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Merge pull request #978 from sovrasov:tracking_tests_refactoring

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Vadim Pisarevsky 8 years ago
parent 6eb57fea65 4216285d9a
commit 7e5ca520e3
3 changed files with 190 additions and 1158 deletions
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  1. 443
      modules/tracking/test/test_trackerOPE.cpp
  2. 550
      modules/tracking/test/test_trackerSRE.cpp
  3. 355
      modules/tracking/test/test_trackers.cpp

443
modules/tracking/test/test_trackerOPE.cpp
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@ -1,443 +0,0 @@
/*M///////////////////////////////////////////////////////////////////////////////////////
//
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
// By downloading, copying, installing or using the software you agree to this license.
// If you do not agree to this license, do not download, install,
// copy or use the software.
//
//
// License Agreement
// For Open Source Computer Vision Library
//
// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
// Third party copyrights are property of their respective owners.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
// * Redistribution's of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
//
// * Redistribution's in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
//
// * The name of the copyright holders may not be used to endorse or promote products
// derived from this software without specific prior written permission.
//
// This software is provided by the copyright holders and contributors "as is" and
// any express or implied warranties, including, but not limited to, the implied
// warranties of merchantability and fitness for a particular purpose are disclaimed.
// In no event shall the Intel Corporation or contributors be liable for any direct,
// indirect, incidental, special, exemplary, or consequential damages
// (including, but not limited to, procurement of substitute goods or services;
// loss of use, data, or profits; or business interruption) however caused
// and on any theory of liability, whether in contract, strict liability,
// or tort (including negligence or otherwise) arising in any way out of
// the use of this software, even if advised of the possibility of such damage.
//
//M*/
#include "test_precomp.hpp"
#include "opencv2/tracking.hpp"
#include <fstream>
using namespace cv;
using namespace testing;
using namespace std;
#define PARAM_TEST_CASE(name, ...) struct name : testing::TestWithParam< std::tr1::tuple< __VA_ARGS__ > >
#define GET_PARAM(k) std::tr1::get< k >(GetParam())
#define TESTSET_NAMES testing::Values("david","dudek","faceocc2")
#define LOCATION_ERROR_THRESHOLD testing::Values(0, 10, 20, 30, 40, 50)
#define OVERLAP_THRESHOLD testing::Values(0, 0.2, 0.4, 0.6, 0.8, 1)
const string TRACKING_DIR = "tracking";
const string FOLDER_IMG = "data";
/*
* The Evaluation Methodologies are partially based on:
* ====================================================================================================================
* [OTB] Y. Wu, J. Lim, and M.-H. Yang, "Online object tracking: A benchmark," in Computer Vision and Pattern Recognition (CVPR), 2013
*
*/
//Robustness Evaluation, see [OTB] chapter 4. OPE One Pass Evaluation
class TrackerOPETest
{
public:
enum
{
DISTANCE = 1, // test trackers based on euclidean distance
OVERLAP = 2 // test trackers based on the overlapping ratio
};
TrackerOPETest( Ptr<Tracker> _tracker, int _testType, string _video, float _threshold );
virtual ~TrackerOPETest();
virtual void run();
string getRatioSucc() const;
protected:
void checkDataTest();
void distanceTest();
void overlapTest();
Ptr<Tracker> tracker;
int testType;
string video;
std::vector<Rect> bbs;
int startFrame;
string suffix;
string prefix;
float threshold;
float ratioSucc;
private:
float calcDistance( Rect a, Rect b );
float calcOverlap( Rect a, Rect b );
std::vector<std::string> splitString( std::string s, std::string delimiter );
};
TrackerOPETest::TrackerOPETest( Ptr<Tracker> _tracker, int _testType, string _video, float _threshold ) :
tracker( _tracker ),
testType( _testType ),
video( _video ),
threshold( _threshold )
{
startFrame = 1;
ratioSucc = 0;
}
TrackerOPETest::~TrackerOPETest()
{
}
string TrackerOPETest::getRatioSucc() const
{
stringstream ratio;
ratio << ratioSucc;
return ratio.str();
}
std::vector<std::string> TrackerOPETest::splitString( std::string s, std::string delimiter )
{
std::vector<string> token;
size_t pos = 0;
while ( ( pos = s.find( delimiter ) ) != std::string::npos )
{
token.push_back( s.substr( 0, pos ) );
s.erase( 0, pos + delimiter.length() );
}
token.push_back( s );
return token;
}
float TrackerOPETest::calcDistance( Rect a, Rect b )
{
Point2f p_a( (float)(a.x + a.width / 2), (float)(a.y + a.height / 2) );
Point2f p_b( (float)(b.x + b.width / 2), (float)(b.y + b.height / 2) );
return sqrt( pow( p_a.x - p_b.x, 2 ) + pow( p_a.y - p_b.y, 2 ) );
}
float TrackerOPETest::calcOverlap( Rect a, Rect b )
{
float aArea = (float)(a.width * a.height);
float bArea = (float)(b.width * b.height);
if( aArea < bArea )
{
a.x -= ( b.width - a.width ) / 2;
a.y -= ( b.height - a.height ) / 2;
a.width = b.width;
a.height = b.height;
}
else
{
b.x -= ( a.width - b.width ) / 2;
b.y -= ( a.height - b.height ) / 2;
b.width = a.width;
b.height = a.height;
}
Rect rectIntersection = a & b;
Rect rectUnion = a | b;
float iArea = (float)(rectIntersection.width * rectIntersection.height);
float uArea = (float)(rectUnion.width * rectUnion.height);
float overlap = iArea / uArea;
return overlap;
}
void TrackerOPETest::distanceTest()
{
Mat frame;
bool initialized = false;
Rect currentBBi = bbs.at( 0 );
Rect2d currentBB(currentBBi);
float sumDistance = 0;
int frameCounter = 0;
int frameCounterSucc = 0;
string folder = cvtest::TS::ptr()->get_data_path() + "/" + TRACKING_DIR + "/" + video + "/" + FOLDER_IMG;
VideoCapture c;
c.open( cvtest::TS::ptr()->get_data_path() + "/" + TRACKING_DIR + "/" + video + "/" + FOLDER_IMG + "/" + video + ".webm" );
c.set( CAP_PROP_POS_FRAMES, startFrame );
for ( ;; )
{
c >> frame;
if( frame.empty() )
{
break;
}
if( !initialized )
{
if( !tracker->init( frame, currentBB ) )
{
FAIL()<< "Could not initialize tracker" << endl;
return;
}
initialized = true;
}
else if( initialized )
{
if( frameCounter >= (int) bbs.size() )
break;
tracker->update( frame, currentBB );
}
float curDistance = calcDistance( currentBB, bbs.at( frameCounter ) );
if( curDistance <= threshold )
frameCounterSucc++;
sumDistance += curDistance;
frameCounter++;
}
float distance = sumDistance / frameCounter;
ratioSucc = (float) frameCounterSucc / (float) frameCounter;
if( distance > threshold )
{
FAIL()<< "Incorrect distance: curr = " << distance << ", max = " << threshold << endl;
return;
}
}
void TrackerOPETest::overlapTest()
{
Mat frame;
bool initialized = false;
Rect currentBBi = bbs.at( 0 );
Rect2d currentBB(currentBBi);
float sumOverlap = 0;
string folder = cvtest::TS::ptr()->get_data_path() + TRACKING_DIR + "/" + video + "/" + FOLDER_IMG;
int frameCounter = 0;
int frameCounterSucc = 0;
VideoCapture c;
c.open( cvtest::TS::ptr()->get_data_path() + "/" + TRACKING_DIR + "/" + video + "/" + FOLDER_IMG + "/" + video + ".webm" );
c.set( CAP_PROP_POS_FRAMES, startFrame );
for ( ;; )
{
c >> frame;
if( frame.empty() )
{
break;
}
if( !initialized )
{
if( !tracker->init( frame, currentBB ) )
{
FAIL()<< "Could not initialize tracker" << endl;
return;
}
initialized = true;
}
else if( initialized )
{
if( frameCounter >= (int) bbs.size() )
break;
tracker->update( frame, currentBB );
}
float curOverlap = calcOverlap( currentBB, bbs.at( frameCounter ) );
if( curOverlap >= threshold )
frameCounterSucc++;
sumOverlap += curOverlap;
frameCounter++;
}
float overlap = sumOverlap / frameCounter;
ratioSucc = (float) frameCounterSucc / (float) frameCounter;
if( overlap < threshold )
{
FAIL()<< "Incorrect overlap: curr = " << overlap << ", min = " << threshold << endl;
return;
}
}
void TrackerOPETest::checkDataTest()
{
string gtFile = cvtest::TS::ptr()->get_data_path() + TRACKING_DIR + "/" + video + "/gt.txt";
ifstream gt;
//open the ground truth
gt.open( gtFile.c_str() );
if( !gt.is_open() )
{
FAIL()<< "Ground truth file " << gtFile << " can not be read" << endl;
}
string line;
int bbCounter = 0;
while ( getline( gt, line ) )
{
vector<string> tokens = splitString( line, "," );
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() ) );
if( tokens.size() != 4 )
{
FAIL()<< "Incorrect ground truth file";
}
bbs.push_back( bb );
bbCounter++;
}
FileStorage fs;
fs.open( cvtest::TS::ptr()->get_data_path() + TRACKING_DIR + "/" + video + "/" + video + ".yml", FileStorage::READ );
fs["start"] >> startFrame;
fs["prefix"] >> prefix;
fs["suffix"] >> suffix;
fs.release();
}
void TrackerOPETest::run()
{
srand( 1 );
SCOPED_TRACE( "A" );
if( !tracker )
{
FAIL()<< "Error in the instantiation of the tracker" << endl;
return;
}
checkDataTest();
//check for failure
if( ::testing::Test::HasFatalFailure() )
return;
if( testType == DISTANCE )
{
distanceTest();
}
else if( testType == OVERLAP )
{
overlapTest();
}
else
{
FAIL()<< "Test type unknown" << endl;
return;
}
}
/****************************************************************************************\
* Tests registrations *
\****************************************************************************************/
//[TESTDATA] [LOCATION ERROR THRESHOLD]
PARAM_TEST_CASE(OPE_Distance, string, float)
{
string dataset;
float threshold;
virtual void SetUp()
{
dataset = GET_PARAM(0);
threshold = GET_PARAM(1);
}
};
//[TESTDATA] [OVERLAP THRESHOLD]
PARAM_TEST_CASE(OPE_Overlap, string, float)
{
string dataset;
float threshold;
virtual void SetUp()
{
dataset = GET_PARAM(0);
threshold = GET_PARAM(1);
}
};
TEST_P(OPE_Distance, DISABLED_MIL)
{
TrackerOPETest test( Tracker::create( "MIL" ), TrackerOPETest::DISTANCE, dataset, threshold );
test.run();
RecordProperty( "ratioSuccess", test.getRatioSucc() );
}
TEST_P(OPE_Overlap, DISABLED_MIL)
{
TrackerOPETest test( Tracker::create( "MIL" ), TrackerOPETest::OVERLAP, dataset, threshold );
test.run();
RecordProperty( "ratioSuccess", test.getRatioSucc() );
}
TEST_P(OPE_Distance, DISABLED_Boosting)
{
TrackerOPETest test( Tracker::create( "BOOSTING" ), TrackerOPETest::DISTANCE, dataset, threshold );
test.run();
RecordProperty( "ratioSuccess", test.getRatioSucc() );
}
TEST_P(OPE_Overlap, DISABLED_Boosting)
{
TrackerOPETest test( Tracker::create( "BOOSTING" ), TrackerOPETest::OVERLAP, dataset, threshold );
test.run();
RecordProperty( "ratioSuccess", test.getRatioSucc() );
}
TEST_P(OPE_Distance, DISABLED_TLD)
{
TrackerOPETest test( Tracker::create( "TLD" ), TrackerOPETest::DISTANCE, dataset, threshold );
test.run();
RecordProperty( "ratioSuccess", test.getRatioSucc() );
}
TEST_P(OPE_Overlap, DISABLED_TLD)
{
TrackerOPETest test( Tracker::create( "TLD" ), TrackerOPETest::OVERLAP, dataset, threshold );
test.run();
RecordProperty( "ratioSuccess", test.getRatioSucc() );
}
TEST_P(OPE_Distance, DISABLED_GOTURN)
{
TrackerOPETest test(Tracker::create("GOTURN"), TrackerOPETest::DISTANCE, dataset, threshold);
test.run();
RecordProperty("ratioSuccess", test.getRatioSucc());
}
TEST_P(OPE_Overlap, DISABLED_GOTURN)
{
TrackerOPETest test(Tracker::create("GOTURN"), TrackerOPETest::OVERLAP, dataset, threshold);
test.run();
RecordProperty("ratioSuccess", test.getRatioSucc());
}
INSTANTIATE_TEST_CASE_P( Tracking, OPE_Distance, testing::Combine( TESTSET_NAMES, LOCATION_ERROR_THRESHOLD ) );
INSTANTIATE_TEST_CASE_P( Tracking, OPE_Overlap, testing::Combine( TESTSET_NAMES, OVERLAP_THRESHOLD ) );
/* End of file. */

550
modules/tracking/test/test_trackerSRE.cpp
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/*M///////////////////////////////////////////////////////////////////////////////////////
//
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
// By downloading, copying, installing or using the software you agree to this license.
// If you do not agree to this license, do not download, install,
// copy or use the software.
//
//
// License Agreement
// For Open Source Computer Vision Library
//
// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
// Third party copyrights are property of their respective owners.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
// * Redistribution's of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
//
// * Redistribution's in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
//
// * The name of the copyright holders may not be used to endorse or promote products
// derived from this software without specific prior written permission.
//
// This software is provided by the copyright holders and contributors "as is" and
// any express or implied warranties, including, but not limited to, the implied
// warranties of merchantability and fitness for a particular purpose are disclaimed.
// In no event shall the Intel Corporation or contributors be liable for any direct,
// indirect, incidental, special, exemplary, or consequential damages
// (including, but not limited to, procurement of substitute goods or services;
// loss of use, data, or profits; or business interruption) however caused
// and on any theory of liability, whether in contract, strict liability,
// or tort (including negligence or otherwise) arising in any way out of
// the use of this software, even if advised of the possibility of such damage.
//
//M*/
#include "test_precomp.hpp"
#include "opencv2/tracking.hpp"
#include <fstream>
using namespace cv;
using namespace testing;
using namespace std;
#define PARAM_TEST_CASE(name, ...) struct name : testing::TestWithParam< std::tr1::tuple< __VA_ARGS__ > >
#define GET_PARAM(k) std::tr1::get< k >(GetParam())
#define TESTSET_NAMES testing::Values("david","dudek","faceocc2")
#define LOCATION_ERROR_THRESHOLD testing::Values(0, 10, 20, 30, 40, 50)
#define OVERLAP_THRESHOLD testing::Values(0, 0.2, 0.4, 0.6, 0.8, 1)
#define SPATIAL_SHIFTS testing::Values(1, 2, 3, 4, 5, 6, 7, 8, 9, 10 , 11, 12)
const string TRACKING_DIR = "tracking";
const string FOLDER_IMG = "data";
/*
* The Evaluation Methodologies are partially based on:
* ====================================================================================================================
* [OTB] Y. Wu, J. Lim, and M.-H. Yang, "Online object tracking: A benchmark," in Computer Vision and Pattern Recognition (CVPR), 2013
*
*/
//Robustness Evaluation, see [OTB] chapter 4. SRE Spatial robustness evaluation
class TrackerSRETest
{
public:
enum
{
DISTANCE = 1, // test trackers based on euclidean distance
OVERLAP = 2 // test trackers based on the overlapping ratio
};
TrackerSRETest( const Ptr<Tracker> _tracker, int _testType, string _video, int _shift, float _threshold );
virtual ~TrackerSRETest();
virtual void run();
string getRatioSucc() const;
protected:
void checkDataTest();
void distanceTest();
void overlapTest();
Ptr<Tracker> tracker;
int testType;
string video;
std::vector<Rect> bbs;
int startFrame;
string suffix;
string prefix;
float threshold;
int shift;
float ratioSucc;
private:
float calcDistance( Rect a, Rect b );
float calcOverlap( Rect a, Rect b );
std::vector<std::string> splitString( std::string s, std::string delimiter );
};
TrackerSRETest::TrackerSRETest( const Ptr<Tracker> _tracker, int _testType, string _video, int _shift, float _threshold ) :
tracker( _tracker ),
testType( _testType ),
video( _video ),
threshold( _threshold ),
shift( _shift )
{
startFrame = 1;
ratioSucc = 0;
}
TrackerSRETest::~TrackerSRETest()
{
}
string TrackerSRETest::getRatioSucc() const
{
stringstream ratio;
ratio << ratioSucc;
return ratio.str();
}
std::vector<std::string> TrackerSRETest::splitString( std::string s, std::string delimiter )
{
std::vector<string> token;
size_t pos = 0;
while ( ( pos = s.find( delimiter ) ) != std::string::npos )
{
token.push_back( s.substr( 0, pos ) );
s.erase( 0, pos + delimiter.length() );
}
token.push_back( s );
return token;
}
float TrackerSRETest::calcDistance( Rect a, Rect b )
{
Point2f p_a( (float)(a.x + a.width / 2), (float)(a.y + a.height / 2) );
Point2f p_b( (float)(b.x + b.width / 2), (float)(b.y + b.height / 2) );
return sqrt( pow( p_a.x - p_b.x, 2 ) + pow( p_a.y - p_b.y, 2 ) );
}
float TrackerSRETest::calcOverlap( Rect a, Rect b )
{
float aArea = (float)(a.width * a.height);
float bArea = (float)(b.width * b.height);
if( aArea < bArea )
{
a.x -= ( b.width - a.width ) / 2;
a.y -= ( b.height - a.height ) / 2;
a.width = b.width;
a.height = b.height;
}
else
{
b.x -= ( a.width - b.width ) / 2;
b.y -= ( a.height - b.height ) / 2;
b.width = a.width;
b.height = a.height;
}
Rect rectIntersection = a & b;
Rect rectUnion = a | b;
float iArea = (float)(rectIntersection.width * rectIntersection.height);
float uArea = (float)(rectUnion.width * rectUnion.height);
float overlap = iArea / uArea;
return overlap;
}
void TrackerSRETest::distanceTest()
{
Mat frame;
bool initialized = false;
Rect currentBBi = bbs.at( 0 );
Rect2d currentBB(currentBBi);
float sumDistance = 0;
int frameCounter = 0;
int frameCounterSucc = 0;
string folder = cvtest::TS::ptr()->get_data_path() + TRACKING_DIR + "/" + video + "/" + FOLDER_IMG;
VideoCapture c;
c.open( cvtest::TS::ptr()->get_data_path() + "/" + TRACKING_DIR + "/" + video + "/" + FOLDER_IMG + "/" + video + ".webm" );
c.set( CAP_PROP_POS_FRAMES, startFrame );
for ( ;; )
{
c >> frame;
if( frame.empty() )
{
break;
}
if( !initialized )
{
if( !tracker->init( frame, currentBB ) )
{
FAIL()<< "Could not initialize tracker" << endl;
return;
}
initialized = true;
}
else if( initialized )
{
if( frameCounter >= (int) bbs.size() )
break;
tracker->update( frame, currentBB );
}
float curDistance = calcDistance( currentBB, bbs.at( frameCounter ) );
if( curDistance <= threshold )
frameCounterSucc++;
sumDistance += curDistance;
frameCounter++;
}
float distance = sumDistance / frameCounter;
ratioSucc = (float) frameCounterSucc / (float) frameCounter;
if( distance > threshold )
{
FAIL()<< "Incorrect distance: curr = " << distance << ", max = " << threshold << endl;
return;
}
}
void TrackerSRETest::overlapTest()
{
Mat frame;
bool initialized = false;
Rect currentBBi = bbs.at( 0 );
Rect2d currentBB(currentBBi);
float sumOverlap = 0;
string folder = cvtest::TS::ptr()->get_data_path() + TRACKING_DIR + "/" + video + "/" + FOLDER_IMG;
int frameCounter = 0;
int frameCounterSucc = 0;
VideoCapture c;
c.open( cvtest::TS::ptr()->get_data_path() + "/" + TRACKING_DIR + "/" + video + "/" + FOLDER_IMG + "/" + video + ".webm" );
c.set( CAP_PROP_POS_FRAMES, startFrame );
for ( ;; )
{
c >> frame;
if( frame.empty() )
{
break;
}
if( !initialized )
{
if( !tracker->init( frame, currentBB ) )
{
FAIL()<< "Could not initialize tracker" << endl;
return;
}
initialized = true;
}
else if( initialized )
{
if( frameCounter >= (int) bbs.size() )
break;
tracker->update( frame, currentBB );
}
float curOverlap = calcOverlap( currentBB, bbs.at( frameCounter ) );
if( curOverlap >= threshold )
frameCounterSucc++;
sumOverlap += curOverlap;
frameCounter++;
}
float overlap = sumOverlap / frameCounter;
ratioSucc = (float) frameCounterSucc / (float) frameCounter;
if( overlap < threshold )
{
FAIL()<< "Incorrect overlap: curr = " << overlap << ", min = " << threshold << endl;
return;
}
}
void TrackerSRETest::checkDataTest()
{
string gtFile = cvtest::TS::ptr()->get_data_path() + TRACKING_DIR + "/" + video + "/gt.txt";
ifstream gt;
//open the ground truth
gt.open( gtFile.c_str() );
if( !gt.is_open() )
{
FAIL()<< "Ground truth file " << gtFile << " can not be read" << endl;
}
string line;
int bbCounter = 0;
while ( getline( gt, line ) )
{
vector<string> tokens = splitString( line, "," );
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() ) );
if( tokens.size() != 4 )
{
FAIL()<< "Incorrect ground truth file";
}
//apply the shift
if( bbCounter == 0 )
{
Point center( bb.x + ( bb.width / 2 ), bb.y + ( bb.height / 2 ) );
int xLimit = bb.x + bb.width - 1;
int yLimit = bb.y + bb.height - 1;
int h = 0;
int w = 0;
float ratio = 1.0;
switch ( shift )
{
case 1:
//center shift left
bb.x = bb.x - (int)ceil( 0.1 * bb.width );
break;
case 2:
//center shift right
bb.x = bb.x + (int)ceil( 0.1 * bb.width );
break;
case 3:
//center shift up
bb.y = bb.y - (int)ceil( 0.1 * bb.height );
break;
case 4:
//center shift down
bb.y = bb.y + (int)ceil( 0.1 * bb.height );
break;
case 5:
//corner shift top-left
bb.x = (int)cvRound( bb.x - 0.1 * bb.width );
bb.y = (int)cvRound( bb.y - 0.1 * bb.height );
bb.width = xLimit - bb.x + 1;
bb.height = yLimit - bb.y + 1;
break;
case 6:
//corner shift top-right
xLimit = (int)cvRound( xLimit + 0.1 * bb.width );
bb.y = (int)cvRound( bb.y - 0.1 * bb.height );
bb.width = xLimit - bb.x + 1;
bb.height = yLimit - bb.y + 1;
break;
case 7:
//corner shift bottom-left
bb.x = (int)cvRound( bb.x - 0.1 * bb.width );
yLimit = (int)cvRound( yLimit + 0.1 * bb.height );
bb.width = xLimit - bb.x + 1;
bb.height = yLimit - bb.y + 1;
break;
case 8:
//corner shift bottom-right
xLimit = (int)cvRound( xLimit + 0.1 * bb.width );
yLimit = (int)cvRound( yLimit + 0.1 * bb.height );
bb.width = xLimit - bb.x + 1;
bb.height = yLimit - bb.y + 1;
break;
case 9:
//scale 0.8
ratio = 0.8f;
w = (int)(ratio * bb.width);
h = (int)(ratio * bb.height);
bb = Rect( center.x - ( w / 2 ), center.y - ( h / 2 ), w, h );
break;
case 10:
//scale 0.9
ratio = 0.9f;
w = (int)(ratio * bb.width);
h = (int)(ratio * bb.height);
bb = Rect( center.x - ( w / 2 ), center.y - ( h / 2 ), w, h );
break;
case 11:
//scale 1.1
ratio = 1.1f;
w = (int)(ratio * bb.width);
h = (int)(ratio * bb.height);
bb = Rect( center.x - ( w / 2 ), center.y - ( h / 2 ), w, h );
break;
case 12:
//scale 1.2
ratio = 1.2f;
w = (int)(ratio * bb.width);
h = (int)(ratio * bb.height);
bb = Rect( center.x - ( w / 2 ), center.y - ( h / 2 ), w, h );
break;
default:
break;
}
}
bbs.push_back( bb );
bbCounter++;
}
FileStorage fs;
fs.open( cvtest::TS::ptr()->get_data_path() + TRACKING_DIR + "/" + video + "/" + video + ".yml", FileStorage::READ );
fs["start"] >> startFrame;
fs["prefix"] >> prefix;
fs["suffix"] >> suffix;
fs.release();
}
void TrackerSRETest::run()
{
srand( 1 );
SCOPED_TRACE( "A" );
if( !tracker )
{
FAIL()<< "Error in the instantiation of the tracker" << endl;
return;
}
checkDataTest();
//check for failure
if( ::testing::Test::HasFatalFailure() )
return;
if( testType == DISTANCE )
{
distanceTest();
}
else if( testType == OVERLAP )
{
overlapTest();
}
else
{
FAIL()<< "Test type unknown" << endl;
return;
}
}
/****************************************************************************************\
* Tests registrations *
\****************************************************************************************/
//[TESTDATA] [#SHIFT] [LOCATION ERROR THRESHOLD]
PARAM_TEST_CASE(SRE_Distance, string, int, float)
{
string dataset;
int shift;
float threshold;
virtual void SetUp()
{
dataset = GET_PARAM(0);
shift = GET_PARAM(1);
threshold = GET_PARAM(2);
}
};
//[TESTDATA] [#SHIFT] [OVERLAP THRESHOLD]
PARAM_TEST_CASE(SRE_Overlap, string, int, float)
{
string dataset;
int shift;
float threshold;
virtual void SetUp()
{
dataset = GET_PARAM(0);
shift = GET_PARAM(1);
threshold = GET_PARAM(2);
}
};
TEST_P(SRE_Distance, DISABLED_MIL)
{
TrackerSRETest test( Tracker::create( "MIL" ), TrackerSRETest::DISTANCE, dataset, shift, threshold );
test.run();
RecordProperty( "ratioSuccess", test.getRatioSucc() );
}
TEST_P(SRE_Overlap, DISABLED_MIL)
{
TrackerSRETest test( Tracker::create( "MIL" ), TrackerSRETest::OVERLAP, dataset, shift, threshold );
test.run();
RecordProperty( "ratioSuccess", test.getRatioSucc() );
}
TEST_P(SRE_Distance, DISABLED_Boosting)
{
TrackerSRETest test( Tracker::create( "BOOSTING" ), TrackerSRETest::DISTANCE, dataset, shift, threshold );
test.run();
RecordProperty( "ratioSuccess", test.getRatioSucc() );
}
TEST_P(SRE_Overlap, DISABLED_Boosting)
{
TrackerSRETest test( Tracker::create( "BOOSTING" ), TrackerSRETest::OVERLAP, dataset, shift, threshold );
test.run();
RecordProperty( "ratioSuccess", test.getRatioSucc() );
}
TEST_P(SRE_Distance, DISABLED_TLD)
{
TrackerSRETest test( Tracker::create( "TLD" ), TrackerSRETest::DISTANCE, dataset, shift, threshold );
test.run();
RecordProperty( "ratioSuccess", test.getRatioSucc() );
}
TEST_P(SRE_Overlap, DISABLED_TLD)
{
TrackerSRETest test( Tracker::create( "TLD" ), TrackerSRETest::OVERLAP, dataset, shift, threshold );
test.run();
RecordProperty( "ratioSuccess", test.getRatioSucc() );
}
TEST_P(SRE_Distance, DISABLED_GOTURN)
{
TrackerSRETest test(Tracker::create("GOTURN"), TrackerSRETest::DISTANCE, dataset, shift, threshold);
test.run();
RecordProperty("ratioSuccess", test.getRatioSucc());
}
TEST_P(SRE_Overlap, DISABLED_GOTURN)
{
TrackerSRETest test(Tracker::create("GOTURN"), TrackerSRETest::OVERLAP, dataset, shift, threshold);
test.run();
RecordProperty("ratioSuccess", test.getRatioSucc());
}
INSTANTIATE_TEST_CASE_P( Tracking, SRE_Distance, testing::Combine( TESTSET_NAMES, SPATIAL_SHIFTS, LOCATION_ERROR_THRESHOLD ) );
INSTANTIATE_TEST_CASE_P( Tracking, SRE_Overlap, testing::Combine( TESTSET_NAMES, SPATIAL_SHIFTS, OVERLAP_THRESHOLD ) );
/* End of file. */

355
modules/tracking/test/test_trackerTRE.cpp → modules/tracking/test/test_trackers.cpp
Unescape View File

@ -42,7 +42,6 @@
#include "test_precomp.hpp"
#include "opencv2/tracking.hpp"
#include <fstream>
#include <algorithm>
using namespace cv;
using namespace testing;
@ -51,10 +50,6 @@ using namespace std;
#define PARAM_TEST_CASE(name, ...) struct name : testing::TestWithParam< std::tr1::tuple< __VA_ARGS__ > >
#define GET_PARAM(k) std::tr1::get< k >(GetParam())
#define TESTSET_NAMES testing::Values("david","dudek","faceocc2")
#define LOCATION_ERROR_THRESHOLD testing::Values(0, 10, 20, 30, 40, 50)
#define OVERLAP_THRESHOLD testing::Values(0, 0.2, 0.4, 0.6, 0.8, 1)
//Fixed sampling on the images sequence
#define SEGMENTS testing::Values(1, 2, 3, 4, 5, 6, 7, 8, 9, 10)
const string TRACKING_DIR = "tracking";
const string FOLDER_IMG = "data";
@ -67,75 +62,79 @@ const string FOLDER_OMIT_INIT = "initOmit";
*
*/
//Robustness Evaluation, see [OTB] chapter 4. temporal robustness evaluation
//each sequence is partitioned into 10 (fixed) segments, slight change respect to [OTB]
class TrackerTRETest
enum BBTransformations
{
NoTransform = 0,
CenterShiftLeft = 1,
CenterShiftRight = 2,
CenterShiftUp = 3,
CenterShiftDown = 4,
CornerShiftTopLeft = 5,
CornerShiftTopRight = 6,
CornerShiftBottomLeft = 7,
CornerShiftBottomRight = 8,
Scale_0_8 = 9,
Scale_0_9 = 10,
Scale_1_1 = 11,
Scale_1_2 = 12
};
class TrackerTest
{
public:
enum
{
DISTANCE = 1, // test trackers based on euclidean distance
OVERLAP = 2 // test trackers based on the overlapping ratio
};
TrackerTRETest( const Ptr<Tracker> _tracker, int _testType, string _video, float _threshold, int _segmentIdx );
virtual ~TrackerTRETest();
TrackerTest(Ptr<Tracker> _tracker, string _video, float _overlapThreshold,
float _distanceThreshold, int _shift = NoTransform, int _segmentIdx = 1, int _numSegments = 10 );
virtual ~TrackerTest();
virtual void run();
string getRatioSucc() const;
protected:
void checkDataTest();
void distanceTest();
void overlapTest();
void distanceAndOvrerlapTest();
Ptr<Tracker> tracker;
int testType;
string video;
std::vector<Rect> bbs;
int gtStartFrame;
int startFrame;
int endFrame;
string suffix;
string prefix;
float threshold;
float overlapThreshold;
float distanceThreshold;
int segmentIdx;
int shift;
int numSegments;
int gtStartFrame;
int endFrame;
vector<int> validSequence;
float ratioSucc;
private:
float calcDistance( Rect a, Rect b );
float calcOverlap( Rect a, Rect b );
Rect applyShift(Rect bb);
std::vector<std::string> splitString( std::string s, std::string delimiter );
};
TrackerTRETest::TrackerTRETest( const Ptr<Tracker> _tracker, int _testType, string _video, float _threshold, int _segmentIdx ) :
TrackerTest::TrackerTest(Ptr<Tracker> _tracker, string _video, float _overlapThreshold,
float _distanceThreshold, int _shift, int _segmentIdx, int _numSegments ) :
tracker( _tracker ),
testType( _testType ),
video( _video ),
threshold( _threshold ),
segmentIdx( _segmentIdx )
overlapThreshold( _distanceThreshold ),
distanceThreshold( _overlapThreshold ),
segmentIdx(_segmentIdx),
shift(_shift),
numSegments(_numSegments)
{
startFrame = 1;
endFrame = 1;
gtStartFrame = 1;
ratioSucc = 0;
}
TrackerTRETest::~TrackerTRETest()
TrackerTest::~TrackerTest()
{
}
string TrackerTRETest::getRatioSucc() const
{
stringstream ratio;
ratio << ratioSucc;
return ratio.str();
}
std::vector<std::string> TrackerTRETest::splitString( std::string s, std::string delimiter )
std::vector<std::string> TrackerTest::splitString( std::string s, std::string delimiter )
{
std::vector<string> token;
size_t pos = 0;
@ -148,14 +147,14 @@ std::vector<std::string> TrackerTRETest::splitString( std::string s, std::string
return token;
}
float TrackerTRETest::calcDistance( Rect a, Rect b )
float TrackerTest::calcDistance( Rect a, Rect b )
{
Point2f p_a( (float)(a.x + a.width / 2), (float)(a.y + a.height / 2) );
Point2f p_b( (float)(b.x + b.width / 2), (float)(b.y + b.height / 2) );
return sqrt( pow( p_a.x - p_b.x, 2 ) + pow( p_a.y - p_b.y, 2 ) );
}
float TrackerTRETest::calcOverlap( Rect a, Rect b )
float TrackerTest::calcOverlap( Rect a, Rect b )
{
float aArea = (float)(a.width * a.height);
float bArea = (float)(b.width * b.height);
@ -183,94 +182,123 @@ float TrackerTRETest::calcOverlap( Rect a, Rect b )
return overlap;
}
void TrackerTRETest::distanceTest()
Rect TrackerTest::applyShift(Rect bb)
{
Mat frame;
bool initialized = false;
Point center( bb.x + ( bb.width / 2 ), bb.y + ( bb.height / 2 ) );
int fc = ( startFrame - gtStartFrame );
int xLimit = bb.x + bb.width - 1;
int yLimit = bb.y + bb.height - 1;
Rect currentBBi = bbs.at( fc );
Rect2d currentBB(currentBBi);
float sumDistance = 0;
string folder = cvtest::TS::ptr()->get_data_path() + TRACKING_DIR + "/" + video + "/" + FOLDER_IMG;
int h = 0;
int w = 0;
float ratio = 1.0;
int frameTotal = 0;
int frameTotalSucc = 0;
switch ( shift )
{
case CenterShiftLeft:
bb.x = bb.x - (int)ceil( 0.1 * bb.width );
break;
case CenterShiftRight:
bb.x = bb.x + (int)ceil( 0.1 * bb.width );
break;
case CenterShiftUp:
bb.y = bb.y - (int)ceil( 0.1 * bb.height );
break;
case CenterShiftDown:
bb.y = bb.y + (int)ceil( 0.1 * bb.height );
break;
case CornerShiftTopLeft:
bb.x = (int)cvRound( bb.x - 0.1 * bb.width );
bb.y = (int)cvRound( bb.y - 0.1 * bb.height );
VideoCapture c;
c.open( cvtest::TS::ptr()->get_data_path() + "/" + TRACKING_DIR + "/" + video + "/" + FOLDER_IMG + "/" + video + ".webm" );
c.set( CAP_PROP_POS_FRAMES, startFrame );
bb.width = xLimit - bb.x + 1;
bb.height = yLimit - bb.y + 1;
break;
case CornerShiftTopRight:
xLimit = (int)cvRound( xLimit + 0.1 * bb.width );
for ( int frameCounter = startFrame; frameCounter < endFrame; frameCounter++ )
{
c >> frame;
if( frame.empty() )
{
bb.y = (int)cvRound( bb.y - 0.1 * bb.height );
bb.width = xLimit - bb.x + 1;
bb.height = yLimit - bb.y + 1;
break;
}
if( !initialized )
{
if( !tracker->init( frame, currentBB ) )
{
FAIL()<< "Could not initialize tracker" << endl;
return;
}
initialized = true;
}
else if( initialized )
{
if( frameCounter >= (int) bbs.size() )
case CornerShiftBottomLeft:
bb.x = (int)cvRound( bb.x - 0.1 * bb.width );
yLimit = (int)cvRound( yLimit + 0.1 * bb.height );
bb.width = xLimit - bb.x + 1;
bb.height = yLimit - bb.y + 1;
break;
tracker->update( frame, currentBB );
}
case CornerShiftBottomRight:
xLimit = (int)cvRound( xLimit + 0.1 * bb.width );
yLimit = (int)cvRound( yLimit + 0.1 * bb.height );
float curDistance = calcDistance( currentBB, bbs.at( fc ) );
if( curDistance <= threshold )
frameTotalSucc++;
sumDistance += curDistance;
bb.width = xLimit - bb.x + 1;
bb.height = yLimit - bb.y + 1;
break;
case Scale_0_8:
ratio = 0.8f;
w = (int)(ratio * bb.width);
h = (int)(ratio * bb.height);
fc++;
frameTotal++;
}
bb = Rect( center.x - ( w / 2 ), center.y - ( h / 2 ), w, h );
break;
case Scale_0_9:
ratio = 0.9f;
w = (int)(ratio * bb.width);
h = (int)(ratio * bb.height);
float distance = sumDistance / ( fc - ( startFrame - gtStartFrame ) );
ratioSucc = (float) frameTotalSucc / (float) frameTotal;
bb = Rect( center.x - ( w / 2 ), center.y - ( h / 2 ), w, h );
break;
case 11:
//scale 1.1
ratio = 1.1f;
w = (int)(ratio * bb.width);
h = (int)(ratio * bb.height);
if( distance > threshold )
{
FAIL()<< "Incorrect distance: curr = " << distance << ", min = " << threshold << endl;
return;
bb = Rect( center.x - ( w / 2 ), center.y - ( h / 2 ), w, h );
break;
case 12:
//scale 1.2
ratio = 1.2f;
w = (int)(ratio * bb.width);
h = (int)(ratio * bb.height);
bb = Rect( center.x - ( w / 2 ), center.y - ( h / 2 ), w, h );
break;
default:
break;
}
return bb;
}
void TrackerTRETest::overlapTest()
void TrackerTest::distanceAndOvrerlapTest()
{
Mat frame;
bool initialized = false;
int fc = ( startFrame - gtStartFrame );
bbs.at( fc ) = applyShift(bbs.at( fc ));
Rect currentBBi = bbs.at( fc );
Rect2d currentBB(currentBBi);
float sumDistance = 0;
float sumOverlap = 0;
string folder = cvtest::TS::ptr()->get_data_path() + TRACKING_DIR + "/" + video + "/" + FOLDER_IMG;
int frameTotal = 0;
int frameTotalSucc = 0;
string folder = cvtest::TS::ptr()->get_data_path() + "/" + TRACKING_DIR + "/" + video + "/" + FOLDER_IMG;
VideoCapture c;
c.open( cvtest::TS::ptr()->get_data_path() + "/" + TRACKING_DIR + "/" + video + "/" + FOLDER_IMG + "/" + video + ".webm" );
c.open( folder + "/" + video + ".webm" );
c.set( CAP_PROP_POS_FRAMES, startFrame );
for ( int frameCounter = startFrame; frameCounter < endFrame; frameCounter++ )
{
c >> frame;
if( frame.empty() )
{
break;
}
if( !initialized )
{
if( !tracker->init( frame, currentBB ) )
@ -286,26 +314,31 @@ void TrackerTRETest::overlapTest()
break;
tracker->update( frame, currentBB );
}
float curDistance = calcDistance( currentBB, bbs.at( fc ) );
float curOverlap = calcOverlap( currentBB, bbs.at( fc ) );
if( curOverlap >= threshold )
frameTotalSucc++;
sumDistance += curDistance;
sumOverlap += curOverlap;
frameTotal++;
fc++;
}
float overlap = sumOverlap / ( fc - ( startFrame - gtStartFrame ) );
ratioSucc = (float) frameTotalSucc / (float) frameTotal;
float meanDistance = sumDistance / (endFrame - startFrame);
float meanOverlap = sumOverlap / (endFrame - startFrame);
if( overlap < threshold )
if( meanDistance > distanceThreshold )
{
FAIL()<< "Incorrect overlap: curr = " << overlap << ", min = " << threshold << endl;
FAIL()<< "Incorrect distance: curr = " << meanDistance << ", max = " << distanceThreshold << endl;
return;
}
if( meanOverlap < overlapThreshold )
{
FAIL()<< "Incorrect overlap: curr = " << meanOverlap << ", min = " << overlapThreshold << endl;
return;
}
}
void TrackerTRETest::checkDataTest()
void TrackerTest::checkDataTest()
{
FileStorage fs;
@ -360,8 +393,7 @@ void TrackerTRETest::checkDataTest()
omit.close();
gtStartFrame = startFrame;
//compute the start and the and for each segment
int segmentLength = sizeof ( SEGMENTS)/sizeof(int);
int numFrame = (int)(validSequence.size() / segmentLength);
int numFrame = (int)(validSequence.size() / numSegments);
startFrame += ( segmentIdx - 1 ) * numFrame;
endFrame = startFrame + numFrame;
@ -388,13 +420,14 @@ void TrackerTRETest::checkDataTest()
}
gt2.close();
if( segmentIdx == ( sizeof ( SEGMENTS)/sizeof(int) ) )
endFrame = (int)bbs.size();
if( segmentIdx == numSegments )
endFrame = (int)bbs.size();
}
void TrackerTRETest::run()
void TrackerTest::run()
{
srand( 1 );
SCOPED_TRACE( "A" );
if( !tracker )
@ -409,112 +442,104 @@ void TrackerTRETest::run()
if( ::testing::Test::HasFatalFailure() )
return;
if( testType == DISTANCE )
{
distanceTest();
}
else if( testType == OVERLAP )
{
overlapTest();
}
else
{
FAIL()<< "Test type unknown" << endl;
return;
}
distanceAndOvrerlapTest();
}
/****************************************************************************************\
* Tests registrations *
\****************************************************************************************/
//[TESTDATA] [#SEGMENT] [LOCATION ERROR THRESHOLD]
PARAM_TEST_CASE(TRE_Distance, string, int, float)
//[TESTDATA]
PARAM_TEST_CASE(DistanceAndOverlap, string)
{
int segment;
string dataset;
float threshold;
virtual void SetUp()
{
dataset = GET_PARAM(0);
segment = GET_PARAM(1);
threshold = GET_PARAM(2);
}
};
//[TESTDATA] [#SEGMENT] [OVERLAP THRESHOLD]
PARAM_TEST_CASE(TRE_Overlap, string, int, float)
TEST_P(DistanceAndOverlap, MedianFlow)
{
int segment;
string dataset;
float threshold;
virtual void SetUp()
{
dataset = GET_PARAM(0);
segment = GET_PARAM(1);
threshold = GET_PARAM(2);
}
};
TrackerTest test( Tracker::create( "MEDIANFLOW" ), dataset, 120, .2f, NoTransform, 1, 1);
test.run();
}
TEST_P(TRE_Distance, DISABLED_MIL)
TEST_P(DistanceAndOverlap, MIL)
{
TrackerTRETest test( Tracker::create( "MIL" ), TrackerTRETest::DISTANCE, dataset, threshold, segment );
TrackerTest test( Tracker::create( "MIL" ), dataset, 30, 0.65f, NoTransform);
test.run();
RecordProperty( "ratioSuccess", test.getRatioSucc() );
}
TEST_P(TRE_Overlap, DISABLED_MIL)
TEST_P(DistanceAndOverlap, Boosting)
{
TrackerTRETest test( Tracker::create( "MIL" ), TrackerTRETest::OVERLAP, dataset, threshold, segment );
TrackerTest test( Tracker::create( "BOOSTING" ), dataset, 70, .65f, NoTransform);
test.run();
RecordProperty( "ratioSuccess", test.getRatioSucc() );
}
TEST_P(TRE_Distance, DISABLED_Boosting)
TEST_P(DistanceAndOverlap, TLD)
{
TrackerTRETest test( Tracker::create( "BOOSTING" ), TrackerTRETest::DISTANCE, dataset, threshold, segment );
TrackerTest test( Tracker::create( "TLD" ), dataset, 60, .4f, NoTransform);
test.run();
}
/***************************************************************************************/
//Tests with shifted initial window
TEST_P(DistanceAndOverlap, Shifted_Data_MedianFlow)
{
TrackerTest test( Tracker::create( "MEDIANFLOW" ), dataset, 120, .2f, CenterShiftLeft, 1, 1);
test.run();
}
TEST_P(DistanceAndOverlap, Shifted_Data_MIL)
{
TrackerTest test( Tracker::create( "MIL" ), dataset, 30, 0.65f, CenterShiftLeft);
test.run();
RecordProperty( "ratioSuccess", test.getRatioSucc() );
}
TEST_P(TRE_Overlap, DISABLED_Boosting)
TEST_P(DistanceAndOverlap, Shifted_Data_Boosting)
{
TrackerTRETest test( Tracker::create( "BOOSTING" ), TrackerTRETest::OVERLAP, dataset, threshold, segment );
TrackerTest test( Tracker::create( "BOOSTING" ), dataset, 80, .65f, CenterShiftLeft);
test.run();
RecordProperty( "ratioSuccess", test.getRatioSucc() );
}
TEST_P(TRE_Distance, DISABLED_TLD)
TEST_P(DistanceAndOverlap, Shifted_Data_TLD)
{
TrackerTest test( Tracker::create( "TLD" ), dataset, 120, .4f, CenterShiftLeft);
test.run();
}
/***************************************************************************************/
//Tests with scaled initial window
TEST_P(DistanceAndOverlap, Scaled_Data_MedianFlow)
{
TrackerTRETest test( Tracker::create( "TLD" ), TrackerTRETest::DISTANCE, dataset, threshold, segment );
TrackerTest test( Tracker::create( "MEDIANFLOW" ), dataset, 120, .2f, Scale_1_1, 1, 1);
test.run();
RecordProperty( "ratioSuccess", test.getRatioSucc() );
}
TEST_P(TRE_Overlap, DISABLED_TLD)
TEST_P(DistanceAndOverlap, Scaled_Data_MIL)
{
TrackerTRETest test( Tracker::create( "TLD" ), TrackerTRETest::OVERLAP, dataset, threshold, segment );
TrackerTest test( Tracker::create( "MIL" ), dataset, 30, 0.65f, Scale_1_1);
test.run();
RecordProperty( "ratioSuccess", test.getRatioSucc() );
}
TEST_P(TRE_Distance, DISABLED_GOTURN)
TEST_P(DistanceAndOverlap, Scaled_Data_Boosting)
{
TrackerTRETest test(Tracker::create("GOTURN"), TrackerTRETest::DISTANCE, dataset, threshold, segment);
TrackerTest test( Tracker::create( "BOOSTING" ), dataset, 80, .65f, Scale_1_1);
test.run();
RecordProperty("ratioSuccess", test.getRatioSucc());
}
TEST_P(TRE_Overlap, DISABLED_GOTURN)
TEST_P(DistanceAndOverlap, Scaled_Data_TLD)
{
TrackerTRETest test(Tracker::create("GOTURN"), TrackerTRETest::OVERLAP, dataset, threshold, segment);
TrackerTest test( Tracker::create( "TLD" ), dataset, 120, .4f, Scale_1_1);
test.run();
RecordProperty("ratioSuccess", test.getRatioSucc());
}
INSTANTIATE_TEST_CASE_P( Tracking, TRE_Distance, testing::Combine( TESTSET_NAMES, SEGMENTS, LOCATION_ERROR_THRESHOLD ) );
INSTANTIATE_TEST_CASE_P( Tracking, TRE_Overlap, testing::Combine( TESTSET_NAMES, SEGMENTS, OVERLAP_THRESHOLD ) );
TEST_P(DistanceAndOverlap, DISABLED_GOTURN)
{
TrackerTest test(Tracker::create("GOTURN"), dataset, 0, 100, NoTransform);
test.run();
}
INSTANTIATE_TEST_CASE_P( Tracking, DistanceAndOverlap, TESTSET_NAMES);
/* End of file. */
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