main_vot.cpp

   1 #include <stdlib.h>
   2 #include <getopt.h>
   3 #include <libgen.h>
   4 #include <unistd.h>
   5 #include <iomanip>
   6
   7 #include "kcf.h"
   8 #include "vot.hpp"
   9
  10 double calcAccuracy(std::string line, cv::Rect bb_rect, cv::Rect &groundtruth_rect)
  11 {
  12     std::vector<float> numbers;
  13     std::istringstream s( line );
  14     float x;
  15     char ch;
  16
  17     while (s >> x){
  18         numbers.push_back(x);
  19         s >> ch;
  20     }
  21     double x1 = std::min(numbers[0], std::min(numbers[2], std::min(numbers[4], numbers[6])));
  22     double x2 = std::max(numbers[0], std::max(numbers[2], std::max(numbers[4], numbers[6])));
  23     double y1 = std::min(numbers[1], std::min(numbers[3], std::min(numbers[5], numbers[7])));
  24     double y2 = std::max(numbers[1], std::max(numbers[3], std::max(numbers[5], numbers[7])));
  25
  26     groundtruth_rect = cv::Rect(x1, y1, x2-x1, y2-y1);
  27
  28     double rects_intersection = (groundtruth_rect & bb_rect).area();
  29     double rects_union = (groundtruth_rect | bb_rect).area();
  30     double accuracy = rects_intersection/rects_union;
  31
  32     return accuracy;
  33 }
  34
  35 int main(int argc, char *argv[])
  36 {
  37     //load region, images and prepare for output
  38     std::string region, images, output;
  39     int visualize_delay = -1, fit_size_x = -1, fit_size_y = -1;
  40     KCF_Tracker tracker;
  41
  42     while (1) {
  43         int option_index = 0;
  44         static struct option long_options[] = {
  45             {"debug",     no_argument,       0,  'd' },
  46             {"help",      no_argument,       0,  'h' },
  47             {"output",    required_argument, 0,  'o' },
  48             {"visualize", optional_argument, 0,  'v' },
  49             {"fit",       optional_argument, 0,  'f' },
  50             {0,           0,                 0,  0 }
  51         };
  52
  53         int c = getopt_long(argc, argv, "dhv::f::o:",
  54                         long_options, &option_index);
  55         if (c == -1)
  56             break;
  57
  58         switch (c) {
  59         case 'd':
  60             tracker.m_debug = true;
  61             break;
  62         case 'h':
  63             std::cerr << "Usage: \n"
  64                       << argv[0] << " [options]\n"
  65                       << argv[0] << " [options] <directory>\n"
  66                       << argv[0] << " [options] <path/to/region.txt or groundtruth.txt> <path/to/images.txt> [path/to/output.txt]\n"
  67                       << "Options:\n"
  68                       << " --visualize | -v[delay_ms]\n"
  69                       << " --output    | -o <output.txt>\n"
  70                       << " --debug     | -d\n"
  71                       << " --fit       | -f[WxH]\n";
  72             exit(0);
  73             break;
  74         case 'o':
  75             output = optarg;
  76             break;
  77         case 'v':
  78             visualize_delay = optarg ? atol(optarg) : 1;
  79             break;
  80         case 'f':
  81             std::string sizes = optarg ? optarg : "128x128";
  82             std::string delimiter = "x";
  83             size_t pos = sizes.find(delimiter);
  84             std::string first_argument = sizes.substr(0, pos);
  85             sizes.erase(0, pos + delimiter.length());
  86
  87             fit_size_x = stol(first_argument);
  88             fit_size_y = stol(sizes);
  89             break;
  90         }
  91     }
  92
  93     switch (argc - optind) {
  94     case 1:
  95         if (chdir(argv[optind]) == -1) {
  96             perror(argv[optind]);
  97             exit(1);
  98         }
  99         // Fall through
 100     case 0:
 101         region = access("groundtruth.txt", F_OK) == 0 ? "groundtruth.txt" : "region.txt";
 102         images = "images.txt";
 103         if (output.empty())
 104             output = "output.txt";
 105         break;
 106     case 2:
 107         // Fall through
 108     case 3:
 109         region = std::string(argv[optind + 0]);
 110         images = std::string(argv[optind + 1]);
 111         if (output.empty()) {
 112             if ((argc - optind) == 3)
 113                 output = std::string(argv[optind + 2]);
 114             else
 115                 output = std::string(dirname(argv[optind + 0])) + "/output.txt";
 116         }
 117         break;
 118     default:
 119         std::cerr << "Too many arguments\n";
 120         return 1;
 121     }
 122     VOT vot_io(region, images, output);
 123
 124     // if groundtruth.txt is used use intersection over union (IOU) to calculate tracker accuracy
 125     std::ifstream groundtruth_stream;
 126     if (region.compare("groundtruth.txt") == 0) {
 127         groundtruth_stream.open(region.c_str());
 128         std::string line;
 129         std::getline(groundtruth_stream, line);
 130     }
 131
 132     cv::Mat image;
 133
 134     //img = firts frame, initPos = initial position in the first frame
 135     cv::Rect init_rect = vot_io.getInitRectangle();
 136     vot_io.outputBoundingBox(init_rect);
 137     vot_io.getNextImage(image);
 138
 139     tracker.init(image, init_rect, fit_size_x, fit_size_y);
 140
 141     BBox_c bb;
 142     cv::Rect bb_rect;
 143     double avg_time = 0., sum_accuracy = 0.;
 144     int frames = 0;
 145
 146     std::cout << std::fixed << std::setprecision(2);
 147
 148     while (vot_io.getNextImage(image) == 1){
 149         double time_profile_counter = cv::getCPUTickCount();
 150         tracker.track(image);
 151         time_profile_counter = cv::getCPUTickCount() - time_profile_counter;
 152          std::cout << "  -> speed : " <<  time_profile_counter/((double)cvGetTickFrequency()*1000) << "ms per frame, "
 153                       "response : " << tracker.getFilterResponse();
 154         avg_time += time_profile_counter/((double)cvGetTickFrequency()*1000);
 155         frames++;
 156
 157         bb = tracker.getBBox();
 158         bb_rect = cv::Rect(bb.cx - bb.w/2., bb.cy - bb.h/2., bb.w, bb.h);
 159         vot_io.outputBoundingBox(bb_rect);
 160
 161         if (groundtruth_stream.is_open()) {
 162             std::string line;
 163             std::getline(groundtruth_stream, line);
 164
 165             cv::Rect groundtruthRect;
 166             double accuracy = calcAccuracy(line, bb_rect, groundtruthRect);
 167             if (visualize_delay >= 0)
 168                 cv::rectangle(image, groundtruthRect, CV_RGB(255, 0,0), 1);
 169             std::cout << ", accuracy: " << accuracy;
 170             sum_accuracy += accuracy;
 171         }
 172
 173         std::cout << std::endl;
 174
 175         if (visualize_delay >= 0) {
 176             cv::rectangle(image, bb_rect, CV_RGB(0,255,0), 2);
 177             cv::imshow("output", image);
 178             int ret = cv::waitKey(visualize_delay);
 179             if (visualize_delay > 0 && ret != -1 && ret != 255)
 180                 break;
 181         }
 182
 183 //        std::stringstream s;
 184 //        std::string ss;
 185 //        int countTmp = frames;
 186 //        s << "imgs" << "/img" << (countTmp/10000);
 187 //        countTmp = countTmp%10000;
 188 //        s << (countTmp/1000);
 189 //        countTmp = countTmp%1000;
 190 //        s << (countTmp/100);
 191 //        countTmp = countTmp%100;
 192 //        s << (countTmp/10);
 193 //        countTmp = countTmp%10;
 194 //        s << (countTmp);
 195 //        s << ".jpg";
 196 //        s >> ss;
 197 //        //set image output parameters
 198 //        std::vector<int> compression_params;
 199 //        compression_params.push_back(CV_IMWRITE_JPEG_QUALITY);
 200 //        compression_params.push_back(90);
 201 //        cv::imwrite(ss.c_str(), image, compression_params);
 202     }
 203
 204     std::cout << "Average processing speed: " << avg_time / frames << "ms (" << 1. / (avg_time / frames) * 1000 << " fps)";
 205     if (groundtruth_stream.is_open()) {
 206         std::cout << "; Average accuracy: " << sum_accuracy/frames << std::endl;
 207         groundtruth_stream.close();
 208     }
 209     std::cout << std::endl;
 210
 211     return EXIT_SUCCESS;
 212 }