darknet 计算mAP，已验证能用

1. cfg 文件改成测试的格式

2. 运行./darknet detector valid .data .cfg .weight -out "" -gpu 0 -thresh .5

   注意，这里是生成的 data文件里 valid=行中数据集的检测结果，也就是验证集并非测试集，如果想生成测试集（test）的结果，请把valid=后的内容换以下。

3. 会在darknet文件夹下的result文件夹生成以各个类别名命名的txt文件

4. 下载https://github.com/rbgirshick/py-faster-rcnn/tree/master/lib/datasets 中的vol_eval.py文件.但该文件有错，主要是python版本问题，集中在cPickle上。下面是修改过的

import xml.etree.ElementTree as ET
import os
import _pickle as cPickle
import numpy as np

def parse_rec(filename):
    """ Parse a PASCAL VOC xml file """
    tree = ET.parse(filename)
    objects = []
    for obj in tree.findall('object'):
        obj_struct = {}
        obj_struct['name'] = obj.find('name').text
        obj_struct['pose'] = obj.find('pose').text
        obj_struct['truncated'] = int(obj.find('truncated').text)
        obj_struct['difficult'] = int(obj.find('difficult').text)
        bbox = obj.find('bndbox')
        obj_struct['bbox'] = [int(bbox.find('xmin').text),
                              int(bbox.find('ymin').text),
                              int(bbox.find('xmax').text),
                              int(bbox.find('ymax').text)]
        objects.append(obj_struct)

    return objects

def voc_ap(rec, prec, use_07_metric=False):
    """ ap = voc_ap(rec, prec, [use_07_metric])
    Compute VOC AP given precision and recall.
    If use_07_metric is true, uses the
    VOC 07 11 point method (default:False).
    """
    if use_07_metric:
        # 11 point metric
        ap = 0.
        for t in np.arange(0., 1.1, 0.1):
            if np.sum(rec >= t) == 0:
                p = 0
            else:
                p = np.max(prec[rec >= t])
            ap = ap + p / 11.
    else:
        # correct AP calculation
        # first append sentinel values at the end
        mrec = np.concatenate(([0.], rec, [1.]))
        mpre = np.concatenate(([0.], prec, [0.]))

        # compute the precision envelope
        for i in range(mpre.size - 1, 0, -1):
            mpre[i - 1] = np.maximum(mpre[i - 1], mpre[i])

        # to calculate area under PR curve, look for points
        # where X axis (recall) changes value
        i = np.where(mrec[1:] != mrec[:-1])[0]

        # and sum (\Delta recall) * prec
        ap = np.sum((mrec[i + 1] - mrec[i]) * mpre[i + 1])
    return ap

def voc_eval(detpath,
             annopath,
             imagesetfile,
             classname,
             cachedir,
             ovthresh=0.5,
             use_07_metric=False):
    """
    detpath: Path to detections
        detpath.format(classname) should produce the detection results file.
    annopath: Path to annotations
        annopath.format(imagename) should be the xml annotations file.
    imagesetfile: Text file containing the list of images, one image per line.
    classname: Category name (duh)
    cachedir: pkl文件储存路径
    [ovthresh]: Overlap threshold (default = 0.5)
    [use_07_metric]: Whether to use VOC07's 11 point AP computation
        (default False)
    """
    # assumes detections are in detpath.format(classname)
    # assumes annotations are in annopath.format(imagename)
    # assumes imagesetfile is a text file with each line an image name
    # cachedir caches the annotations in a pickle file

    # first load gt
    if not os.path.isdir(cachedir):
        os.mkdir(cachedir)
    cachefile = os.path.join(cachedir, 'annots.pkl')
    # read list of images
    with open(imagesetfile, 'r') as f:
        lines = f.readlines()
    imagenames = [x.strip() for x in lines]

    if not os.path.isfile(cachefile):
        # load annots
        recs = {}
        for i, imagename in enumerate(imagenames):
            #imagename=imagename[67:-4]
            #print("a"+imagename)
            recs[imagename] = parse_rec(annopath.format(imagename))
            if i % 100 == 0:
                print ('Reading annotation for {:d}/{:d}'.format(
                    i + 1, len(imagenames)))
        # save
        print ('Saving cached annotations to {:s}'.format(cachefile))
        with open(cachefile, 'wb') as f:
            cPickle.dump(recs, f)
    else:
        # load
        with open(cachefile, 'rb') as f:
            recs = cPickle.load(f)

    # extract gt objects for this class
    class_recs = {}
    npos = 0
    for imagename in imagenames:
        #imagename = imagename[67:-4]
        R = [obj for obj in recs[imagename] if obj['name'] == classname]
        bbox = np.array([x['bbox'] for x in R])
        difficult = np.array([x['difficult'] for x in R]).astype(np.bool)
        det = [False] * len(R)
        npos = npos + sum(~difficult)
        class_recs[imagename] = {'bbox': bbox,
                                 'difficult': difficult,
                                 'det': det}

    # read dets
    detfile = detpath.format(classname)
    with open(detfile, 'r') as f:
        lines = f.readlines()

    splitlines = [x.strip().split(' ') for x in lines]
    image_ids = [x[0] for x in splitlines]
    confidence = np.array([float(x[1]) for x in splitlines])
    BB = np.array([[float(z) for z in x[2:]] for x in splitlines])

    # sort by confidence
    sorted_ind = np.argsort(-confidence)
    sorted_scores = np.sort(-confidence)
    BB = BB[sorted_ind, :]
    image_ids = [image_ids[x] for x in sorted_ind]

    # go down dets and mark TPs and FPs
    nd = len(image_ids)
    tp = np.zeros(nd)
    fp = np.zeros(nd)
    for d in range(nd):
        #print(image_ids[d])
        R = class_recs[image_ids[d]]
        bb = BB[d, :].astype(float)
        ovmax = -np.inf
        BBGT = R['bbox'].astype(float)

        if BBGT.size > 0:
            # compute overlaps
            # intersection
            ixmin = np.maximum(BBGT[:, 0], bb[0])
            iymin = np.maximum(BBGT[:, 1], bb[1])
            ixmax = np.minimum(BBGT[:, 2], bb[2])
            iymax = np.minimum(BBGT[:, 3], bb[3])
            iw = np.maximum(ixmax - ixmin + 1., 0.)
            ih = np.maximum(iymax - iymin + 1., 0.)
            inters = iw * ih

            # union
            uni = ((bb[2] - bb[0] + 1.) * (bb[3] - bb[1] + 1.) +
                   (BBGT[:, 2] - BBGT[:, 0] + 1.) *
                   (BBGT[:, 3] - BBGT[:, 1] + 1.) - inters)

            overlaps = inters / uni
            ovmax = np.max(overlaps)
            jmax = np.argmax(overlaps)

        if ovmax > ovthresh:
            if not R['difficult'][jmax]:
                if not R['det'][jmax]:
                    tp[d] = 1.
                    R['det'][jmax] = 1
                else:
                    fp[d] = 1.
        else:
            fp[d] = 1.

    # compute precision recall
    fp = np.cumsum(fp)
    tp = np.cumsum(tp)
    rec = tp / float(npos)
    # avoid divide by zero in case the first detection matches a difficult
    # ground truth
    prec = tp / np.maximum(tp + fp, np.finfo(np.float64).eps)
    ap = voc_ap(rec, prec, use_07_metric)
	#只返回ap
    return ap
    #return rec, prec, ap

5. 同级新建comupute_ap.py。

from voc_eval import voc_eval
 
print (
    voc_eval(
        '/home/cxx/Amusi/Object_Detection/YOLO/darknet/results/{}.txt', 					'/home/cxx/Amusi/Object_Detection/YOLO/darknet/datasets/pjreddieVOC/VOCdevkit/VOC2007/Annotations/{}.xml', 
        '/home/cxx/Amusi/Object_Detection/YOLO/darknet/datasets/pjreddieVOC/VOCdevkit/VOC2007/ImageSets/Main/test.txt', 'person', 
        '.'
    		)
		)

这里的imagesetfile参数的txt文件的内容要求是只有文件名（id），没有后缀和路径的，每个图片id一行，不满足的要处理下，比如截取字符串操作。提供一种方法。

from voc_eval import voc_eval
import os

testfilepath = '/home/ubuntu/MyFiles/auto_upload_20200717084818/VOC2028/hat_val.txt'
numbleoflines = 608
aftertxt = '/home/ubuntu/MyFiles/auto_upload_20200717084818/VOC2028/mAp_val.txt'

with open(testfilepath) as f:
 i=1
 while(1):
        line=f.readline()
        newline = line[67 : - 5]
        g = open(aftertxt, 'a')
        g.writelines(newline + '\n')
        g.close()
        i+=1
        if i== numbleoflines:
            break

print (
    voc_eval(
    '/home/ubuntu/darknet/results/{}.txt', 
	'/home/ubuntu/MyFiles/auto_upload_20200717084818/VOC2028/Annotations/{}.xml', 
	aftertxt,
 	'person' ,
    '/home/ubuntu/MyFiles/auto_upload_20200717084818/'
    		)
      )

原hat_val.txt是这样的

/home/ubuntu/MyFiles/auto_upload_20200717084818/VOC2028/JPEGIamge/000001.jpg
/home/ubuntu/MyFiles/auto_upload_20200717084818/VOC2028/JPEGIamge/000009.jpg
...
...
...

生成的mAp_val.txt文件中是这样的

000001
000009
000010
000018
...
...
...

6. 运行comupute_ap.py即可计算出‘person’类的map值。

参考

YOLOv3 mAP计算教程