class GN():
def __init__(self, seq_index, seq_len, cuda=True):
'''
Evaluating with the MotMetrics
:param seq_index: the number of the sequence
:param seq_len: the length of the sequence
:param cuda: True - GPU, False - CPU
'''
self.seq_index = seq_index
self.hungarian = Munkres()
self.device = torch.device("cuda" if cuda else "cpu")
self.seq_len = seq_len
self.missingCounter = 0
self.sideConnection = 0
print(' Loading the model...')
self.loadModel()
self.out_dir = t_dir + 'motmetrics_%s/' % (type)
print(' The dir of the output file:', self.out_dir)
if not os.path.exists(self.out_dir):
os.mkdir(self.out_dir)
else:
deleteDir(self.out_dir)
os.mkdir(self.out_dir)
self.initOut()
def initOut(self):
print(' Loading Data...')
self.train_set = DatasetFromFolder(sequence_dir, mot_dataset_dir + 'MOT16/test/MOT16-%02d' % self.seq_index,
tau_conf_score)
detection_dir = self.out_dir + 'res_det.txt'
res_training = self.out_dir + 'res.txt' # the tracking results
self.createTxt(detection_dir)
self.createTxt(res_training)
self.copyLines(self.seq_index, 1, detection_dir, self.seq_len, 1)
self.evaluation(1, self.seq_len, detection_dir, res_training)
def getSeqL(self, info):
# get the length of the sequence
f = open(info, 'r')
f.readline()
for line in f.readlines():
line = line.strip().split('=')
if line[0] == 'seqLength':
seqL = int(line[1])
f.close()
return seqL
def copyLines(self, seq, head, gt_seq, tail=-1, tag=0):
'''
Copy the groun truth within [head, head+num]
:param seq: the number of the sequence
:param head: the head frame number
:param tail: the number the clipped sequence
:param gt_seq: the dir of the output file
:return: None
'''
if tt_tag:
basic_dir = mot_dataset_dir + 'MOT%d/test/MOT%d-%02d-%s/' % (year, year, seq, type)
else:
basic_dir = mot_dataset_dir + 'MOT%d/train/MOT%d-%02d-%s/' % (year, year, seq, type)
print(' Testing on', basic_dir, 'Length:', self.seq_len)
seqL = tail if tail != -1 else self.getSeqL(basic_dir + 'seqinfo.ini')
det_dir = 'gt/gt_det.txt' if test_gt_det else 'det/det.txt'
seq_dir = basic_dir + ('gt/gt.txt' if tag == 0 else det_dir)
inStream = open(seq_dir, 'r')
outStream = open(gt_seq, 'w')
for line in inStream.readlines():
line = line.strip()
attrs = line.split(',')
f_num = int(attrs[0])
if f_num >= head and f_num <= seqL:
outStream.write(line + '\n')
outStream.close()
inStream.close()
return seqL
def createTxt(self, out_file):
f = open(out_file, 'w')
f.close()
def loadModel(self):
tail = 13
self.Uphi = torch.load(model_dir + 'uphi_%02d.pth' % tail).to(self.device)
self.Vphi = torch.load(model_dir + 'vphi_%02d.pth' % tail).to(self.device)
self.Ephi1 = torch.load(model_dir + 'ephi1_%02d.pth' % tail).to(self.device)
self.Ephi2 = torch.load(model_dir + 'ephi2_%02d.pth' % tail).to(self.device)
self.u = torch.load(model_dir + 'u_%02d.pth' % tail).to(self.device)
def swapFC(self):
self.cur = self.cur ^ self.nxt
self.nxt = self.cur ^ self.nxt
self.cur = self.cur ^ self.nxt
def linearModel(self, out, attr1, attr2):
# print 'I got you! *.*'
t = attr1[-1]
self.sideConnection += 1
if t > f_gap:
return
frame = int(attr1[0])
x1, y1, w1, h1 = float(attr1[2]), float(attr1[3]), float(attr1[4]), float(attr1[5])
x2, y2, w2, h2 = float(attr2[2]), float(attr2[3]), float(attr2[4]), float(attr2[5])
x_delta = (x2 - x1) / t
y_delta = (y2 - y1) / t
w_delta = (w2 - w1) / t
h_delta = (h2 - h1) / t
for i in range(1, t):
frame += 1
x1 += x_delta
y1 += y_delta
w1 += w_delta
h1 += h_delta
attr1[0] = str(frame)
attr1[2] = str(x1)
attr1[3] = str(y1)
attr1[4] = str(w1)
attr1[5] = str(h1)
line = ''
for attr in attr1[:-1]:
line += attr + ','
if show_recovering:
line += '1'
else:
line = line[:-1]
out.write(line + '\n')
self.missingCounter += t - 1
def evaluation(self, head, tail, gtFile, outFile):
'''
Evaluation on dets
:param head: the head frame number
:param tail: the tail frame number
:param gtFile: the ground truth file name
:param outFile: the name of output file
:return: None
'''
with torch.no_grad():
gtIn = open(gtFile, 'r')
self.cur, self.nxt = 0, 1
line_con = [[], []]
id_con = [[], []]
id_step = 1
step = head + self.train_set.setBuffer(head)
while step < tail:
# print ' ', step
print(step, end=' ')
if step % 100 == 0:
print('')
t_gap = self.train_set.loadNext()
step += t_gap
# print 'F', 't_gap=%d'%t_gap,
# print 'Fo',
m = self.train_set.m
n = self.train_set.n
# print m, n,
if n == 0:
print('There is no detection in the rest of sequence!')
break
if id_step == 1:
out = open(outFile, 'a')
i = 0
while i < m:
attrs = gtIn.readline().strip().split(',')
if float(attrs[6]) >= tau_conf_score:
attrs.append(1)
attrs[1] = str(id_step)
line = ''
for attr in attrs[:-1]:
line += attr + ','
if show_recovering:
line += '0'
else:
line = line[:-1]
out.write(line + '\n')
line_con[self.cur].append(attrs)
id_con[self.cur].append(id_step)
id_step += 1
i += 1
out.close()
# print '0.0',
i = 0
while i < n:
attrs = gtIn.readline().strip().split(',')
if float(attrs[6]) >= tau_conf_score:
attrs.append(1)
line_con[self.nxt].append(attrs)
id_con[self.nxt].append(-1)
i += 1
# update the edges
# print 'T',
candidates = []
E_CON, V_CON = [], []
ret = self.train_set.getRet()
decay_tag = [0 for i in range(m)]
for i in range(m):
for j in range(n):
if ret[i][j] == 0:
decay_tag[i] += 1
for edge in self.train_set.candidates:
e, vs_index, vr_index = edge
e = e.view(1, -1).to(self.device)
vs = self.train_set.getApp(1, vs_index)
vr = self.train_set.getApp(0, vr_index)
e1 = self.Ephi1(e, vs, vr, self.u)
vr1 = self.Vphi(e1, vs, vr, self.u)
candidates.append((e1, vs, vr1, vs_index, vr_index))
E_CON.append(e1)
V_CON.append(vs)
V_CON.append(vr1)
E = self.train_set.aggregate(E_CON).view(1, -1)
V = self.train_set.aggregate(V_CON).view(1, -1)
u1 = self.Uphi(E, V, self.u)
for iteration in candidates:
e1, vs, vr1, vs_index, vr_index = iteration
if ret[vs_index][vr_index] == tau_threshold:
continue
e2 = self.Ephi2(e1, vs, vr1, u1)
self.train_set.edges[vs_index][vr_index] = e1.data.view(-1)
tmp = F.softmax(e2)
tmp = tmp.cpu().data.numpy()[0]
t = line_con[self.cur][vs_index][-1]
# ret[vs_index][vr_index] = float(tmp[0]) * pow(decay, t-1)
if decay_tag[vs_index] > 0:
ret[vs_index][vr_index] = min(float(tmp[0]) * pow(decay, t - 1), 1.0)
else:
ret[vs_index][vr_index] = float(tmp[0])
# for j in ret:
# print j
# print ret
results = self.hungarian.compute(ret)
out = open(outFile, 'a')
nxt = self.train_set.nxt
for (i, j) in results:
# print (i,j)
if ret[i][j] >= tau_threshold:
continue
e1 = self.train_set.edges[i][j].view(1, -1).to(self.device)
vs = self.train_set.getApp(1, i)
vr = self.train_set.getApp(0, j)
vr1 = self.Vphi(e1, vs, vr, self.u)
self.train_set.detections[nxt][j][0] = vr1.data
e2 = self.Ephi2(e1, vs, vr1, u1)
self.train_set.edges[i][j] = e2.data.view(-1)
id = id_con[self.cur][i]
id_con[self.nxt][j] = id
attr1 = line_con[self.cur][i]
attr2 = line_con[self.nxt][j]
# print attrs
attr2[1] = str(id)
if attr1[-1] > 1:
# for the missing detections
self.linearModel(out, attr1, attr2)
line = ''
for attr in attr2[:-1]:
line += attr + ','
if show_recovering:
line += '0'
else:
line = line[:-1]
out.write(line + '\n')
if u_update:
self.u = u1.data
for i in range(n):
if id_con[self.nxt][i] == -1:
id_con[self.nxt][i] = id_step
attrs = line_con[self.nxt][i]
attrs[1] = str(id_step)
line = ''
for attr in attrs[:-1]:
line += attr + ','
if show_recovering:
line += '0'
else:
line = line[:-1]
out.write(line + '\n')
id_step += 1
out.close()
# For missing & Occlusion
index = 0
for (i, j) in results:
while i != index:
attrs = line_con[self.cur][index]
# print '*', attrs, '*'
if attrs[-1] + t_gap <= gap:
attrs[-1] += t_gap
line_con[self.nxt].append(attrs)
id_con[self.nxt].append(id_con[self.cur][index])
self.train_set.moveApp(index)
index += 1
if ret[i][j] >= tau_threshold:
attrs = line_con[self.cur][index]
# print '*', attrs, '*'
if attrs[-1] + t_gap <= gap:
attrs[-1] += t_gap
line_con[self.nxt].append(attrs)
id_con[self.nxt].append(id_con[self.cur][index])
self.train_set.moveApp(index)
index += 1
while index < m:
attrs = line_con[self.cur][index]
# print '*', attrs, '*'
if attrs[-1] + t_gap <= gap:
attrs[-1] += t_gap
line_con[self.nxt].append(attrs)
id_con[self.nxt].append(id_con[self.cur][index])
self.train_set.moveApp(index)
index += 1
line_con[self.cur] = []
id_con[self.cur] = []
# print 'Results',
self.train_set.swapFC()
self.swapFC()
# print '^.^|', step, tail
gtIn.close()
class GN():
def __init__(self, seq_index, tt, cuda=True):
'''
Evaluating with the MotMetrics
:param seq_index: the number of the sequence
:param tt: train_test
:param length: the number of frames which is used for training
:param cuda: True - GPU, False - CPU
'''
self.seq_index = seq_index
self.hungarian = Munkres()
self.device = torch.device("cuda" if cuda else "cpu")
self.tt = tt
self.missingCounter = 0
self.sideConnection = 0
print ' Loading the model...'
self.loadModel()
self.out_dir = t_dir + 'motmetrics_%s_4%s_%.2f%s%s/' % (
type, decay_dir, decay, recover_dir, conf_dir)
print self.out_dir
if not os.path.exists(self.out_dir):
os.mkdir(self.out_dir)
else:
deleteDir(self.out_dir)
os.mkdir(self.out_dir)
self.initOut()
def initOut(self):
print ' Loading Data...'
self.train_set = DatasetFromFolder(
sequence_dir, '../MOT/MOT16/train/MOT16-%02d' % self.seq_index)
gt_training = self.out_dir + 'gt_training.txt' # the gt of the training data
self.copyLines(self.seq_index, 1, gt_training, self.tt)
detection_dir = self.out_dir + 'res_training_det.txt'
res_training = self.out_dir + 'res_training.txt' # the result of the training data
self.createTxt(detection_dir)
self.createTxt(res_training)
self.copyLines(self.seq_index, 1, detection_dir, self.tt, 1)
self.evaluation(1, self.tt, detection_dir, res_training)
def getSeqL(self, info):
# get the length of the sequence
f = open(info, 'r')
f.readline()
for line in f.readlines():
line = line.strip().split('=')
if line[0] == 'seqLength':
seqL = int(line[1])
f.close()
return seqL
def copyLines(self, seq, head, gt_seq, tail=-1, tag=0):
'''
Copy the groun truth within [head, head+num]
:param seq: the number of the sequence
:param head: the head frame number
:param tail: the number the clipped sequence
:param gt_seq: the dir of the output file
:return: None
'''
if tt_tag:
basic_dir = '../MOT/MOT%d/test/MOT%d-%02d-%s/' % (year, year, seq,
type)
else:
basic_dir = '../MOT/MOT%d/train/MOT%d-%02d-%s/' % (year, year, seq,
type)
print ' Testing on', basic_dir, 'Length:', self.tt
seqL = tail if tail != -1 else self.getSeqL(basic_dir + 'seqinfo.ini')
det_dir = 'gt/gt_det.txt' if test_gt_det else 'det/det.txt'
seq_dir = basic_dir + ('gt/gt.txt' if tag == 0 else det_dir)
inStream = open(seq_dir, 'r')
outStream = open(gt_seq, 'w')
for line in inStream.readlines():
line = line.strip()
attrs = line.split(',')
f_num = int(attrs[0])
if f_num >= head and f_num <= seqL:
print >> outStream, line
outStream.close()
inStream.close()
return seqL
def createTxt(self, out_file):
f = open(out_file, 'w')
f.close()
def loadModel(self):
name = 'all_4'
if edge_initial == 1:
i_name = 'Random/'
elif edge_initial == 0:
i_name = 'IoU/'
tail = 10
self.Uphi = torch.load('Results/MOT16/%s/%s/uphi_%02d.pth' %
(i_name, name, tail)).to(self.device)
self.Vphi = torch.load('Results/MOT16/%s/%s/vphi_%02d.pth' %
(i_name, name, tail)).to(self.device)
self.Ephi1 = torch.load('Results/MOT16/%s/%s/ephi1_%02d.pth' %
(i_name, name, tail)).to(self.device)
self.Ephi2 = torch.load('Results/MOT16/%s/%s/ephi2_%02d.pth' %
(i_name, name, tail)).to(self.device)
self.u = torch.load('Results/MOT16/%s/%s/u_%02d.pth' %
(i_name, name, tail))
self.u = self.u.to(self.device)
def swapFC(self):
self.cur = self.cur ^ self.nxt
self.nxt = self.cur ^ self.nxt
self.cur = self.cur ^ self.nxt
def linearModel(self, out, attr1, attr2):
# print 'I got you! *.*'
t = attr1[-1]
self.sideConnection += 1
if t > f_gap:
return
frame = int(attr1[0])
x1, y1, w1, h1 = float(attr1[2]), float(attr1[3]), float(
attr1[4]), float(attr1[5])
x2, y2, w2, h2 = float(attr2[2]), float(attr2[3]), float(
attr2[4]), float(attr2[5])
x_delta = (x2 - x1) / t
y_delta = (y2 - y1) / t
w_delta = (w2 - w1) / t
h_delta = (h2 - h1) / 2
for i in xrange(1, t):
frame += 1
x1 += x_delta
y1 += y_delta
w1 += w_delta
h1 += h_delta
attr1[0] = str(frame)
attr1[2] = str(x1)
attr1[3] = str(y1)
attr1[4] = str(w1)
attr1[5] = str(h1)
line = ''
for attr in attr1[:-1]:
line += attr + ','
if show_recovering:
line += '1'
else:
line = line[:-1]
print >> out, line
self.missingCounter += t - 1
def evaluation(self, head, tail, gtFile, outFile):
'''
Evaluation on dets
:param head: the head frame number
:param tail: the tail frame number
:param gtFile: the ground truth file name
:param outFile: the name of output file
:return: None
'''
with torch.no_grad():
gtIn = open(gtFile, 'r')
self.cur, self.nxt = 0, 1
line_con = [[], []]
id_con = [[], []]
id_step = 1
step = head + self.train_set.setBuffer(head)
while step < tail:
# print ' ', step
t_gap = self.train_set.loadNext()
step += t_gap
# print 'F', 't_gap=%d'%t_gap,
# print 'Fo',
m = self.train_set.m
n = self.train_set.n
# print m, n,
if n == 0:
print 'There is no detection in the rest of sequence!'
break
if id_step == 1:
out = open(outFile, 'a')
i = 0
while i < m:
attrs = gtIn.readline().strip().split(',')
if float(attrs[6]) >= tau_conf_score:
attrs.append(1)
attrs[1] = str(id_step)
line = ''
for attr in attrs[:-1]:
line += attr + ','
if show_recovering:
line += '0'
else:
line = line[:-1]
print >> out, line
line_con[self.cur].append(attrs)
id_con[self.cur].append(id_step)
id_step += 1
i += 1
out.close()
# print '0.0',
i = 0
while i < n:
attrs = gtIn.readline().strip().split(',')
if float(attrs[6]) >= tau_conf_score:
attrs.append(1)
line_con[self.nxt].append(attrs)
id_con[self.nxt].append(-1)
i += 1
# update the edges
# print 'T',
pre_check = [1 for i in xrange(self.train_set.m)]
pre_det = [None for i in xrange(self.train_set.m)]
edges = [[None for i in xrange(self.train_set.m)]
for j in xrange(self.train_set.n)]
for edge in self.train_set:
e, vs_index, vr_index = edge
e = e.view(1, -1).to(self.device)
vs = self.train_set.getApp(1, vs_index)
if pre_check[vs_index]:
pre_det[vs_index] = vs
pre_check[vs_index] = 0
vr = self.train_set.getApp(0, vr_index)
e1 = self.Ephi1(e, vs, vr, self.u)
edges[vr_index][vs_index] = e1.data
# aggregation for the vs
vertexes = []
for i in xrange(self.train_set.n):
ans = torch.FloatTensor([[0.0 for j in xrange(512)]
]).to(self.device)
for j in xrange(self.train_set.m):
e = edges[i][j]
tmp = F.softmax(e)
tmp = float(tmp.cpu().data.numpy()[0][1])
ans += pre_det[j] * tmp
vertexes.append(ans)
# preparation for E and V
candidates = []
E_CON, V_CON = [], []
ret = self.train_set.getRet()
for edge in self.train_set.candidates:
e, vs_index, vr_index = edge
e1 = edges[vr_index][vs_index].to(self.device)
vs = self.train_set.getApp(1, vs_index)
vr = self.train_set.getApp(0, vr_index)
vs_t = vertexes[vr_index]
vr1 = self.Vphi(vs_t, vr, self.u)
candidates.append((e1, vs, vr1, vs_index, vr_index))
E_CON.append(e1)
V_CON.append(vs)
V_CON.append(vr1)
# compute the updated global variable u
E = self.train_set.aggregate(E_CON).view(1, -1)
V = self.train_set.aggregate(V_CON).view(1, -1)
u1 = self.Uphi(E, V, self.u)
# get the e1
for iteration in candidates:
e1, vs, vr1, vs_index, vr_index = iteration
if ret[vs_index][vr_index] == 1.0:
continue
e2 = self.Ephi2(e1, vs, vr1, u1)
self.train_set.edges[vs_index][vr_index] = e1.data.view(-1)
tmp = F.softmax(e2)
tmp = tmp.cpu().data.numpy()[0]
t = line_con[self.cur][vs_index][-1]
ret[vs_index][vr_index] = min(
float(tmp[0]) * pow(decay, t - 1), 1.0)
# self.train_set.showE(outFile)
# for j in ret:
# print j
# print ret
results = self.hungarian.compute(ret)
# update the feature according to the matching results
out = open(outFile, 'a')
nxt = self.train_set.nxt
for (i, j) in results:
# print (i,j)
if ret[i][j] >= tau_threshold:
continue
e1 = self.train_set.edges[i][j].view(1, -1).to(self.device)
vs = self.train_set.getApp(1, i)
vr = self.train_set.getApp(0, j)
vs_t = vertexes[j]
vr1 = self.Vphi(vs_t, vr, self.u)
self.train_set.detections[nxt][j][0] = vr1.data
e2 = self.Ephi2(e1, vs, vr1, u1)
self.train_set.edges[i][j] = e2.data.view(-1)
id = id_con[self.cur][i]
id_con[self.nxt][j] = id
attr1 = line_con[self.cur][i]
attr2 = line_con[self.nxt][j]
# print attrs
attr2[1] = str(id)
if attr1[-1] > 1:
# for the missing detections
self.linearModel(out, attr1, attr2)
line = ''
for attr in attr2[:-1]:
line += attr + ','
if show_recovering:
line += '0'
else:
line = line[:-1]
print >> out, line
for i in xrange(n):
if id_con[self.nxt][i] == -1:
id_con[self.nxt][i] = id_step
attrs = line_con[self.nxt][i]
attrs[1] = str(id_step)
line = ''
for attr in attrs[:-1]:
line += attr + ','
if show_recovering:
line += '0'
else:
line = line[:-1]
print >> out, line
id_step += 1
out.close()
index = 0
for (i, j) in results:
while i != index:
attrs = line_con[self.cur][index]
# print '*', attrs, '*'
if attrs[-1] + t_gap <= gap:
attrs[-1] += t_gap
line_con[self.nxt].append(attrs)
id_con[self.nxt].append(id_con[self.cur][index])
self.train_set.moveApp(index)
index += 1
if ret[i][j] >= tau_threshold:
attrs = line_con[self.cur][index]
# print '*', attrs, '*'
if attrs[-1] + t_gap <= gap:
attrs[-1] += t_gap
line_con[self.nxt].append(attrs)
id_con[self.nxt].append(id_con[self.cur][index])
self.train_set.moveApp(index)
index += 1
while index < m:
attrs = line_con[self.cur][index]
# print '*', attrs, '*'
if attrs[-1] + t_gap <= gap:
attrs[-1] += t_gap
line_con[self.nxt].append(attrs)
id_con[self.nxt].append(id_con[self.cur][index])
self.train_set.moveApp(index)
index += 1
line_con[self.cur] = []
id_con[self.cur] = []
# print 'Results',
self.train_set.swapFC()
self.swapFC()
# print '^.^|', step, tail
gtIn.close()