def test_ts_feat_desc(self):
t = Track()
f0 = Feature(mag=0)
d0 = Descriptor(4)
d0[:] = 0
t.append(TrackState(0, f0, d0))
f1 = Feature(mag=1)
d1 = Descriptor(4)
d1[:] = 1
t.append(TrackState(1, f1, d1))
nose.tools.assert_equal(t.size, 2)
nose.tools.assert_equal(len(t), 2)
ts0 = t.find_state(0)
nose.tools.assert_equal(ts0.feature, f0)
numpy.testing.assert_equal(ts0.descriptor, d0)
ts1 = t.find_state(1)
nose.tools.assert_equal(ts1.feature, f1)
numpy.testing.assert_equal(ts1.descriptor, d1)
# Delete local descriptor references, get track states and check
# descriptor values manually
del f0, f1, d0, d1, ts0, ts1
# Now, only the track-state in C++ has feature/descriptor references
numpy.testing.assert_equal(t.find_state(0).descriptor, [0, 0, 0, 0])
numpy.testing.assert_equal(t.find_state(1).descriptor, [1, 1, 1, 1])
def test_iteration(self):
t = Track()
t.append(TrackState(0))
t.append(TrackState(1))
t.append(TrackState(5))
t.append(TrackState(9))
nose.tools.assert_equal([ts.frame_id for ts in t], [0, 1, 5, 9])
def test_all_frame_ids_single_track(self):
# From a single track
n = 10
t = Track(1)
for i in range(n):
t.append(TrackState(i))
ts = TrackSet([t])
nt.assert_equal(ts.all_frame_ids(), set(range(10)))
def test_iteration(self):
t = Track()
t.append(TrackState(0))
t.append(TrackState(1))
t.append(TrackState(5))
t.append(TrackState(9))
nose.tools.assert_equal(
[ts.frame_id for ts in t],
[0, 1, 5, 9]
)
def test_all_frame_ids_multitrack(self):
# Across multiple tracks
n = 10
t1 = Track(1)
for i in range(0, n):
t1.append(TrackState(i))
t2 = Track(2)
for i in range(n, n + 5):
t2.append(TrackState(i))
ts = TrackSet([t1, t2])
nt.assert_equal(ts.all_frame_ids(), set(range(n + 5)))
def test_all_frame_ids_single_track(self):
# From a single track
n = 10
t = Track(1)
for i in range(n):
t.append(TrackState(i))
ts = TrackSet([t])
nt.assert_equal(
ts.all_frame_ids(),
set(range(10))
)
def test_all_frame_ids_multitrack(self):
# Across multiple tracks
n = 10
t1 = Track(1)
for i in range(0, n):
t1.append(TrackState(i))
t2 = Track(2)
for i in range(n, n+5):
t2.append(TrackState(i))
ts = TrackSet([t1, t2])
nt.assert_equal(
ts.all_frame_ids(),
set(range(n+5))
)
def test_last_frame(self):
# no tracks
ts = TrackSet()
nt.assert_equal(ts.last_frame(), 0)
# one track
t = Track(1)
t.append(TrackState(1))
t.append(TrackState(2))
ts = TrackSet([t])
nt.assert_equal(ts.last_frame(), 2)
# two tracks
t2 = Track(2)
t2.append(TrackState(3))
ts = TrackSet([t, t2])
nt.assert_equal(ts.last_frame(), 3)
def test_last_frame(self):
# no tracks
ts = TrackSet()
nt.assert_equal(ts.last_frame(), 0)
# one track
t = Track(1)
t.append(TrackState(1))
t.append(TrackState(2))
ts = TrackSet([t])
nt.assert_equal(ts.last_frame(), 2)
# two tracks
t2 = Track(2)
t2.append(TrackState(3))
ts = TrackSet([t, t2])
nt.assert_equal(ts.last_frame(), 3)
def test_ts_append(self):
t = Track()
nose.tools.assert_equal(t.size, 0)
nose.tools.assert_equal(len(t), 0)
ts = TrackState(10)
nose.tools.assert_true(t.append(ts))
nose.tools.assert_equal(t.size, 1)
nose.tools.assert_equal(len(t), 1)
ts = TrackState(11)
nose.tools.assert_true(t.append(ts))
nose.tools.assert_equal(t.size, 2)
nose.tools.assert_equal(len(t), 2)
# Other properties that should not be different than default
nose.tools.assert_equal(t.first_frame, 10)
nose.tools.assert_equal(t.last_frame, 11)
nose.tools.assert_false(t.is_empty)
def test_ts_append(self):
t = Track()
nose.tools.assert_equal(t.size, 0)
nose.tools.assert_equal(len(t), 0)
ts = TrackState(10)
nose.tools.assert_true(t.append(ts))
nose.tools.assert_equal(t.size, 1)
nose.tools.assert_equal(len(t), 1)
ts = TrackState(11)
nose.tools.assert_true(t.append(ts))
nose.tools.assert_equal(t.size, 2)
nose.tools.assert_equal(len(t), 2)
# Other properties that should not be different than default
nose.tools.assert_equal(t.first_frame, 10)
nose.tools.assert_equal(t.last_frame, 11)
nose.tools.assert_false(t.is_empty)
def test_track_getitem(self):
# this is the same test as test_track_find, but using the get-item
# accessor syntax
t = Track()
t.append(TrackState(0))
t.append(TrackState(1))
t.append(TrackState(5))
t.append(TrackState(9))
ts = t[0]
nose.tools.assert_is_not_none(ts)
nose.tools.assert_equal(ts.frame_id, 0)
ts = t[1]
nose.tools.assert_is_not_none(ts)
nose.tools.assert_equal(ts.frame_id, 1)
ts = t[5]
nose.tools.assert_is_not_none(ts)
nose.tools.assert_equal(ts.frame_id, 5)
ts = t[9]
nose.tools.assert_is_not_none(ts)
nose.tools.assert_equal(ts.frame_id, 9)
nose.tools.assert_raises(
IndexError,
t.find_state, 10
)
t.append(TrackState(10))
nose.tools.assert_is_not_none(t[10])
nose.tools.assert_equal(t[10].frame_id, 10)
def test_track_getitem(self):
# this is the same test as test_track_find, but using the get-item
# accessor syntax
t = Track()
t.append(TrackState(0))
t.append(TrackState(1))
t.append(TrackState(5))
t.append(TrackState(9))
ts = t[0]
nose.tools.assert_is_not_none(ts)
nose.tools.assert_equal(ts.frame_id, 0)
ts = t[1]
nose.tools.assert_is_not_none(ts)
nose.tools.assert_equal(ts.frame_id, 1)
ts = t[5]
nose.tools.assert_is_not_none(ts)
nose.tools.assert_equal(ts.frame_id, 5)
ts = t[9]
nose.tools.assert_is_not_none(ts)
nose.tools.assert_equal(ts.frame_id, 9)
nose.tools.assert_raises(IndexError, t.find_state, 10)
t.append(TrackState(10))
nose.tools.assert_is_not_none(t[10])
nose.tools.assert_equal(t[10].frame_id, 10)
def test_track_find(self):
t = Track()
t.append(TrackState(0))
t.append(TrackState(1))
t.append(TrackState(5))
t.append(TrackState(9))
ts = t.find_state(0)
nose.tools.assert_is_not_none(ts)
nose.tools.assert_equal(ts.frame_id, 0)
ts = t.find_state(1)
nose.tools.assert_is_not_none(ts)
nose.tools.assert_equal(ts.frame_id, 1)
ts = t.find_state(5)
nose.tools.assert_is_not_none(ts)
nose.tools.assert_equal(ts.frame_id, 5)
ts = t.find_state(9)
nose.tools.assert_is_not_none(ts)
nose.tools.assert_equal(ts.frame_id, 9)
nose.tools.assert_raises(IndexError, t.find_state, 10)
t.append(TrackState(10))
nose.tools.assert_is_not_none(t.find_state(10))
nose.tools.assert_equal(t.find_state(10).frame_id, 10)
def test_track_find(self):
t = Track()
t.append(TrackState(0))
t.append(TrackState(1))
t.append(TrackState(5))
t.append(TrackState(9))
ts = t.find_state(0)
nose.tools.assert_is_not_none(ts)
nose.tools.assert_equal(ts.frame_id, 0)
ts = t.find_state(1)
nose.tools.assert_is_not_none(ts)
nose.tools.assert_equal(ts.frame_id, 1)
ts = t.find_state(5)
nose.tools.assert_is_not_none(ts)
nose.tools.assert_equal(ts.frame_id, 5)
ts = t.find_state(9)
nose.tools.assert_is_not_none(ts)
nose.tools.assert_equal(ts.frame_id, 9)
nose.tools.assert_raises(
IndexError,
t.find_state, 10
)
t.append(TrackState(10))
nose.tools.assert_is_not_none(t.find_state(10))
nose.tools.assert_equal(t.find_state(10).frame_id, 10)
def to_ObjectTrackSet(tracks):
"""Create an ObjectTrackSet from a dict whose keys are track IDs
and values are lists of pairs of Kwiver timestamps and Kwiver DetectedObjects"""
# Modeled after similar code in srnn_tracker.py
result = []
for tid, states in tracks.items():
t = Track(id=tid)
for ts, do in states:
ots = ObjectTrackState(ts.get_frame(), ts.get_time_usec(), do)
if not t.append(ots):
raise ValueError("Unsorted input to to_ObjectTrackSet")
result.append(t)
return ObjectTrackSet(result)
def projected_tracks(lmap, cmap):
"""
Use the cameras to project the landmarks back into their images.
:type lmap: LandmarkMap
:type cmap: CameraMap
"""
tracks = []
cam_d = cmap.as_dict()
landmark_d = lmap.as_dict()
for lid, l in landmark_d.iteritems():
t = Track(lid)
tracks.append(t)
# Sort camera iteration to make sure that we go in order of frame IDs
for fid in sorted(cam_d):
cam = cam_d[fid]
f = Feature(cam.project(l.loc))
t.append(TrackState(fid, f))
assert t.size == len(cam_d)
return TrackSet(tracks)
def subset_tracks(trackset, keep_fraction=0.75):
"""
randomly drop a fraction of the track states per track in the given set,
creating and returning new tracks in a new track-set.
:type trackset: TrackSet
:type keep_fraction: float
"""
log = logging.getLogger(__name__)
new_tracks = []
for t in trackset.tracks():
nt = Track(t.id)
msg = 'track %d:' % t.id,
for ts in t:
if numpy.random.rand() < keep_fraction:
nt.append(ts)
msg += '.',
else:
msg += 'X',
log.info(' '.join(msg))
new_tracks.append(nt)
return TrackSet(new_tracks)
def projected_tracks(lmap, cmap):
"""
Use the cameras to project the landmarks back into their images.
:type lmap: LandmarkMap
:type cmap: CameraMap
"""
tracks = []
cam_d = cmap.as_dict()
landmark_d = lmap.as_dict()
for lid, l in landmark_d.iteritems():
t = Track(lid)
tracks.append(t)
# Sort camera iteration to make sure that we go in order of frame IDs
for fid in sorted(cam_d):
cam = cam_d[fid]
f = Feature(cam.project(l.loc))
t.append(TrackState(fid, f))
assert t.size == len(cam_d)
return TrackSet(tracks)
def subset_tracks(trackset, keep_fraction=0.75):
"""
randomly drop a fraction of the track states per track in the given set,
creating and returning new tracks in a new track-set.
:type trackset: TrackSet
:type keep_fraction: float
"""
log = logging.getLogger(__name__)
new_tracks = []
for t in trackset.tracks():
nt = Track(t.id)
msg = 'track %d:' % t.id,
for ts in t:
if numpy.random.rand() < keep_fraction:
nt.append(ts)
msg += '.',
else:
msg += 'X',
log.info(' '.join(msg))
new_tracks.append(nt)
return TrackSet(new_tracks)
def test_ts_append_outoforder(self):
t = Track()
nose.tools.assert_true(t.append(TrackState(10)))
nose.tools.assert_false(t.append(TrackState(10)))
nose.tools.assert_false(t.append(TrackState(9)))
nose.tools.assert_false(t.append(TrackState(0)))
nose.tools.assert_false(t.append(TrackState(-1)))
nose.tools.assert_true(t.append(TrackState(11)))
nose.tools.assert_false(t.append(TrackState(11)))
# After all that there should only be two states in there for frames 10
# and 11.
nose.tools.assert_equal(t.size, 2)
nose.tools.assert_equal(len(t), 2)
nose.tools.assert_equal(t.all_frame_ids(), {10, 11})
def test_ts_append_outoforder(self):
t = Track()
nose.tools.assert_true(t.append(TrackState(10)))
nose.tools.assert_false(t.append(TrackState(10)))
nose.tools.assert_false(t.append(TrackState(9)))
nose.tools.assert_false(t.append(TrackState(0)))
nose.tools.assert_false(t.append(TrackState(-1)))
nose.tools.assert_true(t.append(TrackState(11)))
nose.tools.assert_false(t.append(TrackState(11)))
# After all that there should only be two states in there for frames 10
# and 11.
nose.tools.assert_equal(t.size, 2)
nose.tools.assert_equal(len(t), 2)
nose.tools.assert_equal(t.all_frame_ids(), {10, 11})
