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benchmark.cpp
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benchmark.cpp
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#include "opencv2/core/utility.hpp"
#include "opencv2/highgui.hpp"
#include "opencv2/tracking.hpp"
#include "opencv2/videoio.hpp"
#include "opencv2/plot.hpp"
#include "samples_utility.hpp"
#include <fstream>
#include <iomanip>
#include <iostream>
using namespace std;
using namespace cv;
// TODO: do normalization ala Kalal's assessment protocol for TLD
static const Scalar gtColor = Scalar(0, 255, 0);
static Scalar getNextColor()
{
const int num = 6;
static Scalar colors[num] = {Scalar(160, 0, 0), Scalar(0, 0, 160), Scalar(0, 160, 160),
Scalar(160, 160, 0), Scalar(160, 0, 160), Scalar(20, 50, 160)};
static int id = 0;
return colors[id < num ? id++ : num - 1];
}
inline vector<Rect2d> readGT(const string &filename, const string &omitname)
{
vector<Rect2d> res;
{
ifstream input(filename.c_str());
if (!input.is_open())
CV_Error(Error::StsError, "Failed to open file");
while (input)
{
Rect2d one;
input >> one.x;
input.ignore(numeric_limits<std::streamsize>::max(), ',');
input >> one.y;
input.ignore(numeric_limits<std::streamsize>::max(), ',');
input >> one.width;
input.ignore(numeric_limits<std::streamsize>::max(), ',');
input >> one.height;
input.ignore(numeric_limits<std::streamsize>::max(), '\n');
if (input.good())
res.push_back(one);
}
}
if (!omitname.empty())
{
ifstream input(omitname.c_str());
if (!input.is_open())
CV_Error(Error::StsError, "Failed to open file");
while (input)
{
unsigned int a = 0, b = 0;
input >> a >> b;
input.ignore(numeric_limits<std::streamsize>::max(), '\n');
if (a > 0 && b > 0 && a < res.size() && b < res.size())
{
if (a > b)
swap(a, b);
for (vector<Rect2d>::iterator i = res.begin() + a; i != res.begin() + b; ++i)
{
*i = Rect2d();
}
}
}
}
return res;
}
inline bool isGoodBox(const Rect2d &box) { return box.width > 0. && box.height > 0.; }
const int LTRC_COUNT = 100;
struct AlgoWrap
{
AlgoWrap(const string &name_)
: lastState(NotFound), name(name_), color(getNextColor()),
numTotal(0), numResponse(0), numPresent(0), numCorrect_0(0), numCorrect_0_5(0),
timeTotal(0), auc(LTRC_COUNT + 1, 0)
{
tracker = createTrackerByName(name);
}
enum State
{
NotFound,
Overlap_None,
Overlap_0,
Overlap_0_5,
};
Ptr<Tracker> tracker;
bool lastRes;
Rect lastBox;
State lastState;
// visual
string name;
Scalar color;
// results
int numTotal; // frames passed to tracker
int numResponse; // frames where tracker had response
int numPresent; // frames where ground truth result present
int numCorrect_0; // frames where overlap with GT > 0
int numCorrect_0_5; // frames where overlap with GT > 0.5
int64 timeTotal; // ticks
vector<int> auc; // number of frames for each overlap percent
void eval(const Mat &frame, const Rect2d >Box, bool isVerbose)
{
// RUN
lastBox = Rect();
int64 frameTime = getTickCount();
lastRes = tracker->update(frame, lastBox);
frameTime = getTickCount() - frameTime;
// RESULTS
double intersectArea = (gtBox & (Rect2d)lastBox).area();
double unionArea = (gtBox | (Rect2d)lastBox).area();
numTotal++;
numResponse += (lastRes && isGoodBox(lastBox)) ? 1 : 0;
numPresent += isGoodBox(gtBox) ? 1 : 0;
double overlap = unionArea > 0. ? intersectArea / unionArea : 0.;
numCorrect_0 += overlap > 0. ? 1 : 0;
numCorrect_0_5 += overlap > 0.5 ? 1 : 0;
auc[std::min(std::max((size_t)(overlap * LTRC_COUNT), (size_t)0), (size_t)LTRC_COUNT)]++;
timeTotal += frameTime;
if (isVerbose)
cout << name << " - " << overlap << endl;
if (isGoodBox(gtBox) != isGoodBox(lastBox)) lastState = NotFound;
else if (overlap > 0.5) lastState = Overlap_0_5;
else if (overlap > 0.0001) lastState = Overlap_0;
else lastState = Overlap_None;
}
void draw(Mat &image, const Point &textPoint) const
{
if (lastRes)
rectangle(image, lastBox, color, 2, LINE_8);
string suf;
switch (lastState)
{
case AlgoWrap::NotFound: suf = " X"; break;
case AlgoWrap::Overlap_None: suf = " ~"; break;
case AlgoWrap::Overlap_0: suf = " +"; break;
case AlgoWrap::Overlap_0_5: suf = " ++"; break;
}
putText(image, name + suf, textPoint, FONT_HERSHEY_PLAIN, 1, color, 1, LINE_AA);
}
// calculates "lost track ratio" curve - row of values growing from 0 to 1
// number of elements is LTRC_COUNT + 2
Mat getLTRC() const
{
Mat t, res;
Mat(auc).convertTo(t, CV_64F); // integral does not support CV_32S input
integral(t.t(), res, CV_64F); // t is a column of values
return res.row(1) / (double)numTotal;
}
void plotLTRC(Mat &img) const
{
Ptr<plot::Plot2d> p_ = plot::Plot2d::create(getLTRC());
p_->render(img);
}
double calcAUC() const
{
return cv::sum(getLTRC())[0] / (double)LTRC_COUNT;
}
void stat(ostream &out) const
{
out << name << endl;
out << setw(20) << "Overlap > 0 " << setw(20) << (double)numCorrect_0 / numTotal * 100
<< "%" << setw(20) << numCorrect_0 << endl;
out << setw(20) << "Overlap > 0.5" << setw(20) << (double)numCorrect_0_5 / numTotal * 100
<< "%" << setw(20) << numCorrect_0_5 << endl;
double p = (double)numCorrect_0_5 / numResponse;
double r = (double)numCorrect_0_5 / numPresent;
double f = 2 * p * r / (p + r);
out << setw(20) << "Precision" << setw(20) << p * 100 << "%" << endl;
out << setw(20) << "Recall " << setw(20) << r * 100 << "%" << endl;
out << setw(20) << "f-measure" << setw(20) << f * 100 << "%" << endl;
out << setw(20) << "AUC" << setw(20) << calcAUC() << endl;
double s = (timeTotal / getTickFrequency()) / numTotal;
out << setw(20) << "Performance" << setw(20) << s * 1000 << " ms/frame" << setw(20) << 1 / s
<< " fps" << endl;
}
};
inline ostream &operator<<(ostream &out, const AlgoWrap &w) { w.stat(out); return out; }
inline vector<AlgoWrap> initAlgorithms(const string &algList)
{
vector<AlgoWrap> res;
istringstream input(algList);
for (;;)
{
char one[30];
input.getline(one, 30, ',');
if (!input)
break;
cout << " " << one << " - ";
AlgoWrap a(one);
if (a.tracker)
{
res.push_back(a);
cout << "OK";
}
else
{
cout << "FAILED";
}
cout << endl;
}
return res;
}
static const string &window = "Tracking API";
int main(int argc, char **argv)
{
const string keys =
"{help h||show help}"
"{video||video file to process}"
"{gt||ground truth file (each line describes rectangle in format: '<x>,<y>,<w>,<h>')}"
"{start|0|starting frame}"
"{num|0|frame number (0 for all)}"
"{omit||file with omit ranges (each line describes occluded frames: '<start> <end>')}"
"{plot|false|plot LTR curves at the end}"
"{v|false|print each frame info}"
"{@algos||comma-separated algorithm names}";
CommandLineParser p(argc, argv, keys);
if (p.has("help"))
{
p.printMessage();
return 0;
}
int startFrame = p.get<int>("start");
int frameCount = p.get<int>("num");
string videoFile = p.get<string>("video");
string gtFile = p.get<string>("gt");
string omitFile = p.get<string>("omit");
string algList = p.get<string>("@algos");
bool doPlot = p.get<bool>("plot");
bool isVerbose = p.get<bool>("v");
if (!p.check())
{
p.printErrors();
return 0;
}
cout << "Reading GT from " << gtFile << " ... ";
vector<Rect2d> gt = readGT(gtFile, omitFile);
if (gt.empty())
CV_Error(Error::StsError, "Failed to read GT file");
cout << gt.size() << " boxes" << endl;
cout << "Opening video " << videoFile << " ... ";
VideoCapture cap;
cap.open(videoFile);
if (!cap.isOpened())
CV_Error(Error::StsError, "Failed to open video file");
cap.set(CAP_PROP_POS_FRAMES, startFrame);
cout << "at frame " << startFrame << endl;
// INIT
vector<AlgoWrap> algos = initAlgorithms(algList);
Mat frame, image;
cap >> frame;
for (vector<AlgoWrap>::iterator i = algos.begin(); i != algos.end(); ++i)
i->tracker->init(frame, gt[0]);
// DRAW
{
namedWindow(window, WINDOW_AUTOSIZE);
frame.copyTo(image);
rectangle(image, gt[0], gtColor, 2, LINE_8);
imshow(window, image);
}
bool paused = false;
int frameId = 0;
cout << "Hot keys:" << endl << " q - exit" << endl << " p - pause" << endl;
for (;;)
{
if (!paused)
{
cap >> frame;
if (frame.empty())
{
cout << "Done - video end" << endl;
break;
}
frameId++;
if (isVerbose)
cout << endl << "Frame " << frameId << endl;
// EVAL
for (vector<AlgoWrap>::iterator i = algos.begin(); i != algos.end(); ++i)
i->eval(frame, gt[frameId], isVerbose);
// DRAW
{
Point textPoint(1, 16);
frame.copyTo(image);
rectangle(image, gt[frameId], gtColor, 2, LINE_8);
putText(image, "GROUND TRUTH", textPoint, FONT_HERSHEY_PLAIN, 1, gtColor, 1, LINE_AA);
for (vector<AlgoWrap>::iterator i = algos.begin(); i != algos.end(); ++i)
{
textPoint.y += 14;
i->draw(image, textPoint);
}
imshow(window, image);
}
}
char c = (char)waitKey(1);
if (c == 'q')
{
cout << "Done - manual exit" << endl;
break;
}
else if (c == 'p')
{
paused = !paused;
}
if (frameCount && frameId >= frameCount)
{
cout << "Done - max frame count" << endl;
break;
}
}
// STAT
for (vector<AlgoWrap>::iterator i = algos.begin(); i != algos.end(); ++i)
cout << "==========" << endl << *i << endl;
if (doPlot)
{
Mat img(300, 300, CV_8UC3);
for (vector<AlgoWrap>::iterator i = algos.begin(); i != algos.end(); ++i)
{
i->plotLTRC(img);
imshow("LTR curve for " + i->name, img);
}
waitKey(0);
}
return 0;
}