opencv_contrib/modules/tracking/test/test_trackerTRE.cpp

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#include "test_precomp.hpp"
#include "opencv2/tracking.hpp"
#include <fstream>
#include <algorithm>

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)
//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";
const string FOLDER_OMIT_INIT = "initOmit";

/*
 * 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. temporal robustness evaluation
//each sequence is partitioned into 10 (fixed) segments, slight change respect to [OTB]
class TrackerTRETest
{
 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();
  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 gtStartFrame;
  int startFrame;
  int endFrame;
  string suffix;
  string prefix;
  float threshold;
  int segmentIdx;
  vector<int> validSequence;
  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 );

};

TrackerTRETest::TrackerTRETest( const Ptr<Tracker> _tracker, int _testType, string _video, float _threshold, int _segmentIdx ) :
    tracker( _tracker ),
    testType( _testType ),
    video( _video ),
    threshold( _threshold ),
    segmentIdx( _segmentIdx )
{
  startFrame = 1;
  endFrame = 1;
  gtStartFrame = 1;
  ratioSucc = 0;
}

TrackerTRETest::~TrackerTRETest()
{

}

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<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 TrackerTRETest::calcDistance( Rect a, Rect b )
{
  Point2f p_a( a.x + a.width / 2, a.y + a.height / 2 );
  Point2f p_b( b.x + b.width / 2, 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 aArea = a.width * a.height;
  float bArea = 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 = rectIntersection.width * rectIntersection.height;
  float uArea = rectUnion.width * rectUnion.height;
  float overlap = iArea / uArea;
  return overlap;
}

void TrackerTRETest::distanceTest()
{
  Mat frame;
  bool initialized = false;

  int fc = ( startFrame - gtStartFrame );

  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 frameTotal = 0;
  int frameTotalSucc = 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 ( int frameCounter = startFrame; frameCounter < endFrame; frameCounter++ )
  {
    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( fc ) );
    if( curDistance <= threshold )
      frameTotalSucc++;
    sumDistance += curDistance;

    fc++;
    frameTotal++;
  }

  float distance = sumDistance / ( fc - ( startFrame - gtStartFrame ) );
  ratioSucc = (float) frameTotalSucc / (float) frameTotal;

  if( distance > threshold )
  {
    FAIL()<< "Incorrect distance: curr = " << distance << ", min = " << threshold << endl;
    return;
  }

}

void TrackerTRETest::overlapTest()
{
  Mat frame;
  bool initialized = false;

  int fc = ( startFrame - gtStartFrame );
  Rect currentBBi = bbs.at( fc );
  Rect2d currentBB(currentBBi);
  float sumOverlap = 0;
  string folder = cvtest::TS::ptr()->get_data_path() + TRACKING_DIR + "/" + video + "/" + FOLDER_IMG;

  int frameTotal = 0;
  int frameTotalSucc = 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 ( int frameCounter = startFrame; frameCounter < endFrame; frameCounter++ )
  {
    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( fc ) );
    if( curOverlap >= threshold )
      frameTotalSucc++;

    sumOverlap += curOverlap;
    frameTotal++;
    fc++;
  }

  float overlap = sumOverlap / ( fc - ( startFrame - gtStartFrame ) );
  ratioSucc = (float) frameTotalSucc / (float) frameTotal;

  if( overlap < threshold )
  {
    FAIL()<< "Incorrect overlap: curr = " << overlap << ", min = " << threshold << endl;
    return;
  }
}

void TrackerTRETest::checkDataTest()
{

  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();

  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 ) )
  {
    bbCounter++;
  }
  gt.close();

  int seqLength = bbCounter;
  for ( int i = startFrame; i < seqLength; i++ )
  {
    validSequence.push_back( i );
  }

  //exclude from the images sequence, the frames where the target is occluded or out of view
  string omitFile = cvtest::TS::ptr()->get_data_path() + TRACKING_DIR + "/" + video + "/" + FOLDER_OMIT_INIT + "/" + video + ".txt";
  ifstream omit;
  omit.open( omitFile.c_str() );
  if( omit.is_open() )
  {
    string omitLine;
    while ( getline( omit, omitLine ) )
    {
      vector<string> tokens = splitString( omitLine, " " );
      int s_start = atoi( tokens.at( 0 ).c_str() );
      int s_end = atoi( tokens.at( 1 ).c_str() );
      for ( int k = s_start; k <= s_end; k++ )
      {
        std::vector<int>::iterator position = std::find( validSequence.begin(), validSequence.end(), k );
        if( position != validSequence.end() )
          validSequence.erase( position );
      }
    }
  }
  omit.close();
  gtStartFrame = startFrame;
  //compute the start and the and for each segment
  int segmentLength = sizeof ( SEGMENTS)/sizeof(int);
  int numFrame = validSequence.size() / segmentLength;
  startFrame += ( segmentIdx - 1 ) * numFrame;
  endFrame = startFrame + numFrame;

  ifstream gt2;
  //open the ground truth
  gt2.open( gtFile.c_str() );
  if( !gt2.is_open() )
  {
    FAIL()<< "Ground truth file " << gtFile << " can not be read" << endl;
  }
  string line2;
  int bbCounter2 = 0;
  while ( getline( gt2, line2 ) )
  {
    vector<string> tokens = splitString( line2, "," );
    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 );
    bbCounter2++;
  }
  gt2.close();

  if( segmentIdx == ( sizeof ( SEGMENTS)/sizeof(int) ) )
  endFrame = bbs.size();

}

void TrackerTRETest::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] [#SEGMENT] [LOCATION ERROR THRESHOLD]
PARAM_TEST_CASE(TRE_Distance, string, int, float)
{
  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)
{
  int segment;
  string dataset;
  float threshold;
  virtual void SetUp()
  {
    dataset = GET_PARAM(0);
    segment = GET_PARAM(1);
    threshold = GET_PARAM(2);
  }
};

TEST_P(TRE_Distance, MIL)
{
  TrackerTRETest test( Tracker::create( "MIL" ), TrackerTRETest::DISTANCE, dataset, threshold, segment );
  test.run();
  RecordProperty( "ratioSuccess", test.getRatioSucc() );
}

TEST_P(TRE_Overlap, MIL)
{
  TrackerTRETest test( Tracker::create( "MIL" ), TrackerTRETest::OVERLAP, dataset, threshold, segment );
  test.run();
  RecordProperty( "ratioSuccess", test.getRatioSucc() );
}

TEST_P(TRE_Distance, Boosting)
{
  TrackerTRETest test( Tracker::create( "BOOSTING" ), TrackerTRETest::DISTANCE, dataset, threshold, segment );
  test.run();
  RecordProperty( "ratioSuccess", test.getRatioSucc() );
}

TEST_P(TRE_Overlap, Boosting)
{
  TrackerTRETest test( Tracker::create( "BOOSTING" ), TrackerTRETest::OVERLAP, dataset, threshold, segment );
  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 ) );

/* End of file. */