370 lines
10 KiB
C++
370 lines
10 KiB
C++
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// This file is part of OpenCV project.
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// It is subject to the license terms in the LICENSE file found in the top-level directory
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// of this distribution and at http://opencv.org/license.html.
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/*
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* The Evaluation Methodologies are partially based on:
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* ====================================================================================================================
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* [OTB] Y. Wu, J. Lim, and M.-H. Yang, "Online object tracking: A benchmark," in Computer Vision and Pattern Recognition (CVPR), 2013
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*
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*/
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enum BBTransformations
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{
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NoTransform = 0,
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CenterShiftLeft = 1,
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CenterShiftRight = 2,
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CenterShiftUp = 3,
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CenterShiftDown = 4,
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CornerShiftTopLeft = 5,
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CornerShiftTopRight = 6,
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CornerShiftBottomLeft = 7,
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CornerShiftBottomRight = 8,
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Scale_0_8 = 9,
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Scale_0_9 = 10,
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Scale_1_1 = 11,
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Scale_1_2 = 12
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};
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namespace {
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std::vector<std::string> splitString(const std::string& s_, const std::string& delimiter)
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{
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std::string s = s_;
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std::vector<string> token;
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size_t pos = 0;
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while ((pos = s.find(delimiter)) != std::string::npos)
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{
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token.push_back(s.substr(0, pos));
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s.erase(0, pos + delimiter.length());
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}
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token.push_back(s);
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return token;
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}
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float calcDistance(const Rect& a, const Rect& b)
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{
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Point2f p_a((float)(a.x + a.width / 2), (float)(a.y + a.height / 2));
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Point2f p_b((float)(b.x + b.width / 2), (float)(b.y + b.height / 2));
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Point2f diff = p_a - p_b;
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return sqrt(diff.dot(diff));
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}
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float calcOverlap(const Rect& a, const Rect& b)
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{
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float rectIntersectionArea = (float)(a & b).area();
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return rectIntersectionArea / (a.area() + b.area() - rectIntersectionArea);
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}
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} // namespace
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template <typename Tracker, typename ROI_t = Rect2d>
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class TrackerTest
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{
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public:
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TrackerTest(const Ptr<Tracker>& tracker, const string& video, float distanceThreshold,
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float overlapThreshold, int shift = NoTransform, int segmentIdx = 1, int numSegments = 10);
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~TrackerTest() {}
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void run();
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protected:
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void checkDataTest();
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void distanceAndOverlapTest();
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Ptr<Tracker> tracker;
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string video;
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std::vector<Rect> bbs;
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int startFrame;
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string suffix;
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string prefix;
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float overlapThreshold;
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float distanceThreshold;
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int segmentIdx;
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int shift;
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int numSegments;
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int gtStartFrame;
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int endFrame;
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vector<int> validSequence;
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private:
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Rect applyShift(const Rect& bb);
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};
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template <typename Tracker, typename ROI_t>
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TrackerTest<Tracker, ROI_t>::TrackerTest(const Ptr<Tracker>& _tracker, const string& _video, float _distanceThreshold,
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float _overlapThreshold, int _shift, int _segmentIdx, int _numSegments)
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: tracker(_tracker)
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, video(_video)
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, overlapThreshold(_overlapThreshold)
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, distanceThreshold(_distanceThreshold)
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, segmentIdx(_segmentIdx)
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, shift(_shift)
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, numSegments(_numSegments)
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{
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// nothing
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}
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template <typename Tracker, typename ROI_t>
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Rect TrackerTest<Tracker, ROI_t>::applyShift(const Rect& bb_)
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{
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Rect bb = bb_;
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Point center(bb.x + (bb.width / 2), bb.y + (bb.height / 2));
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int xLimit = bb.x + bb.width - 1;
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int yLimit = bb.y + bb.height - 1;
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int h = 0;
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int w = 0;
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float ratio = 1.0;
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switch (shift)
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{
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case CenterShiftLeft:
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bb.x = bb.x - (int)ceil(0.1 * bb.width);
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break;
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case CenterShiftRight:
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bb.x = bb.x + (int)ceil(0.1 * bb.width);
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break;
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case CenterShiftUp:
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bb.y = bb.y - (int)ceil(0.1 * bb.height);
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break;
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case CenterShiftDown:
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bb.y = bb.y + (int)ceil(0.1 * bb.height);
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break;
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case CornerShiftTopLeft:
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bb.x = (int)cvRound(bb.x - 0.1 * bb.width);
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bb.y = (int)cvRound(bb.y - 0.1 * bb.height);
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bb.width = xLimit - bb.x + 1;
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bb.height = yLimit - bb.y + 1;
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break;
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case CornerShiftTopRight:
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xLimit = (int)cvRound(xLimit + 0.1 * bb.width);
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bb.y = (int)cvRound(bb.y - 0.1 * bb.height);
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bb.width = xLimit - bb.x + 1;
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bb.height = yLimit - bb.y + 1;
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break;
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case CornerShiftBottomLeft:
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bb.x = (int)cvRound(bb.x - 0.1 * bb.width);
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yLimit = (int)cvRound(yLimit + 0.1 * bb.height);
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bb.width = xLimit - bb.x + 1;
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bb.height = yLimit - bb.y + 1;
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break;
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case CornerShiftBottomRight:
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xLimit = (int)cvRound(xLimit + 0.1 * bb.width);
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yLimit = (int)cvRound(yLimit + 0.1 * bb.height);
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bb.width = xLimit - bb.x + 1;
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bb.height = yLimit - bb.y + 1;
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break;
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case Scale_0_8:
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ratio = 0.8f;
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w = (int)(ratio * bb.width);
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h = (int)(ratio * bb.height);
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bb = Rect(center.x - (w / 2), center.y - (h / 2), w, h);
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break;
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case Scale_0_9:
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ratio = 0.9f;
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w = (int)(ratio * bb.width);
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h = (int)(ratio * bb.height);
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bb = Rect(center.x - (w / 2), center.y - (h / 2), w, h);
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break;
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case 11:
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//scale 1.1
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ratio = 1.1f;
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w = (int)(ratio * bb.width);
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h = (int)(ratio * bb.height);
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bb = Rect(center.x - (w / 2), center.y - (h / 2), w, h);
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break;
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case 12:
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//scale 1.2
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ratio = 1.2f;
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w = (int)(ratio * bb.width);
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h = (int)(ratio * bb.height);
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bb = Rect(center.x - (w / 2), center.y - (h / 2), w, h);
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break;
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default:
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break;
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}
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return bb;
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}
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template <typename Tracker, typename ROI_t>
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void TrackerTest<Tracker, ROI_t>::distanceAndOverlapTest()
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{
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bool initialized = false;
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int fc = (startFrame - gtStartFrame);
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bbs.at(fc) = applyShift(bbs.at(fc));
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Rect currentBBi = bbs.at(fc);
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ROI_t currentBB(currentBBi);
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float sumDistance = 0;
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float sumOverlap = 0;
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string folder = cvtest::TS::ptr()->get_data_path() + "/" + TRACKING_DIR + "/" + video + "/" + FOLDER_IMG;
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string videoPath = folder + "/" + video + ".webm";
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VideoCapture c;
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c.open(videoPath);
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if (!c.isOpened())
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throw SkipTestException("Can't open video file");
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#if 0
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c.set(CAP_PROP_POS_FRAMES, startFrame);
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#else
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if (startFrame)
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std::cout << "startFrame = " << startFrame << std::endl;
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for (int i = 0; i < startFrame; i++)
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{
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Mat dummy_frame;
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c >> dummy_frame;
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ASSERT_FALSE(dummy_frame.empty()) << i << ": " << videoPath;
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}
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#endif
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for (int frameCounter = startFrame; frameCounter < endFrame; frameCounter++)
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{
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Mat frame;
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c >> frame;
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ASSERT_FALSE(frame.empty()) << "frameCounter=" << frameCounter << " video=" << videoPath;
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if (!initialized)
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{
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tracker->init(frame, currentBB);
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std::cout << "frame size = " << frame.size() << std::endl;
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initialized = true;
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}
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else if (initialized)
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{
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if (frameCounter >= (int)bbs.size())
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break;
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tracker->update(frame, currentBB);
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}
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float curDistance = calcDistance(currentBB, bbs.at(fc));
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float curOverlap = calcOverlap(currentBB, bbs.at(fc));
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#ifdef DEBUG_TEST
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Mat result;
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repeat(frame, 1, 2, result);
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rectangle(result, currentBB, Scalar(0, 255, 0), 1);
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Rect roi2(frame.cols, 0, frame.cols, frame.rows);
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rectangle(result(roi2), bbs.at(fc), Scalar(0, 0, 255), 1);
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imshow("result", result);
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waitKey(1);
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#endif
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sumDistance += curDistance;
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sumOverlap += curOverlap;
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fc++;
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}
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float meanDistance = sumDistance / (endFrame - startFrame);
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float meanOverlap = sumOverlap / (endFrame - startFrame);
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EXPECT_LE(meanDistance, distanceThreshold);
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EXPECT_GE(meanOverlap, overlapThreshold);
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}
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template <typename Tracker, typename ROI_t>
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void TrackerTest<Tracker, ROI_t>::checkDataTest()
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{
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FileStorage fs;
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fs.open(cvtest::TS::ptr()->get_data_path() + TRACKING_DIR + "/" + video + "/" + video + ".yml", FileStorage::READ);
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fs["start"] >> startFrame;
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fs["prefix"] >> prefix;
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fs["suffix"] >> suffix;
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fs.release();
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string gtFile = cvtest::TS::ptr()->get_data_path() + TRACKING_DIR + "/" + video + "/gt.txt";
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std::ifstream gt;
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//open the ground truth
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gt.open(gtFile.c_str());
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ASSERT_TRUE(gt.is_open()) << gtFile;
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string line;
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int bbCounter = 0;
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while (getline(gt, line))
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{
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bbCounter++;
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}
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gt.close();
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int seqLength = bbCounter;
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for (int i = startFrame; i < seqLength; i++)
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{
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validSequence.push_back(i);
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}
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//exclude from the images sequence, the frames where the target is occluded or out of view
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string omitFile = cvtest::TS::ptr()->get_data_path() + TRACKING_DIR + "/" + video + "/" + FOLDER_OMIT_INIT + "/" + video + ".txt";
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std::ifstream omit;
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omit.open(omitFile.c_str());
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if (omit.is_open())
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{
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string omitLine;
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while (getline(omit, omitLine))
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{
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vector<string> tokens = splitString(omitLine, " ");
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int s_start = atoi(tokens.at(0).c_str());
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int s_end = atoi(tokens.at(1).c_str());
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for (int k = s_start; k <= s_end; k++)
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{
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std::vector<int>::iterator position = std::find(validSequence.begin(), validSequence.end(), k);
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if (position != validSequence.end())
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validSequence.erase(position);
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}
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}
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}
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omit.close();
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gtStartFrame = startFrame;
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//compute the start and the and for each segment
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int numFrame = (int)(validSequence.size() / numSegments);
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startFrame += (segmentIdx - 1) * numFrame;
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endFrame = startFrame + numFrame;
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std::ifstream gt2;
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//open the ground truth
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gt2.open(gtFile.c_str());
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ASSERT_TRUE(gt2.is_open()) << gtFile;
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string line2;
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int bbCounter2 = 0;
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while (getline(gt2, line2))
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{
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vector<string> tokens = splitString(line2, ",");
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Rect bb(atoi(tokens.at(0).c_str()), atoi(tokens.at(1).c_str()), atoi(tokens.at(2).c_str()), atoi(tokens.at(3).c_str()));
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ASSERT_EQ((size_t)4, tokens.size()) << "Incorrect ground truth file " << gtFile;
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bbs.push_back(bb);
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bbCounter2++;
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}
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gt2.close();
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if (segmentIdx == numSegments)
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endFrame = (int)bbs.size();
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}
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template <typename Tracker, typename ROI_t>
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void TrackerTest<Tracker, ROI_t>::run()
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{
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srand(1); // FIXIT remove that, ensure that there is no "rand()" in implementation
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ASSERT_TRUE(tracker);
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checkDataTest();
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//check for failure
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if (::testing::Test::HasFatalFailure())
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return;
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distanceAndOverlapTest();
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}
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