c_str(), std::fstream::out);
00261 ffile << f.str() << std::endl;
00262 ffile.close();
00263 }
00264 return f.str();
00265 }
00266
00267 std::string createTimestamp()
00268 {
00269 struct tm *t;
00270 time_t rawtime;
00271 time(&rawtime);
00272 t = localtime(&rawtime);
00273 std::stringstream stamp;
00274 stamp << (t->tm_year+1900);
00275 if (t->tm_mon+1 < 10) stamp << "0";
00276 stamp << t->tm_mon+1;
00277 if (t->tm_mday < 10) stamp << "0";
00278 stamp << t->tm_mday << "_";
00279 if (t->tm_hour < 10) stamp << "0";
00280 stamp << t->tm_hour;
00281 if (t->tm_min < 10) stamp << "0";
00282 stamp << t->tm_min;
00283 if (t->tm_sec < 10) stamp << "0";
00284 stamp << t->tm_sec;
00285
00286 return stamp.str();
00287 }
00288
00289 void parseFileName(const std::string &file,
00290 std::string &rn,
00291 std::string &rf,
00292 bool &is_mls)
00293 {
00294 std::string tmp = "";
00295 if (std::string::npos != file.rfind("rnmls_"))
00296 {
00297 is_mls = true;
00298 rn = tmp + file[file.length() - 18] + file[file.length() - 17] + file[file.length() - 16];
00299 }
00300 else
00301 {
00302 is_mls = false;
00303 rn = tmp + file[file.length() - 15] + file[file.length() - 14] + file[file.length() - 13];
00304 }
00305 rf = tmp + file[file.length() - 9] + file[file.length() - 8] + file[file.length() - 7];
00306
00307 return;
00308 }
00309 }
00310
00311 #endif
