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Tracking-Learning-Detection and MedianFlow
This contribution includes the following logical components into tracking module: .) Change Rect to Rect2d into headers for Tracker's methods; This contribution includes the following logical components into tracking module: .) Change Rect to Rect2d into headers for Tracker's methods; .) MedianFlow tracker; .) extensible benchmark to compare trackers interactively and assess them quantitatively; .) TLD tracker (work-in-progress); Work was funded by Google Summer of Code 2014 initiative. Mentors: Gary Bradski and Vadim Pisarevsky.
This commit is contained in:
Alex Leontiev
411
modules/tracking/samples/benchmark.cpp
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411
modules/tracking/samples/benchmark.cpp
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@@ -0,0 +1,411 @@
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#include <opencv2/core/utility.hpp>
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#include <opencv2/tracking.hpp>
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#include <opencv2/highgui.hpp>
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#include <iostream>
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#include <time.h>
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#include <cstring>
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#include <climits>
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#define CMDLINEMAX 10
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#define ASSESS_TILL INT_MAX
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using namespace std;
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using namespace cv;
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/* TODO:
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do normalization ala Kalal's assessment protocol for TLD
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*/
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static Mat image;
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static bool paused;
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vector<Scalar> palette;
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void print_table(char* videos[],int videoNum,char* algorithms[],int algNum,const vector<vector<char*> >& results);
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static void listTrackers(){
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vector<String> algorithms;
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Algorithm::getList(algorithms);
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cout << "\nAvailable tracker algorithms:\n";
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for (size_t i=0; i < algorithms.size(); i++){
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const char* algoname=algorithms[i].c_str();
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char *pos=NULL;
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if((pos=strstr((char*)algoname,"TRACKER."))!=NULL){
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printf("%s\n",pos+8);
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}
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}
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}
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static int lineToRect(char* line,Rect2d& res){
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char * ptr=line,*pos=ptr;
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if(line==NULL || line[0]=='\0'){
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return -1;
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}
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if(strcmp(line,"NaN,NaN,NaN,NaN\n")==0){
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res.height=res.width=-1.0;
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return 0;
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}
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double nums[4]={0};
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for(int i=0; i<4 && (ptr=strpbrk(ptr,"0123456789-"))!= NULL;i++,ptr=pos){
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nums[i]=strtod(ptr,&pos);
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if(pos==ptr){
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printf("lineToRect had problems with decoding line %s\n",line);
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return -1;
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}
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}
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res.x=cv::min(nums[0],nums[2]);
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res.y=cv::min(nums[1],nums[3]);
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res.width=cv::abs(nums[0]-nums[2]);
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res.height=cv::abs(nums[1]-nums[3]);
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return 0;
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}
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static inline double overlap(Rect2d r1,Rect2d r2){
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if(r1.width<0 || r2.width<0 || r1.height<0 || r1.width<0)return -1.0;
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double a1=r1.area(), a2=r2.area(), a0=(r1&r2).area();
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return a0/(a1+a2-a0);
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}
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static void help(){
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cout << "\nThis example shows the functionality of \"Long-term optical tracking API\""
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"-- pause video [p] and draw a bounding box around the target to start the tracker\n"
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"Example of <video_name> is in opencv_extra/testdata/cv/tracking/\n"
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"Call:\n"
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"./tracker [<keys and args>] <video_name> <ground_truth> <algorithm1> <init_box1> <algorithm2> <init_box2> ...\n"
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<< endl;
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cout << "\n\nHot keys: \n"
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"\tq - quit the program\n"
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"\tp - pause video\n";
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listTrackers();
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exit(EXIT_SUCCESS);
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}
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static void parseCommandLineArgs(int argc, char** argv,char* videos[],char* gts[],
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int* vc,char* algorithms[],char* initBoxes[][CMDLINEMAX],int* ac){
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vector<String> trackers;
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Algorithm::getList(trackers);
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for(int i=0;i<(int)trackers.size();i++){
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if(strstr(trackers[i].c_str(),"TRACKER.")!=trackers[i].c_str()){
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trackers.erase(trackers.begin()+i);
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i--;
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}
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}
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*ac=*vc=0;
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for(int i=1;i<argc;i++){
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if(argv[i][0]=='-'){
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char *key=(argv[i]+1),*argument=NULL;
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if(std::strcmp("h",key)==0||std::strcmp("help",key)==0){
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help();
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}
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if((argument=strchr(argv[i],'='))==NULL){
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i++;
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argument=argv[i];
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}else{
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argument++;
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}
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continue;
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}
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bool isVideo=true;
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for(int j=0;j<(int)trackers.size();j++){
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if(strcmp(argv[i],trackers[j].c_str()+8)==0){
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isVideo=false;
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break;
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}
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}
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if(isVideo){
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videos[*vc]=argv[i];
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i++;
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gts[*vc]=(i<argc)?argv[i]:NULL;
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(*vc)++;
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}else{
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algorithms[*ac]=argv[i];
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i++;
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for(int j=0;j<*vc;j++,i++){
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initBoxes[*ac][j]=(i<argc)?argv[i]:NULL;
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}
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i--;(*ac)++;
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}
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}
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}
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void print_table(char* videos[],int videoNum,char* algorithms[],int algNum,const vector<vector<char*> >& results){
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vector<int> grid(1+algNum,0);
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char spaces[100];memset(spaces,' ',100);
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for(int i=0;i<videoNum;i++){
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grid[0]=std::max(grid[0],(int)strlen(videos[i]));
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}
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for(int i=0;i<algNum;i++){
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grid[i+1]=strlen(algorithms[i]);
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for(int j=0;j<videoNum;j++)
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grid[i+1]=std::max(grid[i+1],(int)strlen(results[j][i]));
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}
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printf("%.*s ",(int)grid[0],spaces);
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for(int i=0;i<algNum;i++)
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printf("%s%.*s",algorithms[i],(int)(grid[i+1]+1-strlen(algorithms[i])),spaces);
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printf("\n");
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for(int i=0;i<videoNum;i++){
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printf("%s%.*s",videos[i],(int)(grid[0]+1-strlen(videos[i])),spaces);
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for(int j=0;j<algNum;j++)
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printf("%s%.*s",results[i][j],(int)(grid[j+1]+1-strlen(results[i][j])),spaces);
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printf("\n");
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}
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printf("*************************************************************\n");
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}
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struct AssessmentRes{
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class Assessment{
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public:
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virtual int printf(char* buf)=0;
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virtual void printName()=0;
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virtual void assess(const Rect2d& ethalon,const Rect2d& res)=0;
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virtual ~Assessment(){}
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};
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AssessmentRes(int algnum);
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int len;
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char* videoName;
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vector<vector<Ptr<Assessment> > >results;
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};
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class CorrectFrames : public AssessmentRes::Assessment{
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public:
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CorrectFrames(double tol):tol_(tol),len_(1),correctFrames_(1){}
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int printf(char* buf){return sprintf(buf,"%d/%d",correctFrames_,len_);}
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void printName(){printf((char*)"Num of correct frames\n");}
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void assess(const Rect2d& ethalon,const Rect2d& res){len_++;if(overlap(ethalon,res)>tol_)correctFrames_++;}
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private:
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double tol_;
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int len_;
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int correctFrames_;
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};
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class AvgTime : public AssessmentRes::Assessment{
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public:
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AvgTime(double res):res_(res){}
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int printf(char* buf){return sprintf(buf,"%gms",res_);}
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void printName(){printf((char*)"Average frame tracking time\n");}
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void assess(const Rect2d& /*ethalon*/,const Rect2d&/* res*/){};
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private:
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double res_;
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};
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class PRF : public AssessmentRes::Assessment{
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public:
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PRF():occurences_(0),responses_(0),true_responses_(0){};
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void printName(){printf((char*)"PRF\n");}
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int printf(char* buf){return sprintf(buf,"%g/%g/%g",(1.0*true_responses_)/responses_,(1.0*true_responses_)/occurences_,
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(2.0*true_responses_)/(responses_+occurences_));}
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void assess(const Rect2d& ethalon,const Rect2d& res){
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if(res.height>=0)responses_++;
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if(ethalon.height>=0)occurences_++;
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if(ethalon.height>=0 && res.height>=0)true_responses_++;
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}
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private:
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int occurences_,responses_,true_responses_;
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};
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AssessmentRes::AssessmentRes(int algnum):len(0),results(algnum){
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for(int i=0;i<(int)results.size();i++){
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if(!false){
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results[i].push_back(Ptr<Assessment>(new CorrectFrames(0.0)));
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}else{
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results[i].push_back(Ptr<Assessment>(new CorrectFrames(0.5)));
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}
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results[i].push_back(Ptr<Assessment>(new PRF()));
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}
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}
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static AssessmentRes assessment(char* video,char* gt_str, char* algorithms[],char* initBoxes_str[],int algnum){
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char buf[200];
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int start_frame=0;
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int linecount=0;
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Rect2d boundingBox;
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vector<double> averageMillisPerFrame(algnum,0.0);
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FILE* gt=fopen(gt_str,"r");
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if(gt==NULL){
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printf("cannot open the ground truth file %s\n",gt_str);
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exit(EXIT_FAILURE);
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}
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for(linecount=0;fgets(buf,sizeof(buf),gt)!=NULL;linecount++);
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if(linecount==0){
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printf("ground truth file %s has no lines\n",gt_str);
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exit(EXIT_FAILURE);
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}
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fseek(gt,0,SEEK_SET);
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if(fgets(buf,sizeof(buf),gt)==NULL){
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printf("ground truth file %s has no lines\n",gt_str);
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exit(EXIT_FAILURE);
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}
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std::vector<Rect2d> initBoxes(algnum);
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for(int i=0;i<algnum;i++){
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printf("%s %s\n",algorithms[i],initBoxes_str[CMDLINEMAX*i]);
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if(lineToRect(initBoxes_str[CMDLINEMAX*i],boundingBox)<0){
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printf("please, specify bounding box for video %s, algorithm %s\n",video,algorithms[i]);
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printf("FYI, initial bounding box in ground truth is %s\n",buf);
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if(gt!=NULL){
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fclose(gt);
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}
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exit(EXIT_FAILURE);
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}else{
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initBoxes[i].x=boundingBox.x;
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initBoxes[i].y=boundingBox.y;
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initBoxes[i].width=boundingBox.width;
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initBoxes[i].height=boundingBox.height;
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}
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}
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VideoCapture cap;
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cap.open( String(video) );
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cap.set( CAP_PROP_POS_FRAMES, start_frame );
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if( !cap.isOpened() ){
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printf("cannot open video %s\n",video);
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help();
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}
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Mat frame;
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namedWindow( "Tracking API", 1 );
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std::vector<Ptr<Tracker> >trackers(algnum);
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for(int i=0;i<algnum;i++){
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trackers[i] = Tracker::create( algorithms[i] );
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if( trackers[i] == NULL ){
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printf("error in the instantiation of the tracker %s\n",algorithms[i]);
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if(gt!=NULL){
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fclose(gt);
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}
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exit(EXIT_FAILURE);
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}
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}
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cap >> frame;
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frame.copyTo( image );
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if(lineToRect(buf,boundingBox)<0){
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if(gt!=NULL){
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fclose(gt);
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}
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exit(EXIT_FAILURE);
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}
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rectangle( image, boundingBox,palette[0], 2, 1 );
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for(int i=0;i<(int)trackers.size();i++){
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rectangle(image,initBoxes[i],palette[i+1], 2, 1 );
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if( !trackers[i]->init( frame, initBoxes[i] ) ){
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printf("could not initialize tracker %s with box %s at video %s\n",algorithms[i],initBoxes_str[i],video);
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if(gt!=NULL){
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fclose(gt);
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}
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exit(EXIT_FAILURE);
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}
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}
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imshow( "Tracking API", image );
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int frameCounter = 0;
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AssessmentRes res(trackers.size());
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for ( ;; ){
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if( !paused ){
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cap >> frame;
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if(frame.empty()){
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break;
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}
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frame.copyTo( image );
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if(fgets(buf,sizeof(buf),gt)==NULL){
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printf("ground truth is over\n");
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break;
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}
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if(lineToRect(buf,boundingBox)<0){
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if(gt!=NULL){
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fclose(gt);
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}
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exit(EXIT_FAILURE);
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}
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rectangle( image, boundingBox,palette[0], 2, 1 );
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frameCounter++;
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for(int i=0;i<(int)trackers.size();i++){
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bool trackerRes=true;
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clock_t start;start=clock();
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trackerRes=trackers[i]->update( frame, initBoxes[i] );
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start=clock()-start;
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averageMillisPerFrame[i]+=1000.0*start/CLOCKS_PER_SEC;
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if(trackerRes==false){
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initBoxes[i].height=initBoxes[i].width=-1.0;
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}else{
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rectangle( image, initBoxes[i], palette[i+1], 2, 1 );
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}
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if(!true && i==1){
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printf("TLD\n");
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printf("boundingBox=[%f,%f,%f,%f]\n",boundingBox.x,boundingBox.y,boundingBox.width,boundingBox.height);
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printf("initBoxes[i]=[%f,%f,%f,%f]\n",initBoxes[i].x,initBoxes[i].y,initBoxes[i].width,initBoxes[i].height);
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printf("overlap=%f\n",overlap(initBoxes[i],boundingBox));
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exit(0);
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}
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for(int j=0;j<(int)res.results[i].size();j++)
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res.results[i][j]->assess(boundingBox,initBoxes[i]);
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}
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imshow( "Tracking API", image );
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if(frameCounter>=ASSESS_TILL){
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break;
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}
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char c = (char) waitKey( 2 );
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if( c == 'q' )
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break;
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if( c == 'p' )
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paused = !paused;
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}
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}
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if(gt!=NULL){
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fclose(gt);
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}
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destroyWindow( "Tracking API");
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res.len=linecount;
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res.videoName=video;
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for(int i=0;i<(int)res.results.size();i++)
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res.results[i].push_back(Ptr<AssessmentRes::Assessment>(new AvgTime(averageMillisPerFrame[i]/res.len)));
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return res;
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}
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int main( int argc, char** argv ){
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palette.push_back(Scalar(255,0,0));//BGR
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palette.push_back(Scalar(0,0,255));
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palette.push_back(Scalar(0,255,255));
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int vcount=0,acount=0;
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char* videos[CMDLINEMAX],*gts[CMDLINEMAX],*algorithms[CMDLINEMAX],*initBoxes[CMDLINEMAX][CMDLINEMAX];
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parseCommandLineArgs(argc,argv,videos,gts,&vcount,algorithms,initBoxes,&acount);
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CV_Assert(acount<CMDLINEMAX && vcount<CMDLINEMAX);
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printf("videos and gts\n");
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for(int i=0;i<vcount;i++){
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printf("%s %s\n",videos[i],gts[i]);
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}
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printf("algorithms and boxes (%d)\n",acount);
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for(int i=0;i<acount;i++){
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printf("%s ",algorithms[i]);
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for(int j=0;j<vcount;j++){
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printf("%s ",initBoxes[i][j]);
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}
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printf("\n");
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}
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std::vector<AssessmentRes> results;
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for(int i=0;i<vcount;i++){
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results.push_back(assessment(videos[i],gts[i],algorithms,((char**)initBoxes)+i,acount));
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}
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printf("\n\n");
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char buf[CMDLINEMAX*CMDLINEMAX*40];
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vector<vector<char*> > resultStrings(vcount);
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for(int i=0;i<vcount;i++){
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for(int j=0;j<acount;j++){
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resultStrings[i].push_back(buf+i*CMDLINEMAX*40 + j*40);
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}
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}
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for(int tableCount=0;tableCount<(int)results[0].results[0].size();tableCount++){
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for(int videoCount=0;videoCount<(int)results.size();videoCount++)
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for(int algoCount=0;algoCount<(int)results[0].results.size();algoCount++){
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(results[videoCount].results[algoCount][tableCount])->printf(resultStrings[videoCount][algoCount]);
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}
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print_table(videos,vcount,algorithms,acount,resultStrings);
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}
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return 0;
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}
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@@ -2,6 +2,7 @@
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#include <opencv2/tracking.hpp>
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#include <opencv2/highgui.hpp>
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#include <iostream>
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#include <cstring>
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using namespace std;
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using namespace cv;
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@@ -15,21 +16,20 @@ static bool startSelection = false;
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static const char* keys =
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{ "{@tracker_algorithm | | Tracker algorithm }"
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"{@video_name | | video name }"
|
||||
"{@start_frame |1| Start frame }"
|
||||
"{@start_frame |0| Start frame }"
|
||||
"{@bounding_frame |0,0,0,0| Initial bounding frame}"};
|
||||
|
||||
static void help()
|
||||
{
|
||||
cout << "\nThis example shows the functionality of \"Long-term optical tracking API\""
|
||||
"-- pause video [p] and draw a bounding box around the target to start the tracker\n"
|
||||
"Example of <video_name> is in opencv_extra/testdata/cv/tracking/\n"
|
||||
"Call:\n"
|
||||
"./tracker <tracker_algorithm> <video_name> <start_frame> [<bounding_frame>]\n"
|
||||
<< endl;
|
||||
|
||||
cout << "\n\nHot keys: \n"
|
||||
"\tq - quit the program\n"
|
||||
"\tp - pause video\n";
|
||||
static void listTrackers(){
|
||||
vector<String> algorithms;
|
||||
Algorithm::getList(algorithms);
|
||||
cout << "\nAvailable tracker algorithms:\n";
|
||||
for (size_t i=0; i < algorithms.size(); i++){
|
||||
const char* algoname=algorithms[i].c_str();
|
||||
char *pos=NULL;
|
||||
if((pos=strstr((char*)algoname,"TRACKER."))!=NULL){
|
||||
printf("%s\n",pos+8);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
static void onMouse( int event, int x, int y, int, void* )
|
||||
@@ -58,7 +58,7 @@ static void onMouse( int event, int x, int y, int, void* )
|
||||
//draw the bounding box
|
||||
Mat currentFrame;
|
||||
image.copyTo( currentFrame );
|
||||
rectangle( currentFrame, Point( (int)boundingBox.x, (int)boundingBox.y ), Point( x, y ), Scalar( 255, 0, 0 ), 2, 1 );
|
||||
rectangle( currentFrame, Point( boundingBox.x, boundingBox.y ), Point( x, y ), Scalar( 255, 0, 0 ), 2, 1 );
|
||||
imshow( "Tracking API", currentFrame );
|
||||
}
|
||||
break;
|
||||
@@ -66,8 +66,22 @@ static void onMouse( int event, int x, int y, int, void* )
|
||||
}
|
||||
}
|
||||
|
||||
int main( int argc, char** argv )
|
||||
static void help()
|
||||
{
|
||||
cout << "\nThis example shows the functionality of \"Long-term optical tracking API\""
|
||||
"-- pause video [p] and draw a bounding box around the target to start the tracker\n"
|
||||
"Example of <video_name> is in opencv_extra/testdata/cv/tracking/\n"
|
||||
"Call:\n"
|
||||
"./tracker <tracker_algorithm> <video_name> <start_frame> [<bounding_frame>]\n"
|
||||
<< endl;
|
||||
|
||||
cout << "\n\nHot keys: \n"
|
||||
"\tq - quit the program\n"
|
||||
"\tp - pause video\n";
|
||||
listTrackers();
|
||||
}
|
||||
|
||||
int main( int argc, char** argv ){
|
||||
CommandLineParser parser( argc, argv, keys );
|
||||
|
||||
String tracker_algorithm = parser.get<String>( 0 );
|
||||
@@ -81,24 +95,19 @@ int main( int argc, char** argv )
|
||||
}
|
||||
|
||||
int coords[4]={0,0,0,0};
|
||||
bool initFrameWasGivenInCommandLine=false;
|
||||
|
||||
do
|
||||
{
|
||||
bool initBoxWasGivenInCommandLine=false;
|
||||
do{
|
||||
String initBoundingBox=parser.get<String>(3);
|
||||
for(size_t pos=0,ctr=0;ctr<4;ctr++)
|
||||
{
|
||||
size_t npos=initBoundingBox.find_first_of(',',pos);
|
||||
if(npos==string::npos && ctr<3)
|
||||
{
|
||||
for(size_t npos=0,pos=0,ctr=0;ctr<4;ctr++){
|
||||
npos=initBoundingBox.find_first_of(',',pos);
|
||||
if(npos==string::npos && ctr<3){
|
||||
printf("bounding box should be given in format \"x1,y1,x2,y2\",where x's and y's are integer cordinates of opposed corners of bdd box\n");
|
||||
printf("got: %s\n",initBoundingBox.substr(pos,string::npos).c_str());
|
||||
printf("manual selection of bounding box will be employed\n");
|
||||
break;
|
||||
}
|
||||
int num=atoi(initBoundingBox.substr(pos,(ctr==3)?(string::npos):(npos-pos)).c_str());
|
||||
if(num<=0)
|
||||
{
|
||||
if(num<=0){
|
||||
printf("bounding box should be given in format \"x1,y1,x2,y2\",where x's and y's are integer cordinates of opposed corners of bdd box\n");
|
||||
printf("got: %s\n",initBoundingBox.substr(pos,npos-pos).c_str());
|
||||
printf("manual selection of bounding box will be employed\n");
|
||||
@@ -107,9 +116,10 @@ int main( int argc, char** argv )
|
||||
coords[ctr]=num;
|
||||
pos=npos+1;
|
||||
}
|
||||
if(coords[0]>0 && coords[1]>0 && coords[2]>0 && coords[3]>0)
|
||||
initFrameWasGivenInCommandLine=true;
|
||||
} while((void)0, 0);
|
||||
if(coords[0]>0 && coords[1]>0 && coords[2]>0 && coords[3]>0){
|
||||
initBoxWasGivenInCommandLine=true;
|
||||
}
|
||||
}while(0);
|
||||
|
||||
//open the capture
|
||||
VideoCapture cap;
|
||||
@@ -141,7 +151,7 @@ int main( int argc, char** argv )
|
||||
//get the first frame
|
||||
cap >> frame;
|
||||
frame.copyTo( image );
|
||||
if(initFrameWasGivenInCommandLine){
|
||||
if(initBoxWasGivenInCommandLine){
|
||||
selectObject=true;
|
||||
paused=false;
|
||||
boundingBox.x = coords[0];
|
||||
@@ -160,15 +170,14 @@ int main( int argc, char** argv )
|
||||
{
|
||||
if( !paused )
|
||||
{
|
||||
cap >> frame;
|
||||
|
||||
if( frame.empty() )
|
||||
{
|
||||
break;
|
||||
if(initialized){
|
||||
cap >> frame;
|
||||
if(frame.empty()){
|
||||
break;
|
||||
}
|
||||
frame.copyTo( image );
|
||||
}
|
||||
|
||||
frame.copyTo( image );
|
||||
|
||||
if( !initialized && selectObject )
|
||||
{
|
||||
//initializes the tracker
|
||||
|
||||
Reference in New Issue
Block a user