video/test/test_trackers.impl.hpp

// This file is part of OpenCV project.
// It is subject to the license terms in the LICENSE file found in the top-level directory
// of this distribution and at http://opencv.org/license.html.

/*
 * 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
 *
 */

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
};

namespace {

std::vector<std::string> splitString(const std::string& s_, const std::string& delimiter)
{
    std::string s = s_;
    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 calcDistance(const Rect& a, const 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 calcOverlap(const Rect& a, const Rect& b)
{
    float rectIntersectionArea = (float)(a & b).area();
    return rectIntersectionArea / (a.area() + b.area() - rectIntersectionArea);
}

}  // namespace

template <typename Tracker, typename ROI_t = Rect2d>
class TrackerTest
{
public:
    TrackerTest(const Ptr<Tracker>& tracker, const string& video, float distanceThreshold,
            float overlapThreshold, int shift = NoTransform, int segmentIdx = 1, int numSegments = 10);
    ~TrackerTest() {}
    void run();

protected:
    void checkDataTest();

    void distanceAndOverlapTest();

    Ptr<Tracker> tracker;
    string video;
    std::vector<Rect> bbs;
    int startFrame;
    string suffix;
    string prefix;
    float overlapThreshold;
    float distanceThreshold;
    int segmentIdx;
    int shift;
    int numSegments;

    int gtStartFrame;
    int endFrame;
    vector<int> validSequence;

private:
    Rect applyShift(const Rect& bb);
};

template <typename Tracker, typename ROI_t>
TrackerTest<Tracker, ROI_t>::TrackerTest(const Ptr<Tracker>& _tracker, const string& _video, float _distanceThreshold,
        float _overlapThreshold, int _shift, int _segmentIdx, int _numSegments)
    : tracker(_tracker)
    , video(_video)
    , overlapThreshold(_overlapThreshold)
    , distanceThreshold(_distanceThreshold)
    , segmentIdx(_segmentIdx)
    , shift(_shift)
    , numSegments(_numSegments)
{
    // nothing
}

template <typename Tracker, typename ROI_t>
Rect TrackerTest<Tracker, ROI_t>::applyShift(const Rect& bb_)
{
    Rect bb = bb_;
    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 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);

        bb.width = xLimit - bb.x + 1;
        bb.height = yLimit - bb.y + 1;
        break;
    case CornerShiftTopRight:
        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 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;
    case CornerShiftBottomRight:
        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 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 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;
    }

    return bb;
}

template <typename Tracker, typename ROI_t>
void TrackerTest<Tracker, ROI_t>::distanceAndOverlapTest()
{
    bool initialized = false;

    int fc = (startFrame - gtStartFrame);

    bbs.at(fc) = applyShift(bbs.at(fc));
    Rect currentBBi = bbs.at(fc);
    ROI_t currentBB(currentBBi);
    float sumDistance = 0;
    float sumOverlap = 0;

    string folder = cvtest::TS::ptr()->get_data_path() + "/" + TRACKING_DIR + "/" + video + "/" + FOLDER_IMG;
    string videoPath = folder + "/" + video + ".webm";

    VideoCapture c;
    c.open(videoPath);
    if (!c.isOpened())
        throw SkipTestException("Can't open video file");
#if 0
    c.set(CAP_PROP_POS_FRAMES, startFrame);
#else
    if (startFrame)
        std::cout << "startFrame = " << startFrame << std::endl;
    for (int i = 0; i < startFrame; i++)
    {
        Mat dummy_frame;
        c >> dummy_frame;
        ASSERT_FALSE(dummy_frame.empty()) << i << ": " << videoPath;
    }
#endif

    for (int frameCounter = startFrame; frameCounter < endFrame; frameCounter++)
    {
        Mat frame;
        c >> frame;

        ASSERT_FALSE(frame.empty()) << "frameCounter=" << frameCounter << " video=" << videoPath;
        if (!initialized)
        {
            tracker->init(frame, currentBB);
            std::cout << "frame size = " << frame.size() << std::endl;
            initialized = true;
        }
        else if (initialized)
        {
            if (frameCounter >= (int)bbs.size())
                break;
            tracker->update(frame, currentBB);
        }
        float curDistance = calcDistance(currentBB, bbs.at(fc));
        float curOverlap = calcOverlap(currentBB, bbs.at(fc));

#ifdef DEBUG_TEST
        Mat result;
        repeat(frame, 1, 2, result);
        rectangle(result, currentBB, Scalar(0, 255, 0), 1);
        Rect roi2(frame.cols, 0, frame.cols, frame.rows);
        rectangle(result(roi2), bbs.at(fc), Scalar(0, 0, 255), 1);
        imshow("result", result);
        waitKey(1);
#endif

        sumDistance += curDistance;
        sumOverlap += curOverlap;
        fc++;
    }

    float meanDistance = sumDistance / (endFrame - startFrame);
    float meanOverlap = sumOverlap / (endFrame - startFrame);

    EXPECT_LE(meanDistance, distanceThreshold);
    EXPECT_GE(meanOverlap, overlapThreshold);
}

template <typename Tracker, typename ROI_t>
void TrackerTest<Tracker, ROI_t>::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";
    std::ifstream gt;
    //open the ground truth
    gt.open(gtFile.c_str());
    ASSERT_TRUE(gt.is_open()) << gtFile;
    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";
    std::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 numFrame = (int)(validSequence.size() / numSegments);
    startFrame += (segmentIdx - 1) * numFrame;
    endFrame = startFrame + numFrame;

    std::ifstream gt2;
    //open the ground truth
    gt2.open(gtFile.c_str());
    ASSERT_TRUE(gt2.is_open()) << gtFile;
    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()));
        ASSERT_EQ((size_t)4, tokens.size()) << "Incorrect ground truth file " << gtFile;

        bbs.push_back(bb);
        bbCounter2++;
    }
    gt2.close();

    if (segmentIdx == numSegments)
        endFrame = (int)bbs.size();
}

template <typename Tracker, typename ROI_t>
void TrackerTest<Tracker, ROI_t>::run()
{
    srand(1);  // FIXIT remove that, ensure that there is no "rand()" in implementation

    ASSERT_TRUE(tracker);

    checkDataTest();

    //check for failure
    if (::testing::Test::HasFatalFailure())
        return;

    distanceAndOverlapTest();
}