add dependent lib

Author: shirohasuki

grasp_detection/lib/Makefile

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+all:
+	python setup.py build_ext --inplace
+	rm -rf build
+clean:
+	rm -rf */*.pyc
+	rm -rf */*.so

grasp_detection/lib/datasets/VOCdevkit-matlab-wrapper/get_voc_opts.m

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+function VOCopts = get_voc_opts(path)
+
+tmp = pwd;
+cd(path);
+try
+  addpath('VOCcode');
+  VOCinit;
+catch
+  rmpath('VOCcode');
+  cd(tmp);
+  error(sprintf('VOCcode directory not found under %s', path));
+end
+rmpath('VOCcode');
+cd(tmp);

grasp_detection/lib/datasets/VOCdevkit-matlab-wrapper/voc_eval.m

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+function res = voc_eval(path, comp_id, test_set, output_dir)
+
+VOCopts = get_voc_opts(path);
+VOCopts.testset = test_set;
+
+for i = 1:length(VOCopts.classes)
+  cls = VOCopts.classes{i};
+  res(i) = voc_eval_cls(cls, VOCopts, comp_id, output_dir);
+end
+
+fprintf('\n~~~~~~~~~~~~~~~~~~~~\n');
+fprintf('Results:\n');
+aps = [res(:).ap]';
+fprintf('%.1f\n', aps * 100);
+fprintf('%.1f\n', mean(aps) * 100);
+fprintf('~~~~~~~~~~~~~~~~~~~~\n');
+
+function res = voc_eval_cls(cls, VOCopts, comp_id, output_dir)
+
+test_set = VOCopts.testset;
+year = VOCopts.dataset(4:end);
+
+addpath(fullfile(VOCopts.datadir, 'VOCcode'));
+
+res_fn = sprintf(VOCopts.detrespath, comp_id, cls);
+
+recall = [];
+prec = [];
+ap = 0;
+ap_auc = 0;
+
+do_eval = (str2num(year) <= 2007) | ~strcmp(test_set, 'test');
+if do_eval
+  % Bug in VOCevaldet requires that tic has been called first
+  tic;
+  [recall, prec, ap] = VOCevaldet(VOCopts, comp_id, cls, true);
+  ap_auc = xVOCap(recall, prec);
+
+  % force plot limits
+  ylim([0 1]);
+  xlim([0 1]);
+
+  print(gcf, '-djpeg', '-r0', ...
+        [output_dir '/' cls '_pr.jpg']);
+end
+fprintf('!!! %s : %.4f %.4f\n', cls, ap, ap_auc);
+
+res.recall = recall;
+res.prec = prec;
+res.ap = ap;
+res.ap_auc = ap_auc;
+
+save([output_dir '/' cls '_pr.mat'], ...
+     'res', 'recall', 'prec', 'ap', 'ap_auc');
+
+rmpath(fullfile(VOCopts.datadir, 'VOCcode'));

grasp_detection/lib/datasets/VOCdevkit-matlab-wrapper/xVOCap.m

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+function ap = xVOCap(rec,prec)
+% From the PASCAL VOC 2011 devkit
+
+mrec=[0 ; rec ; 1];
+mpre=[0 ; prec ; 0];
+for i=numel(mpre)-1:-1:1
+    mpre(i)=max(mpre(i),mpre(i+1));
+end
+i=find(mrec(2:end)~=mrec(1:end-1))+1;
+ap=sum((mrec(i)-mrec(i-1)).*mpre(i));

grasp_detection/lib/datasets/__init__.py

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+# --------------------------------------------------------
+# Fast R-CNN
+# Copyright (c) 2015 Microsoft
+# Licensed under The MIT License [see LICENSE for details]
+# Written by Ross Girshick
+# --------------------------------------------------------