def load_network(net_path, **kwargs):
"""Load network for tracking.
args:
net_path - Path to network. If it is not an absolute path, it is relative to the network_path in the local.py.
See ltr.admin.loading.load_network for further details.
**kwargs - Additional key-word arguments that are sent to ltr.admin.loading.load_network.
"""
kwargs['backbone_pretrained'] = False
if os.path.isabs(net_path):
path_full = net_path
net, _ = ltr_loading.load_network(path_full, **kwargs)
elif isinstance(env_settings().network_path, (list, tuple)):
net = None
for p in env_settings().network_path:
path_full = os.path.join(p, net_path)
try:
net, _ = ltr_loading.load_network(path_full, **kwargs)
break
except Exception as e:
# print(e)
pass
assert net is not None, 'Failed to load network'
else:
path_full = os.path.join(env_settings().network_path, net_path)
net, _ = ltr_loading.load_network(path_full, **kwargs)
return net
def initialize(self):
if os.path.isabs(self.net_path):
net_path_full = self.net_path
else:
net_path_full = os.path.join(env_settings().network_path, self.net_path)
# self.net, _ = load_network(net_path_full, backbone_pretrained=False)
self.net = atom_resnet50(iou_input_dim=(512,1024), iou_inter_dim=(256,256), backbone_pretrained=False)
# self.net = drnet_resnet50(iou_input_dim=(512,1024), iou_inter_dim=(256,256), backbone_pretrained=False)
# print(net_path_full)
self.net.load_state_dict(torch.load(net_path_full)['net'])
if self.use_gpu:
self.net.cuda()
self.net.eval()
self.iou_predictor = self.net.bb_regressor
self.layer_stride = {'conv1': 2, 'layer1': 4, 'layer2': 8, 'layer3': 16, 'layer4': 32, 'classification': 16, 'fc': None}
self.layer_dim = {'conv1': 64, 'layer1': 64, 'layer2': 128, 'layer3': 256, 'layer4': 512, 'classification': 256,'fc': None}
self.iounet_feature_layers = self.net.bb_regressor_layer
if isinstance(self.pool_stride, int) and self.pool_stride == 1:
self.pool_stride = [1]*len(self.output_layers)
self.feature_layers = sorted(list(set(self.output_layers + self.iounet_feature_layers)))
self.mean = torch.Tensor([0.485, 0.456, 0.406]).view(1,-1,1,1)
self.std = torch.Tensor([0.229, 0.224, 0.225]).view(1,-1,1,1)
def check_and_load_precomputed_results(trackers,
dataset,
report_name,
force_evaluation=False,
**kwargs):
# Load data
settings = env_settings()
# Load pre-computed results
result_plot_path = os.path.join(settings.result_plot_path, report_name)
eval_data_path = os.path.join(result_plot_path, 'eval_data.pkl')
if os.path.isfile(eval_data_path) and not force_evaluation:
with open(eval_data_path, 'rb') as fh:
eval_data = pickle.load(fh)
else:
# print('Pre-computed evaluation data not found. Computing results!')
eval_data = extract_results(trackers, dataset, report_name, **kwargs)
if not check_eval_data_is_valid(eval_data, trackers, dataset):
# print('Pre-computed evaluation data invalid. Re-computing results!')
eval_data = extract_results(trackers, dataset, report_name, **kwargs)
else:
# Update display names
tracker_names = [{
'name': t.name,
'param': t.parameter_name,
'run_id': t.run_id,
'disp_name': t.display_name
} for t in trackers]
eval_data['trackers'] = tracker_names
return eval_data
def initialize(self):
if isinstance(self.pool_stride, int) and self.pool_stride == 1:
self.pool_stride = [1] * len(self.output_layers)
self.layer_stride = {'vggconv1': 2, 'conv1': 2, 'layer1': 4, 'layer2': 8, 'layer3': 16, 'layer4': 32,
'fc': None}
self.layer_dim = {'vggconv1': 96, 'conv1': 64, 'layer1': 64, 'layer2': 128, 'layer3': 256, 'layer4': 512,
'fc': None}
self.mean = torch.Tensor([0.485, 0.456, 0.406]).view(1, -1, 1, 1)
self.std = torch.Tensor([0.229, 0.224, 0.225]).view(1, -1, 1, 1)
if os.path.isabs(self.net_path):
net_path_full = [self.net_path]
else:
root_paths = env_settings().network_path
if isinstance(root_paths, str):
root_paths = [root_paths]
net_path_full = [os.path.join(root, self.net_path) for root in root_paths]
self.net = None
for net_path in net_path_full:
try:
self.net = resnet18_vggmconv1(self.output_layers, path=net_path)
break
except:
pass
if self.net is None:
raise Exception('Did not find network file {}'.format(self.net_path))
if self.use_gpu:
self.net.cuda()
self.net.eval()
def plot_got_success(trackers, report_name):
""" Plot success plot for GOT-10k dataset using the json reports.
Save the json reports from http://got-10k.aitestunion.com/leaderboard in the directory set to
env_settings.got_reports_path
The tracker name in the experiment file should be set to the name of the report file for that tracker,
e.g. DiMP50_report_2019_09_02_15_44_25 if the report is name DiMP50_report_2019_09_02_15_44_25.json
args:
trackers - List of trackers to evaluate
report_name - Name of the folder in env_settings.perm_mat_path where the computed results and plots are saved
"""
# Load data
settings = env_settings()
plot_draw_styles = get_plot_draw_styles()
result_plot_path = os.path.join(settings.result_plot_path, report_name)
auc_curve = torch.zeros((len(trackers), 101))
scores = torch.zeros(len(trackers))
# Load results
tracker_names = []
for trk_id, trk in enumerate(trackers):
json_path = '{}/{}.json'.format(settings.got_reports_path, trk.name)
if os.path.isfile(json_path):
with open(json_path, 'r') as f:
eval_data = json.load(f)
else:
raise Exception('Report not found {}'.format(json_path))
if len(eval_data.keys()) > 1:
raise Exception
# First field is the tracker name. Index it out
eval_data = eval_data[list(eval_data.keys())[0]]
if 'succ_curve' in eval_data.keys():
curve = eval_data['succ_curve']
ao = eval_data['ao']
elif 'overall' in eval_data.keys() and 'succ_curve' in eval_data['overall'].keys():
curve = eval_data['overall']['succ_curve']
ao = eval_data['overall']['ao']
else:
raise Exception('Invalid JSON file {}'.format(json_path))
auc_curve[trk_id, :] = torch.tensor(curve) * 100.0
scores[trk_id] = ao * 100.0
tracker_names.append({'name': trk.name, 'param': trk.parameter_name, 'run_id': trk.run_id,
'disp_name': trk.display_name})
threshold_set_overlap = torch.arange(0.0, 1.01, 0.01, dtype=torch.float64)
success_plot_opts = {'plot_type': 'success', 'legend_loc': 'lower left', 'xlabel': 'Overlap threshold',
'ylabel': 'Overlap Precision [%]', 'xlim': (0, 1.0), 'ylim': (0, 100), 'title': 'Success plot'}
plot_draw_save(auc_curve, threshold_set_overlap, scores, tracker_names, plot_draw_styles, result_plot_path,
success_plot_opts)
plt.show()
def pack_got10k_results(tracker_name, param_name, output_name):
""" Packs got10k results into a zip folder which can be directly uploaded to the evaluation server. The packed
file is saved in the folder env_settings().got_packed_results_path
args:
tracker_name - name of the tracker
param_name - name of the parameter file
output_name - name of the packed zip file
"""
output_path = os.path.join(env_settings().got_packed_results_path,
output_name)
if not os.path.exists(output_path):
os.makedirs(output_path)
results_path = env_settings().results_path
for i in range(1, 181):
seq_name = 'GOT-10k_Test_{:06d}'.format(i)
seq_output_path = '{}/{}'.format(output_path, seq_name)
if not os.path.exists(seq_output_path):
os.makedirs(seq_output_path)
for run_id in range(3):
res = np.loadtxt('{}/{}/{}_{:03d}/{}.txt'.format(
results_path, tracker_name, param_name, run_id, seq_name),
dtype=np.float64)
times = np.loadtxt('{}/{}/{}_{:03d}/{}_time.txt'.format(
results_path, tracker_name, param_name, run_id, seq_name),
dtype=np.float64)
np.savetxt('{}/{}_{:03d}.txt'.format(seq_output_path, seq_name,
run_id + 1),
res,
delimiter=',',
fmt='%f')
np.savetxt('{}/{}_time.txt'.format(seq_output_path, seq_name),
times,
fmt='%f')
# Generate ZIP file
shutil.make_archive(output_path, 'zip', output_path)
# Remove raw text files
shutil.rmtree(output_path)
def pack_trackingnet_results(tracker_name, param_name, run_id=None, output_name=None):
""" Packs trackingnet results into a zip folder which can be directly uploaded to the evaluation server. The packed
file is saved in the folder env_settings().tn_packed_results_path
args:
tracker_name - name of the tracker
param_name - name of the parameter file
run_id - run id for the tracker
output_name - name of the packed zip file
"""
if output_name is None:
if run_id is None:
output_name = '{}_{}'.format(tracker_name, param_name)
else:
output_name = '{}_{}_{:03d}'.format(tracker_name, param_name, run_id)
if env_settings().packed_results_path == '':
raise RuntimeError('YOU HAVE NOT SETUP YOUR tn_packed_results_path in local.py!!!\n Go to "pytracking.evaluation.local" to set the path. '
'Then try to run again.')
output_path = os.path.join(env_settings().packed_results_path, tracker_name, output_name)
results_path = env_settings().results_path
tn_dataset = TrackingNetDataset()
for seq in tn_dataset:
seq_name = seq.name
if run_id is None:
seq_results_path = '{}/{}/{}/{}.txt'.format(results_path, tracker_name, param_name, seq_name)
else:
seq_results_path = '{}/{}/{}_{:03d}/{}.txt'.format(results_path, tracker_name, param_name, run_id, seq_name)
results = np.loadtxt(seq_results_path, dtype=np.float64)
if not os.path.exists(output_path):
os.makedirs(output_path)
np.savetxt('{}/{}.txt'.format(output_path, seq_name), results, delimiter=',', fmt='%.2f')
# Generate ZIP file
shutil.make_archive(output_path, 'zip', output_path)
# Remove raw text files
shutil.rmtree(output_path)
def pack_trackingnet_results(tracker_name, param_name, run_id=None, output_name=None):
""" Packs trackingnet results into a zip folder which can be directly uploaded to the evaluation server. The packed
file is saved in the folder env_settings().tn_packed_results_path
args:
tracker_name - name of the tracker
param_name - name of the parameter file
run_id - run id for the tracker
output_name - name of the packed zip file
"""
if output_name is None:
if run_id is None:
output_name = '{}_{}'.format(tracker_name, param_name)
else:
output_name = '{}_{}_{:03d}'.format(tracker_name, param_name, run_id)
output_path = os.path.join(env_settings().tn_packed_results_path, output_name)
if not os.path.exists(output_path):
os.makedirs(output_path)
results_path = env_settings().results_path
tn_dataset = get_dataset('trackingnet')
for seq in tn_dataset:
seq_name = seq.name
if run_id is None:
seq_results_path = '{}/{}/{}/{}.txt'.format(results_path, tracker_name, param_name, seq_name)
else:
seq_results_path = '{}/{}/{}_{:03d}/{}.txt'.format(results_path, tracker_name, param_name, run_id, seq_name)
results = np.loadtxt(seq_results_path, dtype=np.float64)
np.savetxt('{}/{}.txt'.format(output_path, seq_name), results, delimiter=',', fmt='%.2f')
# Generate ZIP file
shutil.make_archive(output_path, 'zip', output_path)
# Remove raw text files
shutil.rmtree(output_path)
def load_network(net_path):
if os.path.isabs(net_path):
path_full = net_path
net, _ = ltr_loading.load_network(path_full, backbone_pretrained=False)
elif isinstance(env_settings().network_path, (list, tuple)):
net = None
for p in env_settings().network_path:
path_full = os.path.join(p, net_path)
try:
net, _ = ltr_loading.load_network(path_full, backbone_pretrained=False)
break
except:
pass
assert net is not None, 'Failed to load network'
else:
path_full = os.path.join(env_settings().network_path, net_path)
net, _ = ltr_loading.load_network(path_full, backbone_pretrained=False)
return net
def main(tracker_name, param_name, run_id=None, output_name=None):
if output_name is None:
if run_id is None:
output_name = '{}_{}'.format(tracker_name, param_name)
else:
output_name = '{}_{}_{:03d}'.format(tracker_name, param_name,
run_id)
if env_settings().packed_results_path == '':
raise RuntimeError(
'YOU HAVE NOT SETUP YOUR tn_packed_results_path in local.py!!!\n Go to "pytracking.evaluation.local" to set the path. '
'Then try to run again.')
output_path = os.path.join(env_settings().packed_results_path,
tracker_name, output_name)
got_results_dir = os.path.join(env_settings().packed_results_path,
tracker_name, param_name)
list = os.listdir(got_results_dir)
for f in list:
if f.split('.')[0][-4:] == 'time':
print(f)
prefix = f.split('.')[0][:-5]
print(prefix)
os.makedirs(os.path.join(got_results_dir, prefix))
shutil.move(os.path.join(got_results_dir, f),
os.path.join(got_results_dir, prefix, f))
shutil.move(os.path.join(got_results_dir, prefix + '.txt'),
os.path.join(got_results_dir, prefix, prefix + '.txt'))
path = os.listdir(got_results_dir)
for p in path:
for file in os.listdir(os.path.join(got_results_dir, p)):
if file.split('.')[0][-1] != 'e':
os.rename(
os.path.join(got_results_dir, p, file),
os.path.join(got_results_dir, p,
file.split('.')[0] + '_001.txt'))
shutil.make_archive(output_path, 'zip', got_results_dir)
def initialize(self):
if os.path.isabs(self.net_path):
net_path_full = self.net_path
else:
net_path_full = os.path.join(env_settings().network_path,
self.net_path)
self.net, _ = load_network(net_path_full, backbone_pretrained=False)
self.net.cuda()
self.net.eval()
self.mean = torch.Tensor([0.485, 0.456, 0.406]).view(1, -1, 1,
1).cuda()
self.std = torch.Tensor([0.229, 0.224, 0.225]).view(1, -1, 1, 1).cuda()
self.layer_stride = {
'conv1': 2,
'layer1': 4,
'layer2': 8,
'layer3': 16,
'layer4': 32,
'classification': 16,
'fc': None
}
self.layer_dim = {
'conv1': 64,
'layer1': 64,
'layer2': 128,
'layer3': 256,
'layer4': 512,
'classification': 256,
'fc': None
}
self.iou_predictor = self.net.bb_regressor
self.location_predictor = self.net.location_predictor
#self.iounet_feature_layers = self.net.bb_regressor_layer
#self.locator_feature_layers = self.net.location_predictor_layer
self.iounet_feature_layers = ('layer2', 'layer3')
self.locator_feature_layers = ('layer2', 'layer3')
self.backbone_feature_layers = sorted(
list(set(self.iounet_feature_layers +
self.locator_feature_layers)))
## all parameters do not require grad
for p in self.net.parameters():
p.requires_grad = False
def initialize(self, im):
if os.path.isabs(self.net_path):
net_path_full = self.net_path
else:
net_path_full = os.path.join(env_settings().network_path,
self.net_path)
if isinstance(self.pool_stride, int) and self.pool_stride == 1:
self.pool_stride = [1] * len(self.output_layers)
self.layer_stride = {
'vggconv1': 2,
'conv1': 2,
'layer1': 4,
'layer2': 8,
'layer3': 16,
'layer4': 32,
'fc': None
}
self.layer_dim = {
'vggconv1': 96,
'conv1': 64,
'layer1': 64,
'layer2': 128,
'layer3': 256,
'layer4': 512,
'fc': None
}
#self.mean = torch.Tensor([0.485, 0.456, 0.406]).view(1,-1,1,1)
#self.std = torch.Tensor([0.229, 0.224, 0.225]).view(1,-1,1,1)
im = im / 255
self.mean = torch.Tensor([
torch.mean(im[:, 0, ...]),
torch.mean(im[:, 1, ...]),
torch.mean(im[:, 2, ...])
]).view(1, -1, 1, 1)
self.std = torch.Tensor([
torch.std(im[:, 0, ...]),
torch.std(im[:, 1, ...]),
torch.std(im[:, 2, ...])
]).view(1, -1, 1, 1)
self.net = resnet18_vggmconv1(self.output_layers, path=net_path_full)
if self.use_gpu:
self.net.cuda(self.gpu_device) if not (
self.gpu_device is None) else self.net.cuda()
self.net.eval()
def __init__(self,
name: str,
parameter_name: str,
run_id: int = None,
display_name: str = None,
if_rt: int = 0):
assert run_id is None or isinstance(run_id, int)
self.name = name
self.parameter_name = parameter_name
self.run_id = run_id
self.display_name = display_name
self.if_rt = if_rt
env = env_settings()
if self.run_id is None:
self.results_dir = '{}/{}/{}'.format(env.results_path, self.name,
self.parameter_name)
self.results_dir_rt = '{}/{}/{}'.format(env.results_path_rt,
self.name,
self.parameter_name)
self.segmentation_dir = '{}/{}/{}'.format(env.segmentation_path,
self.name,
self.parameter_name)
else:
self.results_dir = '{}/{}/{}_{:03d}'.format(
env.results_path, self.name, self.parameter_name, self.run_id)
self.results_dir_rt = '{}/{}/{}_{:03d}'.format(
env.results_path_rt, self.name, self.parameter_name,
self.run_id)
self.segmentation_dir = '{}/{}/{}_{:03d}'.format(
env.segmentation_path, self.name, self.parameter_name,
self.run_id)
tracker_module_abspath = os.path.abspath(
os.path.join(os.path.dirname(__file__), '..', 'tracker',
self.name))
if os.path.isdir(tracker_module_abspath):
tracker_module = importlib.import_module(
'pytracking.tracker.{}'.format(self.name))
self.tracker_class = tracker_module.get_tracker_class()
else:
self.tracker_class = None
self.visdom = None
def __init__(self, name: str, parameter_name: str, run_id: int = None):
self.name = name
self.parameter_name = parameter_name
self.run_id = run_id
env = env_settings()
if self.run_id is None:
self.results_dir = '{}/{}/{}'.format(env.results_path, self.name,
self.parameter_name)
else:
self.results_dir = '{}/{}/{}_{:03d}'.format(
env.results_path, self.name, self.parameter_name, self.run_id)
if not os.path.exists(self.results_dir):
os.makedirs(self.results_dir)
tracker_module = importlib.import_module(
'pytracking.tracker.{}'.format(self.name))
self.tracker_class = tracker_module.get_tracker_class()
def __init__(self, name: str, parameter_name: str, run_id: int = None):
self.name = name
self.parameter_name = parameter_name
self.run_id = run_id
env = env_settings()
self.results_dir = '{}/{}/{}'.format(env.results_path, self.name,
self.parameter_name)
if not os.path.exists(self.results_dir):
os.makedirs(self.results_dir)
tracker_module = importlib.import_module(
'pytracking.tracker.{}'.format(self.name))
self.parameters = self.get_parameters()
self.tracker_class = tracker_module.get_tracker_class()
self.default_visualization = getattr(self.parameters, 'visualization',
False)
self.default_debug = getattr(self.parameters, 'debug', 0)
def unpack_tracking_results(download_path, output_path=None):
"""
Unpacks zipped benchmark results. The directory 'download_path' should have the following structure
- root
- tracker1
- param1.zip
- param2.zip
.
.
- tracker2
- param1.zip
- param2.zip
.
.
args:
download_path - Path to the directory where the zipped results are stored
output_path - Path to the directory where the results will be unpacked. Set to env_settings().results_path
by default
"""
if output_path is None:
output_path = env_settings().results_path
if not os.path.exists(output_path):
os.makedirs(output_path)
trackers = os.listdir(download_path)
for t in trackers:
runfiles = os.listdir(os.path.join(download_path, t))
for r in runfiles:
save_path = os.path.join(output_path, t)
if not os.path.exists(save_path):
os.makedirs(save_path)
shutil.unpack_archive(os.path.join(download_path, t, r),
os.path.join(save_path, r[:-4]), 'zip')
def initialize(self):
if os.path.isabs(self.net_path):
net_path_full = self.net_path
else:
net_path_full = os.path.join(env_settings().network_path,
self.net_path)
self.net, _ = load_network(net_path_full, backbone_pretrained=False)
self.net.cuda()
self.net.eval()
self.mean = torch.Tensor([0.485, 0.456, 0.406]).view(1, -1, 1,
1).cuda()
self.std = torch.Tensor([0.229, 0.224, 0.225]).view(1, -1, 1, 1).cuda()
self.iou_predictor = self.net.bb_regressor
self.iou_feature_extractor = self.net.bb_regressor.get_iou_feat
self.locator_feature_extractor = self.net.location_predictor.get_locator_feat
## all parameters do not require grad
for p in self.net.parameters():
p.requires_grad = False
def plot_results(trackers,
dataset,
report_name,
merge_results=False,
plot_types=('success'),
force_evaluation=False,
**kwargs):
"""
Plot results for the given trackers
args:
trackers - List of trackers to evaluate
dataset - List of sequences to evaluate
report_name - Name of the folder in env_settings.perm_mat_path where the computed results and plots are saved
merge_results - If True, multiple random runs for a non-deterministic trackers are averaged
plot_types - List of scores to display. Can contain 'success',
'prec' (precision), and 'norm_prec' (normalized precision)
"""
# Load data
settings = env_settings()
plot_draw_styles = get_plot_draw_styles()
# Load pre-computed results
result_plot_path = os.path.join(settings.result_plot_path, report_name)
eval_data = check_and_load_precomputed_results(trackers, dataset,
report_name,
force_evaluation, **kwargs)
# Merge results from multiple runs
if merge_results:
eval_data = merge_multiple_runs(eval_data)
tracker_names = eval_data['trackers']
valid_sequence = torch.tensor(eval_data['valid_sequence'],
dtype=torch.bool)
print('\nPlotting results over {} / {} sequences'.format(
valid_sequence.long().sum().item(), valid_sequence.shape[0]))
print('\nGenerating plots for: {}'.format(report_name))
# ******************************** Success Plot **************************************
if 'success' in plot_types:
ave_success_rate_plot_overlap = torch.tensor(
eval_data['ave_success_rate_plot_overlap'])
# Index out valid sequences
auc_curve, auc = get_auc_curve(ave_success_rate_plot_overlap,
valid_sequence)
threshold_set_overlap = torch.tensor(
eval_data['threshold_set_overlap'])
success_plot_opts = {
'plot_type': 'success',
'legend_loc': 'lower left',
'xlabel': 'Overlap threshold',
'ylabel': 'Overlap Precision [%]',
'xlim': (0, 1.0),
'ylim': (0, 100),
'title': 'Success plot'
}
plot_draw_save(auc_curve, threshold_set_overlap, auc, tracker_names,
plot_draw_styles, result_plot_path, success_plot_opts)
# ******************************** Precision Plot **************************************
if 'prec' in plot_types:
ave_success_rate_plot_center = torch.tensor(
eval_data['ave_success_rate_plot_center'])
# Index out valid sequences
prec_curve, prec_score = get_prec_curve(ave_success_rate_plot_center,
valid_sequence)
threshold_set_center = torch.tensor(eval_data['threshold_set_center'])
precision_plot_opts = {
'plot_type': 'precision',
'legend_loc': 'lower right',
'xlabel': 'Location error threshold [pixels]',
'ylabel': 'Distance Precision [%]',
'xlim': (0, 50),
'ylim': (0, 100),
'title': 'Precision plot'
}
plot_draw_save(prec_curve, threshold_set_center, prec_score,
tracker_names, plot_draw_styles, result_plot_path,
precision_plot_opts)
# ******************************** Norm Precision Plot **************************************
if 'norm_prec' in plot_types:
ave_success_rate_plot_center_norm = torch.tensor(
eval_data['ave_success_rate_plot_center_norm'])
# Index out valid sequences
prec_curve, prec_score = get_prec_curve(
ave_success_rate_plot_center_norm, valid_sequence)
threshold_set_center_norm = torch.tensor(
eval_data['threshold_set_center_norm'])
norm_precision_plot_opts = {
'plot_type': 'norm_precision',
'legend_loc': 'lower right',
'xlabel': 'Location error threshold',
'ylabel': 'Distance Precision [%]',
'xlim': (0, 0.5),
'ylim': (0, 100),
'title': 'Normalized Precision plot'
}
plot_draw_save(prec_curve, threshold_set_center_norm, prec_score,
tracker_names, plot_draw_styles, result_plot_path,
norm_precision_plot_opts)
plt.show()
def extract_results(trackers, dataset, report_name, skip_missing_seq=False, plot_bin_gap=0.05,
exclude_invalid_frames=False):
settings = env_settings()
eps = 1e-16
result_plot_path = os.path.join(settings.result_plot_path, report_name)
if not os.path.exists(result_plot_path):
os.makedirs(result_plot_path)
threshold_set_overlap = torch.arange(0.0, 1.0 + plot_bin_gap, plot_bin_gap, dtype=torch.float64)
threshold_set_center = torch.arange(0, 51, dtype=torch.float64)
threshold_set_center_norm = torch.arange(0, 51, dtype=torch.float64) / 100.0
avg_overlap_all = torch.zeros((len(dataset), len(trackers)), dtype=torch.float64)
ave_success_rate_plot_overlap = torch.zeros((len(dataset), len(trackers), threshold_set_overlap.numel()),
dtype=torch.float32)
ave_success_rate_plot_center = torch.zeros((len(dataset), len(trackers), threshold_set_center.numel()),
dtype=torch.float32)
ave_success_rate_plot_center_norm = torch.zeros((len(dataset), len(trackers), threshold_set_center.numel()),
dtype=torch.float32)
valid_sequence = torch.ones(len(dataset), dtype=torch.uint8)
for seq_id, seq in enumerate(tqdm(dataset)):
# Load anno
anno_bb = torch.tensor(seq.ground_truth_rect)
target_visible = torch.tensor(seq.target_visible, dtype=torch.uint8) if seq.target_visible is not None else None
for trk_id, trk in enumerate(trackers):
# Load results
base_results_path = '{}/{}'.format(trk.results_dir, seq.name)
if report_name == 'nfs' and (trk.results_dir.split('/')[-2] == 'atom' or trk.results_dir.split('/')[-2] == 'ECO' or trk.results_dir.split('/')[-2] == 'UPDT' or trk.results_dir.split('/')[-2] == 'MDNet' or trk.results_dir.split('/')[-2] == 'CCOT'):
base_results_path = '{}/nfs_{}'.format(trk.results_dir, seq.name)
results_path = '{}.txt'.format(base_results_path)
if os.path.isfile(results_path):
pred_bb = torch.tensor(load_text(str(results_path), delimiter=('\t', ','), dtype=np.float64))
else:
if skip_missing_seq:
valid_sequence[seq_id] = 0
break
else:
raise Exception('Result not found. {}'.format(results_path))
# Calculate measures
err_overlap, err_center, err_center_normalized, valid_frame = calc_seq_err_robust(
pred_bb, anno_bb, seq.dataset, target_visible)
avg_overlap_all[seq_id, trk_id] = err_overlap[valid_frame].mean()
if exclude_invalid_frames:
seq_length = valid_frame.long().sum()
else:
seq_length = anno_bb.shape[0]
if seq_length <= 0:
raise Exception('Seq length zero')
ave_success_rate_plot_overlap[seq_id, trk_id, :] = (err_overlap.view(-1, 1) > threshold_set_overlap.view(1, -1)).sum(0).float() / seq_length
ave_success_rate_plot_center[seq_id, trk_id, :] = (err_center.view(-1, 1) <= threshold_set_center.view(1, -1)).sum(0).float() / seq_length
ave_success_rate_plot_center_norm[seq_id, trk_id, :] = (err_center_normalized.view(-1, 1) <= threshold_set_center_norm.view(1, -1)).sum(0).float() / seq_length
print('\n\nComputed results over {} / {} sequences'.format(valid_sequence.long().sum().item(), valid_sequence.shape[0]))
# Prepare dictionary for saving data
seq_names = [s.name for s in dataset]
tracker_names = [{'name': t.name, 'param': t.parameter_name, 'run_id': t.run_id, 'disp_name': t.display_name}
for t in trackers]
eval_data = {'sequences': seq_names, 'trackers': tracker_names,
'valid_sequence': valid_sequence.tolist(),
'ave_success_rate_plot_overlap': ave_success_rate_plot_overlap.tolist(),
'ave_success_rate_plot_center': ave_success_rate_plot_center.tolist(),
'ave_success_rate_plot_center_norm': ave_success_rate_plot_center_norm.tolist(),
'avg_overlap_all': avg_overlap_all.tolist(),
'threshold_set_overlap': threshold_set_overlap.tolist(),
'threshold_set_center': threshold_set_center.tolist(),
'threshold_set_center_norm': threshold_set_center_norm.tolist()}
with open(result_plot_path + '/eval_data.pkl', 'wb') as fh:
pickle.dump(eval_data, fh)
return eval_data
def parameters(pth_path = None):
params = TrackerParams()
# These are usually set from outside
params.debug = 1 # Debug level
params.visualization = True # Do visualization
# Use GPU or not (IoUNet requires this to be True)
params.use_gpu = True
# Feature specific parameters
deep_params = TrackerParams()
# Patch sampling parameters
params.max_image_sample_size = (16 * 16) ** 2 # (18 * 16) ** 2 # Maximum image sample size
params.min_image_sample_size = (16 * 16) ** 2 # (18 * 16) ** 2 # Minimum image sample size
params.search_area_scale = 4.5 # Scale relative to target size
params.feature_size_odd = False # Good to use False for even-sized kernels and vice versa
# Optimization parameters
params.CG_iter = 5 # The number of Conjugate Gradient iterations in each update after the first frame
params.init_CG_iter = 60 # The total number of Conjugate Gradient iterations used in the first frame
params.init_GN_iter = 6 # The number of Gauss-Newton iterations used in the first frame (only if the projection matrix is updated)
params.post_init_CG_iter = 0 # CG iterations to run after GN
params.fletcher_reeves = False # Use the Fletcher-Reeves (true) or Polak-Ribiere (false) formula in the Conjugate Gradient
params.standard_alpha = True # Use the standard formula for computing the step length in Conjugate Gradient
params.CG_forgetting_rate = None # Forgetting rate of the last conjugate direction
# Learning parameters for each feature type
deep_params.learning_rate = 0.0075 # Learning rate
deep_params.output_sigma_factor = 1/4 # Standard deviation of Gaussian label relative to target size
# Training parameters
params.sample_memory_size = 250 # Memory size
params.train_skipping = 10 # How often to run training (every n-th frame)
# Online model parameters
deep_params.kernel_size = (4, 4) # Kernel size of filter
deep_params.compressed_dim = 64 # Dimension output of projection matrix
deep_params.filter_reg = 1e-1 # Filter regularization factor
deep_params.projection_reg = 1e-4 # Projection regularization factor
# Windowing
params.feature_window = False # Perform windowing of features
params.window_output = True # Perform windowing of output scores
# Detection parameters
params.scale_factors = torch.ones(1) # What scales to use for localization (only one scale if IoUNet is used)
params.score_upsample_factor = 1 # How much Fourier upsampling to use
# Init data augmentation parameters
params.augmentation = {'fliplr': True,
'rotate': [5, -5, 10, -10, 20, -20, 30, -30, 45,-45, -60, 60],
'blur': [(2, 0.2), (0.2, 2), (3,1), (1, 3), (2, 2)],
'relativeshift': [(0.25, 0.25), (-0.25, 0.25), (0.25, -0.25), (-0.25, -0.25), (0.75, 0.75), (-0.75, 0.75), (0.75, -0.75), (-0.75, -0.75)]}
params.augmentation_expansion_factor = 2 # How much to expand sample when doing augmentation
params.random_shift_factor = 0#1 / 3 # How much random shift to do on each augmented sample
deep_params.use_augmentation = True # Whether to use augmentation for this feature
# Factorized convolution parameters
# params.use_projection_matrix = True # Use projection matrix, i.e. use the factorized convolution formulation
params.update_projection_matrix = True # Whether the projection matrix should be optimized or not
params.proj_init_method = 'pca' # Method for initializing the projection matrix randn | pca
params.filter_init_method = 'zeros' # Method for initializing the spatial filter randn | zeros
params.projection_activation = 'none' # Activation function after projection ('none', 'relu', 'elu' or 'mlu')
params.response_activation = ('mlu', 0.05) # Activation function on the output scores ('none', 'relu', 'elu' or 'mlu')
# Advanced localization parameters
params.advanced_localization = True # Use this or not
params.target_not_found_threshold = -1 # Absolute score threshold to detect target missing
params.distractor_threshold = 100 # Relative threshold to find distractors
params.hard_negative_threshold = 0.3 # Relative threshold to find hard negative samples
params.target_neighborhood_scale = 2.2 # Target neighborhood to remove
params.dispalcement_scale = 0.7 # Dispacement to consider for distractors
params.hard_negative_learning_rate = 0.02 # Learning rate if hard negative detected
params.hard_negative_CG_iter = 5 # Number of optimization iterations to use if hard negative detected
params.update_scale_when_uncertain = True # Update scale or not if distractor is close
# Setup the feature extractor (which includes the IoUNet)
deep_fparams = FeatureParams(feature_params=[deep_params])
# use ResNet50 for filter
params.use_resnet50 = True
if params.use_resnet50:
deep_feat_filter = deep.ATOMResNet50(output_layers=['layer3'], fparams=deep_fparams, normalize_power=2)
# deep_feat2 = deep.DRNetSE50(net_path='SE_Res50.pth', output_layers=['layer3'], fparams=deep_fparams, normalize_power=2)
params.features_filter = MultiResolutionExtractor([deep_feat_filter])
#params.features_filter = MultiResolutionExtractor([deep_feat2])
params.vot_anno_conversion_type = 'preserve_area'
params.use_segmentation = True
env = env_settings()
net_path = env.network_path
if pth_path is None:
pth_path = '/home/jaffe/PycharmProjects//DMB/pytracking/networks/recurrent25.pth.tar'
params.pth_path = pth_path
params.segm_use_dist = True
params.segm_normalize_mean = [0.485, 0.456, 0.406]
params.segm_normalize_std = [0.229, 0.224, 0.225]
params.segm_search_area_factor = 4.0
params.segm_feature_sz = 24
params.segm_output_sz = params.segm_feature_sz * 16
params.segm_scale_estimation = True
params.segm_optimize_polygon = True
params.tracking_uncertainty_thr = 3
params.response_budget_sz = 25
params.uncertainty_segm_scale_thr = 3.5
params.uncertainty_segment_thr = 10
params.segm_pixels_ratio = 2
params.mask_pixels_budget_sz = 25
params.segm_min_scale = 0.2
params.max_rel_scale_ch_thr = 0.75
params.consider_segm_pixels_ratio = 1
params.opt_poly_overlap_thr = 0.3
params.poly_cost_a = 1.2
params.poly_cost_b = 1
params.segm_dist_map_type = 'center' # center | bbox
params.min_scale_change_factor = 0.95
params.max_scale_change_factor = 1.05
params.init_segm_mask_thr = 0.5
params.segm_mask_thr = 0.5
params.masks_save_path = ''
# params.masks_save_path = 'save-masks-path'
params.save_mask = False
if params.masks_save_path != '':
params.save_mask = True
return params
def __init__(self):
self.env_settings = env_settings()
def __init__(self, name, frames, ground_truth_rect):
self.name = name
self.frames = frames
self.ground_truth_rect = ground_truth_rect
self.env_settings = env_settings()
self.pred_trajs = {}