X-Git-Url: http://rtime.felk.cvut.cz/gitweb/hercules2020/kcf.git/blobdiff_plain/8a096b402e7d27b2ea4f63b4b1fd1cf073ded1a8..d32c3da1b925874b6722589ba128a4b72c71dbb8:/main_vot.cpp diff --git a/main_vot.cpp b/main_vot.cpp index fd46321..6980222 100644 --- a/main_vot.cpp +++ b/main_vot.cpp @@ -2,15 +2,41 @@ #include #include #include +#include #include "kcf.h" #include "vot.hpp" +double calcAccuracy(std::string line, cv::Rect bb_rect, cv::Rect &groundtruth_rect) +{ + std::vector numbers; + std::istringstream s(line); + float x; + char ch; + + while (s >> x) { + numbers.push_back(x); + s >> ch; + } + double x1 = std::min(numbers[0], std::min(numbers[2], std::min(numbers[4], numbers[6]))); + double x2 = std::max(numbers[0], std::max(numbers[2], std::max(numbers[4], numbers[6]))); + double y1 = std::min(numbers[1], std::min(numbers[3], std::min(numbers[5], numbers[7]))); + double y2 = std::max(numbers[1], std::max(numbers[3], std::max(numbers[5], numbers[7]))); + + groundtruth_rect = cv::Rect(x1, y1, x2 - x1, y2 - y1); + + double rects_intersection = (groundtruth_rect & bb_rect).area(); + double rects_union = (groundtruth_rect | bb_rect).area(); + double accuracy = rects_intersection / rects_union; + + return accuracy; +} + int main(int argc, char *argv[]) { //load region, images and prepare for output std::string region, images, output; - int visualize_delay = -1, fit_size = -1; + int visualize_delay = -1, fit_size_x = -1, fit_size_y = -1; KCF_Tracker tracker; while (1) { @@ -24,8 +50,7 @@ int main(int argc, char *argv[]) {0, 0, 0, 0 } }; - int c = getopt_long(argc, argv, "dhv::o:f:", - long_options, &option_index); + int c = getopt_long(argc, argv, "dhv::f::o:", long_options, &option_index); if (c == -1) break; @@ -39,10 +64,10 @@ int main(int argc, char *argv[]) << argv[0] << " [options] \n" << argv[0] << " [options] [path/to/output.txt]\n" << "Options:\n" - << " --visualize | -v [delay_ms]\n" - << " --output | -o \n" + << " --visualize | -v[delay_ms]\n" + << " --output | -o \n" << " --debug | -d\n" - << " --fit | -f [dimension_size]\n"; + << " --fit | -f[WxH]\n"; exit(0); break; case 'o': @@ -52,7 +77,23 @@ int main(int argc, char *argv[]) visualize_delay = optarg ? atol(optarg) : 1; break; case 'f': - fit_size = optarg ? atol(optarg) : 128; + if (!optarg) { + fit_size_x = fit_size_y = 128; + } else { + char tail; + if (sscanf(optarg, "%d%c", &fit_size_x, &tail) == 1) { + fit_size_y = fit_size_x; + } else if (sscanf(optarg, "%dx%d%c", &fit_size_x, &fit_size_y, &tail) != 2) { + fprintf(stderr, "Cannot parse -f argument: %s\n", optarg); + return 1; + } + } + int min_size = 2 * tracker.p_cell_size; + if (fit_size_x < min_size || fit_size_x < min_size) { + fprintf(stderr, "Fit size %dx%d too small. Minimum is %dx%d.\n", + fit_size_x, fit_size_y, min_size, min_size); + return 1; + } break; } } @@ -88,6 +129,14 @@ int main(int argc, char *argv[]) } VOT vot_io(region, images, output); + // if groundtruth.txt is used use intersection over union (IOU) to calculate tracker accuracy + std::ifstream groundtruth_stream; + if (region.compare("groundtruth.txt") == 0) { + groundtruth_stream.open(region.c_str()); + std::string line; + std::getline(groundtruth_stream, line); + } + cv::Mat image; //img = firts frame, initPos = initial position in the first frame @@ -95,24 +144,44 @@ int main(int argc, char *argv[]) vot_io.outputBoundingBox(init_rect); vot_io.getNextImage(image); - tracker.init(image, init_rect, fit_size); + tracker.init(image, init_rect, fit_size_x, fit_size_y); BBox_c bb; - double avg_time = 0.; + cv::Rect bb_rect; + double avg_time = 0., sum_accuracy = 0.; int frames = 0; + + std::cout << std::fixed << std::setprecision(2); + while (vot_io.getNextImage(image) == 1){ double time_profile_counter = cv::getCPUTickCount(); tracker.track(image); time_profile_counter = cv::getCPUTickCount() - time_profile_counter; - std::cout << " -> speed : " << time_profile_counter/((double)cvGetTickFrequency()*1000) << "ms. per frame" << std::endl; + std::cout << " -> speed : " << time_profile_counter/((double)cvGetTickFrequency()*1000) << "ms per frame, " + "response : " << tracker.getFilterResponse(); avg_time += time_profile_counter/((double)cvGetTickFrequency()*1000); frames++; bb = tracker.getBBox(); - vot_io.outputBoundingBox(cv::Rect(bb.cx - bb.w/2., bb.cy - bb.h/2., bb.w, bb.h)); + bb_rect = cv::Rect(bb.cx - bb.w/2., bb.cy - bb.h/2., bb.w, bb.h); + vot_io.outputBoundingBox(bb_rect); + + if (groundtruth_stream.is_open()) { + std::string line; + std::getline(groundtruth_stream, line); + + cv::Rect groundtruthRect; + double accuracy = calcAccuracy(line, bb_rect, groundtruthRect); + if (visualize_delay >= 0) + cv::rectangle(image, groundtruthRect, CV_RGB(255, 0,0), 1); + std::cout << ", accuracy: " << accuracy; + sum_accuracy += accuracy; + } + + std::cout << std::endl; if (visualize_delay >= 0) { - cv::rectangle(image, cv::Rect(bb.cx - bb.w/2., bb.cy - bb.h/2., bb.w, bb.h), CV_RGB(0,255,0), 2); + cv::rectangle(image, bb_rect, CV_RGB(0,255,0), 2); cv::imshow("output", image); int ret = cv::waitKey(visualize_delay); if (visualize_delay > 0 && ret != -1 && ret != 255) @@ -140,7 +209,12 @@ int main(int argc, char *argv[]) // cv::imwrite(ss.c_str(), image, compression_params); } - std::cout << "Average processing speed " << avg_time/frames << "ms. (" << 1./(avg_time/frames)*1000 << " fps)" << std::endl; + std::cout << "Average processing speed: " << avg_time / frames << "ms (" << 1. / (avg_time / frames) * 1000 << " fps)"; + if (groundtruth_stream.is_open()) { + std::cout << "; Average accuracy: " << sum_accuracy/frames << std::endl; + groundtruth_stream.close(); + } + std::cout << std::endl; return EXIT_SUCCESS; }