eval sort on mot17

2024-04-22 00:03:55 +08:00 · 2024-04-22 00:03:55 +08:00 · 6c637adb8d
parent 10f8d97e21
commit 6c637adb8d
8 changed files with 232 additions and 27 deletions
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@ -299,6 +299,8 @@ add_executable(SingleObjectTracking samples/demo/single_object_tracking.cpp)
 target_link_libraries(SingleObjectTracking sv_world)
 add_executable(MultipleObjectTracking samples/demo/multiple_object_tracking.cpp)
 target_link_libraries(MultipleObjectTracking sv_world)
+add_executable(EvalMOTMetric samples/demo/eval_MOT_metric.cpp)
+target_link_libraries(EvalMOTMetric -lstdc++fs sv_world)
 add_executable(ColorLineDetection samples/demo/color_line_detect.cpp)
 target_link_libraries(ColorLineDetection sv_world)
 add_executable(UdpDetectionInfoReceiver samples/demo/udp_detection_info_receiver.cpp)
@ -364,14 +366,12 @@ if(PLATFORM STREQUAL "JETSON")
 file(WRITE ${CMAKE_CURRENT_BINARY_DIR}/build/${PROJECT_NAME}Config.cmake.in [[
@PACKAGE_INIT@
 find_package(OpenCV 4 REQUIRED)
-find_package(Eigen3 REQUIRED)
 link_directories(/usr/local/cuda/lib64)
 set(SV_INCLUDE_DIRS
  @SV_INSTALL_PREFIX@/include
  /usr/include/x86_64-linux-gnu
  /usr/local/cuda/include
  ${OpenCV_INCLUDE_DIRS}
-  ${EIGEN3_INCLUDE_DIRS}
  /usr/include/gstreamer-1.0
  /usr/local/include/gstreamer-1.0
  /usr/include/glib-2.0
@ -390,7 +390,6 @@ elseif(PLATFORM STREQUAL "X86_CUDA")
 file(WRITE ${CMAKE_CURRENT_BINARY_DIR}/build/${PROJECT_NAME}Config.cmake.in [[
@PACKAGE_INIT@
 find_package(OpenCV 4 REQUIRED)
-find_package(Eigen3 REQUIRED)
 find_package(fmt REQUIRED)
 link_directories(/usr/local/cuda/lib64)
 set(SV_INCLUDE_DIRS
@ -398,7 +397,6 @@ set(SV_INCLUDE_DIRS
  /usr/include/x86_64-linux-gnu
  /usr/local/cuda/include
  ${OpenCV_INCLUDE_DIRS}
-  ${EIGEN3_INCLUDE_DIRS}
 )
 set(SV_LIBRARIES
  @SV_INSTALL_PREFIX@/lib/libsv_yoloplugins.so
@ -413,13 +411,11 @@ elseif(PLATFORM STREQUAL "X86_INTEL")
 file(WRITE ${CMAKE_CURRENT_BINARY_DIR}/build/${PROJECT_NAME}Config.cmake.in [[
@PACKAGE_INIT@
 find_package(OpenCV 4 REQUIRED)
-find_package(Eigen3 REQUIRED)
 find_package(fmt REQUIRED)
 set(SV_INCLUDE_DIRS
  @SV_INSTALL_PREFIX@/include
  /usr/include/x86_64-linux-gnu
  ${OpenCV_INCLUDE_DIRS}
-  ${EIGEN3_INCLUDE_DIRS}
 )
 set(SV_LIBRARIES
  @SV_INSTALL_PREFIX@/lib/libsv_world.so
--- a/algorithm/mot/sv_mot.cpp
+++ b/algorithm/mot/sv_mot.cpp
@ -23,8 +23,9 @@ MultipleObjectTracker::~MultipleObjectTracker()
        delete this->_sort_impl;
 }

-void MultipleObjectTracker::track(cv::Mat img_, TargetsInFrame& tgts_)
+sv::TargetsInFrame MultipleObjectTracker::track(cv::Mat img_, TargetsInFrame& tgts_)
 {
+    sv::TargetsInFrame person_tgts(tgts_.frame_id);
    if (!this->_params_loaded)
    {
        this->_load();
@ -33,8 +34,16 @@ void MultipleObjectTracker::track(cv::Mat img_, TargetsInFrame& tgts_)
    if ("sort" == this->_algorithm && this->_sort_impl)
    {
        this->_detector->detect(img_, tgts_);
-        this->_sort_impl->update(tgts_);
+        for (auto target : tgts_.targets)
+        {
+            if (target.category_id == 0)
+            {
+                person_tgts.targets.push_back(target);
+            }
+        }
+        this->_sort_impl->update(person_tgts);
    }
+    return person_tgts;
 }

 void MultipleObjectTracker::init(CommonObjectDetector* detector_)
@ -210,22 +219,27 @@ void SORT::update(TargetsInFrame& tgts)
            
            tracklet.age = 0;
            tracklet.hits = 1;
-            tracklet.misses = 0;
+            //tracklet.misses = 0;
            tracklet.frame_id = tgts.frame_id;
            tracklet.category_id = tgts.targets[i].category_id;
-            tracklet.tentative = true;
-            
+            if (tgts.frame_id == 0)
+            {
+                tracklet.tentative = false;
+            }
+            else
+            {
+                tracklet.tentative = true;
+            }
            // initate the motion
            pair<Matrix<double, 8, 1>, Matrix<double, 8, 8> > motion = kf.initiate(tracklet.bbox);
            tracklet.mean = motion.first;
            tracklet.covariance = motion.second;
            
            this->_tracklets.push_back(tracklet);
-        }
+    }
    }
    else
    {
-        // cout << "frame id:" << tgts.frame_id << endl;
        for (int i=0; i<tgts.targets.size(); i++)
        {
            tgts.targets[i].tracked_id = 0;
@ -242,7 +256,7 @@ void SORT::update(TargetsInFrame& tgts)
            tracklet.mean = motion.first;
            tracklet.covariance = motion.second;    
        }
-        
+
        // Match the detections to the existing tracklets 
        vector<vector<double> > iouMatrix(this->_tracklets.size(), vector<double> (tgts.targets.size(), 0));
        for (int i=0; i<this->_tracklets.size(); i++)
@ -278,18 +292,15 @@ void SORT::update(TargetsInFrame& tgts)
        std::vector <vector<double>> ().swap(iouMatrix);
        for (int i=0; i<tgts.targets.size(); i++)
        { 
-            // cout << "match_det: index: " << i << " value: " << match_det[i] << endl;
            if (match_det[i] == -1)
            {
-                // cout << "create new tracklet." << endl;
                sv::Box box;
                tgts.targets[i].getBox(box);
                Tracklet tracklet;
                tracklet.id = ++ this->_next_tracklet_id;
-                tracklet.bbox << box.x1+(box.x2-box.x1)/2, (double)(box.y1+(box.y2-box.y1)/2), box.x2-box.x1, box.y2-box.y1;
+                tracklet.bbox << box.x1+(box.x2-box.x1)/2, (double)(box.y1+(box.y2-box.y1)/2), box.x2-box.x1, box.y2-box.y1; // c_x, c_y, w, h
                tracklet.age = 0;
                tracklet.hits = 1;
-                tracklet.misses = 0;
                tracklet.frame_id = tgts.frame_id;
                tracklet.category_id = tgts.targets[i].category_id;
                tracklet.tentative = true;
@ -320,7 +331,7 @@ void SORT::update(TargetsInFrame& tgts)
            {
                tracklet.tentative = false;
            }
-            if ((tgts.frame_id-tracklet.frame_id <= _max_age) || (!tracklet.tentative && tracklet.frame_id == tgts.frame_id))
+            if ((tgts.frame_id-tracklet.frame_id <= _max_age) && !(tracklet.tentative && tracklet.frame_id != tgts.frame_id))
            {
                _new_tracklets.push_back(tracklet);
            } 
@ -456,9 +467,6 @@ vector<pair<int, int> > SORT::_hungarian(vector<vector<double> > costMatrix)
    std::vector<std::pair<int, int>> assignmentPairs;
    for (size_t row = 0; row < numRows; ++row) {
        int col = rowAssignment[row];
-        //if (col != -1) {
-          //  assignmentPairs.emplace_back(row, col);
-       // }
        if (col != -1) {
            if (col >= numCols) {
                col = -1;
--- a/include/sv_mot.h
+++ b/include/sv_mot.h
@ -8,8 +8,8 @@
 #include <opencv2/tracking.hpp>
 #include <string>
 #include <chrono>
-//#include <Eigen/Dense>
-#include <eigen3/Eigen/Dense>
+#include <Eigen/Dense>
+

 namespace sv {

@ -24,7 +24,7 @@ public:
    ~MultipleObjectTracker();

    void init(CommonObjectDetector* detector_);
-    void track(cv::Mat img_, TargetsInFrame& tgts_);
+    sv::TargetsInFrame track(cv::Mat img_, TargetsInFrame& tgts_);

 private:
    void _load();
--- a/samples/demo/eval_MOT_metric.cpp
+++ b/samples/demo/eval_MOT_metric.cpp
@ -0,0 +1,76 @@
+#include <iostream>
+#include <string>
+#include <experimental/filesystem>
+// 包含SpireCV SDK头文件
+#include <sv_world.h>
+
+using namespace std;
+namespace fs = std::experimental::filesystem;
+
+int main(int argc, char *argv[]) {
+  // 实例化
+  sv::CommonObjectDetector cod;
+  // 手动导入相机参数，如果使用Amov的G1等吊舱或相机，则可以忽略该步骤，将自动下载相机参数文件
+  cod.loadCameraParams(sv::get_home() + "/SpireCV/confs/calib_webcam_1280x720.yaml");
+  cod.loadAlgorithmParams(sv::get_home() + "/SpireCV/confs/sv_algorithm_params.json");
+  sv::MultipleObjectTracker mot;
+  // 手动导入相机参数，如果使用Amov的G1等吊舱或相机，则可以忽略该步骤，将自动下载相机参数文件
+  mot.loadCameraParams(sv::get_home() + "/SpireCV/confs/calib_webcam_1280x720.yaml");
+  mot.loadAlgorithmParams(sv::get_home() + "/SpireCV/confs/sv_algorithm_params.json");
+  mot.init(&cod);
+  
+  // 打开摄像头
+  /*
+  sv::Camera cap;
+  cap.setWH(mot.image_width, mot.image_height);
+  cap.setFps(30);
+  cap.open(sv::CameraType::V4L2CAM, 0);  // CameraID 0
+  */
+  std::string mot17_folder_path = sv::get_home()+"/SpireCV/dataset/MOT17/train/";
+  std::string pred_file_path = sv::get_home()+"/SpireCV/dataset/pred_mot17/data/";
+  for (auto & seq_path : std::experimental::filesystem::directory_iterator(mot17_folder_path))
+  { 
+    // mkdir pred dirs and touch pred_files
+    string pred_file = pred_file_path + seq_path.path().filename().string() + ".txt";
+    fs::create_directories(pred_file_path);
+    std::ofstream file(pred_file);
+    // listdir seqence images
+    string seq_image_paths = mot17_folder_path + seq_path.path().filename().string() + "/img1";
+    // cout << seq_image_paths <<endl;
+    std::vector<std::string> seq_image_file_path;
+    cv::glob(seq_image_paths, seq_image_file_path);
+
+    //eval MOT algorithms
+    cv::Mat img;
+    int frame_id = 0;
+    while (frame_id < seq_image_file_path.size())
+    {
+      img = cv::imread(seq_image_file_path[frame_id]);
+      // 实例化SpireCV的 单帧检测结果 接口类 TargetsInFrame
+      sv::TargetsInFrame tgts(frame_id++);
+      // 读取一帧图像到img
+      //cap.read(img);
+      //cv::resize(img, img, cv::Size(mot.image_width, mot.image_height));
+
+      // 执行通用目标检测
+      sv::TargetsInFrame person_tgts = mot.track(img, tgts);
+      // 可视化检测结果，叠加到img上
+      sv::drawTargetsInFrame(img, person_tgts);
+      // printf("  Frame Size (width, height) = (%d, %d)\n", tgts.width, tgts.height);
+      for (auto target : person_tgts.targets)
+      {
+          int center_x = int(target.cx * tgts.width);
+          int center_y = int(target.cy * tgts.height);
+          int width = int(target.w * tgts.width);
+          int height = int(target.h * tgts.height);
+          double conf = target.score;
+          file << frame_id << ","<< target.tracked_id << "," << center_x - width / 2 << "," << center_y - height / 2 << "," << width << "," << height << "," << conf << "," << "-1,-1,-1" << endl;
+          // file << frame_id << ","<< target.tracked_id << "," << center_x << "," << center_y << "," << width << "," << height << "," << conf << "," << "-1,-1,-1" << endl;
+      }
+      cv::imshow("img", img);
+      cv::waitKey(10);
+    }
+    file.close();
+  }
+  return 0;
+}
--- a/samples/demo/multiple_object_tracking.cpp
+++ b/samples/demo/multiple_object_tracking.cpp
@ -34,9 +34,9 @@ int main(int argc, char *argv[]) {
    cv::resize(img, img, cv::Size(mot.image_width, mot.image_height));

    // 执行通用目标检测
-    mot.track(img, tgts);
+    sv::TargetsInFrame person_tgts = mot.track(img, tgts);
    // 可视化检测结果，叠加到img上
-    sv::drawTargetsInFrame(img, tgts);
+    sv::drawTargetsInFrame(img, person_tgts);
    
    // 显示检测结果img
    cv::imshow("img", img);
--- a/samples/test/mot_metrics/eval_mot_metric_gt.sh
+++ b/samples/test/mot_metrics/eval_mot_metric_gt.sh
@ -0,0 +1,9 @@
+python3 run_mot_challenge.py \
+--BENCHMARK MOT17 \
+--GT_FOLDER ../../../dataset/MOT17/train \
+--TRACKERS_FOLDER ../../../dataset/pred_mot17 \
+--SKIP_SPLIT_FOL True \
+--SEQMAP_FILE ../../../dataset/MOT17/val_seqmap.txt \
+--TRACKERS_TO_EVAL '' \
+--METRICS HOTA CLEAR Identity \
+#--show
--- a/samples/test/mot_metrics/run_mot_challenge.py
+++ b/samples/test/mot_metrics/run_mot_challenge.py
@ -0,0 +1,93 @@
+
+""" run_mot_challenge.py
+
+Run example:
+run_mot_challenge.py --USE_PARALLEL False --METRICS Hota --TRACKERS_TO_EVAL Lif_T
+
+Command Line Arguments: Defaults, # Comments
+    Eval arguments:
+        'USE_PARALLEL': False,
+        'NUM_PARALLEL_CORES': 8,
+        'BREAK_ON_ERROR': True,
+        'PRINT_RESULTS': True,
+        'PRINT_ONLY_COMBINED': False,
+        'PRINT_CONFIG': True,
+        'TIME_PROGRESS': True,
+        'OUTPUT_SUMMARY': True,
+        'OUTPUT_DETAILED': True,
+        'PLOT_CURVES': True,
+    Dataset arguments:
+        'GT_FOLDER': os.path.join(code_path, 'data/gt/mot_challenge/'),  # Location of GT data
+        'TRACKERS_FOLDER': os.path.join(code_path, 'data/trackers/mot_challenge/'),  # Trackers location
+        'OUTPUT_FOLDER': None,  # Where to save eval results (if None, same as TRACKERS_FOLDER)
+        'TRACKERS_TO_EVAL': None,  # Filenames of trackers to eval (if None, all in folder)
+        'CLASSES_TO_EVAL': ['pedestrian'],  # Valid: ['pedestrian']
+        'BENCHMARK': 'MOT17',  # Valid: 'MOT17', 'MOT16', 'MOT20', 'MOT15'
+        'SPLIT_TO_EVAL': 'train',  # Valid: 'train', 'test', 'all'
+        'INPUT_AS_ZIP': False,  # Whether tracker input files are zipped
+        'PRINT_CONFIG': True,  # Whether to print current config
+        'DO_PREPROC': True,  # Whether to perform preprocessing (never done for 2D_MOT_2015)
+        'TRACKER_SUB_FOLDER': 'data',  # Tracker files are in TRACKER_FOLDER/tracker_name/TRACKER_SUB_FOLDER
+        'OUTPUT_SUB_FOLDER': '',  # Output files are saved in OUTPUT_FOLDER/tracker_name/OUTPUT_SUB_FOLDER
+    Metric arguments:
+        'METRICS': ['HOTA', 'CLEAR', 'Identity', 'VACE']
+"""
+
+import sys
+import os
+import argparse
+from multiprocessing import freeze_support
+
+sys.path.insert(0, os.path.abspath(os.path.join(os.path.dirname(__file__), '..')))
+import trackeval  # noqa: E402
+
+if __name__ == '__main__':
+    freeze_support()
+
+    # Command line interface:
+    default_eval_config = trackeval.Evaluator.get_default_eval_config()
+    default_eval_config['DISPLAY_LESS_PROGRESS'] = False
+    default_dataset_config = trackeval.datasets.MotChallenge2DBox.get_default_dataset_config()
+    default_metrics_config = {'METRICS': ['HOTA', 'CLEAR', 'Identity'], 'THRESHOLD': 0.5}
+    config = {**default_eval_config, **default_dataset_config, **default_metrics_config}  # Merge default configs
+    parser = argparse.ArgumentParser()
+    for setting in config.keys():
+        if type(config[setting]) == list or type(config[setting]) == type(None):
+            parser.add_argument("--" + setting, nargs='+')
+        else:
+            parser.add_argument("--" + setting)
+    args = parser.parse_args().__dict__
+    args['SEQMAP_FILE'] = args['SEQMAP_FILE'][0]
+    # args['SEQ_INFO']={'MOT17-02-DPM':600}
+    for setting in args.keys():
+        if args[setting] is not None:
+            if type(config[setting]) == type(True):
+                if args[setting] == 'True':
+                    x = True
+                elif args[setting] == 'False':
+                    x = False
+                else:
+                    raise Exception('Command line parameter ' + setting + 'must be True or False')
+            elif type(config[setting]) == type(1):
+                x = int(args[setting])
+            elif type(args[setting]) == type(None):
+                x = None
+            elif setting == 'SEQ_INFO':
+                x = dict(zip(args[setting], [None]*len(args[setting])))
+            else:
+                x = args[setting]
+            config[setting] = x
+    eval_config = {k: v for k, v in config.items() if k in default_eval_config.keys()}
+    dataset_config = {k: v for k, v in config.items() if k in default_dataset_config.keys()}
+    metrics_config = {k: v for k, v in config.items() if k in default_metrics_config.keys()}
+
+    # Run code
+    evaluator = trackeval.Evaluator(eval_config)
+    dataset_list = [trackeval.datasets.MotChallenge2DBox(dataset_config)]
+    metrics_list = []
+    for metric in [trackeval.metrics.HOTA, trackeval.metrics.CLEAR, trackeval.metrics.Identity, trackeval.metrics.VACE]:
+        if metric.get_name() in metrics_config['METRICS']:
+            metrics_list.append(metric(metrics_config))
+    if len(metrics_list) == 0:
+        raise Exception('No metrics selected for evaluation')
+    evaluator.evaluate(dataset_list, metrics_list)
--- a/samples/test/mot_metrics/write_val_seqmap.py
+++ b/samples/test/mot_metrics/write_val_seqmap.py
@ -0,0 +1,23 @@
+import os
+import os.path as osp
+
+
+
+def makedirs(path):
+	if not osp.exists(path):
+		os.makedirs(path)
+	else:
+		print('this file is already exists.')
+
+
+if __name__=="__main__":
+	dst_path = '/home/bitwrj/SpireCV/dataset/MOT17'
+	mode = 'train'
+	dst_file_name = 'val_seqmap.txt'
+	dst_file = osp.join(dst_path,dst_file_name)
+	test_files = os.listdir(osp.join(dst_path,mode))
+	test_files.sort()
+	with open(dst_file, 'w+') as f:
+		f.writelines('name\n')
+		for test_file in test_files:
+			f.writelines(test_file+'\n')