Output getOutputInternal()
{
Output output;
const GroundTruth& ground_truth = getGroundTruth();
auto altitude = ground_truth.environment->getState().geo_point.altitude;
auto pressure = EarthUtils::getStandardPressure(altitude);
//add drift in pressure, about 10m change per hour
pressure_factor_.update();
pressure += pressure * pressure_factor_.getOutput();
//add noise in pressure (about 0.2m sigma)
pressure += uncorrelated_noise_.next();
output.pressure = pressure - EarthUtils::SeaLevelPressure + params_.qnh*100.0f;
//apply altimeter formula
//https://en.wikipedia.org/wiki/Pressure_altitude
//TODO: use same formula as in driver code?
output.altitude = (1 - pow(pressure / EarthUtils::SeaLevelPressure, 0.190284f)) * 145366.45f * 0.3048f;
output.qnh = params_.qnh;
return output;
}
void updateOutput()
{
Output output;
const GroundTruth& ground_truth = getGroundTruth();
output.angular_velocity = ground_truth.kinematics->twist.angular;
output.linear_acceleration = ground_truth.kinematics->accelerations.linear - ground_truth.environment->getState().gravity;
output.orientation = ground_truth.kinematics->pose.orientation;
//acceleration is in world frame so transform to body frame
output.linear_acceleration = VectorMath::transformToBodyFrame(output.linear_acceleration,
ground_truth.kinematics->pose.orientation, true);
//add noise
addNoise(output.linear_acceleration, output.angular_velocity);
// TODO: Add noise in orientation?
setOutput(output);
}
int accuracyTest(const char* test_path) {
std::shared_ptr<easypr::Kv> kv(new easypr::Kv);
kv->load("etc/chinese_mapping");
map<string, vector<CPlate>> xmlMap;
string path(test_path);
path = path + "/GroundTruth.xml";
getGroundTruth(xmlMap, path.c_str());
//cout << xmlMap.size() << endl;
//cout << xmlMap.begin()->first << endl;
//vector<CPlate> plateVec = xmlMap.begin()->second;
//cout << plateVec[0].getPlateStr() << endl;
XMLNode xMainNode = XMLNode::createXMLTopNode("tagset");
#ifdef OS_WINDOWS
XMLNode::setGlobalOptions(XMLNode::char_encoding_GBK);
#endif
auto files = Utils::getFiles(test_path);
std::string path_result = "result/Result.xml";
CPlateRecognize pr;
// 设置Debug模式
pr.setDebug(false);
pr.setLifemode(true);
// 设置要处理的一张图片中最多有多少车牌
pr.setMaxPlates(4);
pr.setDetectType(PR_DETECT_COLOR | PR_DETECT_SOBEL);
//pr.setDetectType(PR_DETECT_CMSER);
int size = files.size();
if (0 == size) {
cout << "No File Found in general_test/native_test!" << endl;
return 0;
}
cout << "Begin to test the easypr accuracy!" << endl;
// 总的测试图片数量
int count_all = 0;
// 错误的图片数量
int count_err = 0;
// 未识别的图片数量
int count_norecogin = 0;
std::list<std::string> not_recognized_files;
// 总的字符差距
float diff_all = 0;
// 平均字符差距
float diff_avg = 0;
// 完全匹配的识别次数
float match_count = 0;
// 完全匹配的识别次数所占识别图片中的比例
float match_rate = 0;
// 开始和结束时间
time_t begin, end;
time(&begin);
for (int i = 0; i < size; i++) {
string filepath = files[i].c_str();
// EasyPR开始判断车牌
Mat src = imread(filepath);
// 如果是非图像文件，直接过去
if (!src.data) continue;
cout << "------------------" << endl;
// 获取真实的车牌
string plateLicense = Utils::getFileName(filepath);
cout << kv->get("original_plate") << ":" << plateLicense << endl;
XMLNode xNode = xMainNode.addChild("image");
xNode.addChild("imageName").addText(plateLicense.c_str());
map<string, vector<CPlate>>::iterator it;
it = xmlMap.find(plateLicense);
if (it != xmlMap.end()) {
cout << it->first << endl;
vector<CPlate> plateVec = it->second;
for (auto plate : plateVec) {
cout << plate.getPlateStr() << " (g)" << endl;
}
}
XMLNode rectangleNodes = xNode.addChild("taggedRectangles");
vector<CPlate> plateVec;
int result = pr.plateRecognize(src, plateVec);
//int result = pr.plateRecognizeAsText(src, plateVec);
if (result == 0) {
int num = plateVec.size();
if (num == 0) {
cout << kv->get("empty_plate") << endl;
if (plateLicense != kv->get("empty_plate")) {
not_recognized_files.push_back(plateLicense);
count_norecogin++;
}
}
else if (num > 1) {
// 多车牌使用diff最小的那个记录
int mindiff = 10000;
for (int j = 0; j < num; j++) {
cout << plateVec[j].getPlateStr() << " (" << j + 1 << ")" << endl;
XMLNode rectangleNode = rectangleNodes.addChild("taggedRectangle");
RotatedRect rr = plateVec[j].getPlatePos();
LocateType locateType = plateVec[j].getPlateLocateType();
rectangleNode.addAttribute("x", to_string((int)rr.center.x).c_str());
rectangleNode.addAttribute("y", to_string((int)rr.center.y).c_str());
rectangleNode.addAttribute("width", to_string((int)rr.size.width).c_str());
rectangleNode.addAttribute("height", to_string((int)rr.size.height).c_str());
rectangleNode.addAttribute("rotation", to_string((int)rr.angle).c_str());
rectangleNode.addAttribute("locateType", to_string(locateType).c_str());
rectangleNode.addText(plateVec[j].getPlateStr().c_str());
string colorplate = plateVec[j].getPlateStr();
// 计算"蓝牌:苏E7KU22"中冒号后面的车牌大小"
vector<string> spilt_plate = Utils::splitString(colorplate, ':');
int size = spilt_plate.size();
if (size == 2 && spilt_plate[1] != "") {
int diff = utils::levenshtein_distance(plateLicense,
spilt_plate[size - 1]);
if (diff < mindiff) mindiff = diff;
}
}
cout << kv->get("diff") << ":" << mindiff << kv->get("char") << endl;
if (mindiff == 0) {
// 完全匹配
match_count++;
}
diff_all = diff_all + mindiff;
}
else {
// 单车牌只计算一次diff
for (int j = 0; j < num; j++) {
cout << plateVec[j].getPlateStr() << endl;
XMLNode rectangleNode = rectangleNodes.addChild("taggedRectangle");
RotatedRect rr = plateVec[j].getPlatePos();
LocateType locateType = plateVec[j].getPlateLocateType();
rectangleNode.addAttribute("x", to_string((int)rr.center.x).c_str());
rectangleNode.addAttribute("y", to_string((int)rr.center.y).c_str());
rectangleNode.addAttribute("width", to_string((int)rr.size.width).c_str());
rectangleNode.addAttribute("height", to_string((int)rr.size.height).c_str());
rectangleNode.addAttribute("rotation", to_string((int)rr.angle).c_str());
rectangleNode.addAttribute("locateType", to_string(locateType).c_str());
rectangleNode.addText(plateVec[j].getPlateStr().c_str());
string colorplate = plateVec[j].getPlateStr();
// 计算"蓝牌:苏E7KU22"中冒号后面的车牌大小"
vector<string> spilt_plate = Utils::splitString(colorplate, ':');
int size = spilt_plate.size();
if (size == 2 && spilt_plate[1] != "") {
int diff = utils::levenshtein_distance(plateLicense,
spilt_plate[size - 1]);
cout << kv->get("diff") << ":" << diff << kv->get("char") << endl;
if (diff == 0) {
// 完全匹配
match_count++;
}
diff_all = diff_all + diff;
}
}
}
}
else {
cout << kv->get("error_code") << ":" << result << endl;
count_err++;
}
count_all++;
}
time(&end);
cout << "------------------" << endl;
cout << "Easypr accuracy test end!" << endl;
cout << "------------------" << endl;
cout << endl;
cout << kv->get("summaries") << ":" << endl;
cout << kv->get("sum_pictures") << ":" << count_all << ", ";
cout << kv->get("unrecognized") << ":" << count_norecogin << ", ";
xMainNode.writeToFile(path_result.c_str());
float count_recogin = float(count_all - (count_err + count_norecogin));
float count_rate = count_recogin / count_all;
cout << kv->get("locate_rate") << ":" << count_rate * 100 << "% " << endl;
if (count_recogin > 0) {
diff_avg = diff_all / count_recogin;
}
if (count_recogin > 0) {
match_rate = match_count / count_recogin * 100;
}
cout << kv->get("diff_average") << ":" << diff_avg << ", ";
cout << kv->get("full_match") << ":" << match_count << ", ";
cout << kv->get("full_rate") << ":" << match_rate << "% " << endl;
double seconds = difftime(end, begin);
double avgsec = seconds / double(count_all);
cout << kv->get("seconds") << ":" << seconds << kv->get("sec") << ", ";
cout << kv->get("seconds_average") << ":" << avgsec << kv->get("sec") << endl;
cout << kv->get("unrecognized") << ":" << endl;
for (auto it = not_recognized_files.begin(); it != not_recognized_files.end();
++it) {
cout << *it << endl;
}
cout << endl;
cout << "------------------" << endl;
ofstream myfile("accuracy.txt", ios::app);
if (myfile.is_open()) {
time_t t = time(0); // get time now
struct tm* now = localtime(&t);
char buf[80];
strftime(buf, sizeof(buf), "%Y-%m-%d %X", now);
myfile << string(buf) << endl;
myfile << kv->get("sum_pictures") << ":" << count_all << ", ";
myfile << kv->get("unrecognized") << ":" << count_norecogin << ", ";
myfile << kv->get("locate_rate") << ":" << count_rate * 100 << "% "
<< endl;
myfile << kv->get("diff_average") << ":" << diff_avg << ", ";
myfile << kv->get("full_match") << ":" << match_count << ", ";
myfile << kv->get("full_rate") << ":" << match_rate << "% " << endl;
myfile << kv->get("seconds") << ":" << seconds << kv->get("sec") << ", ";
myfile << kv->get("seconds_average") << ":" << avgsec << kv->get("sec")
<< endl;
myfile.close();
}
else {
cout << "Unable to open file";
}
return 0;
}