add vot iter

vot_iter/tracker_SiamRPNpp.m

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+
+% error('Tracker not configured! Please edit the tracker_test.m file.'); % Remove this line after proper configuration
+
+% The human readable label for the tracker, used to identify the tracker in reports
+% If not set, it will be set to the same value as the identifier.
+% It does not have to be unique, but it is best that it is.
+tracker_label = ['SiamRPNpp'];
+
+% For Python implementations we have created a handy function that generates the appropritate
+% command that will run the python executable and execute the given script that includes your
+% tracker implementation.
+%
+% Please customize the line below by substituting the first argument with the name of the
+% script of your tracker (not the .py file but just the name of the script) and also provide the
+% path (or multiple paths) where the tracker sources % are found as the elements of the cell
+% array (second argument).
+setenv('MKL_NUM_THREADS','1');
+pysot_root = 'path/to/pysot';
+track_build_path = 'path/to/track/build';
+tracker_command = generate_python_command('vot_iter.vot_iter', {pysot_root; [track_build_path '/python/lib']})
+
+tracker_interpreter = 'python';
+
+tracker_linkpath = {track_build_path};
+
+% tracker_linkpath = {}; % A cell array of custom library directories used by the tracker executable (optional)
+

vot_iter/vot.py

@@ -0,0 +1,117 @@
+"""
+\file vot.py
+
+@brief Python utility functions for VOT integration
+
+@author Luka Cehovin, Alessio Dore
+
+@date 2016
+
+"""
+
+import sys
+import copy
+import collections
+
+try:
+    import trax
+except ImportError:
+    raise Exception('TraX support not found. Please add trax module to Python path.')
+
+Rectangle = collections.namedtuple('Rectangle', ['x', 'y', 'width', 'height'])
+Point = collections.namedtuple('Point', ['x', 'y'])
+Polygon = collections.namedtuple('Polygon', ['points'])
+
+class VOT(object):
+    """ Base class for Python VOT integration """
+    def __init__(self, region_format, channels=None):
+        """ Constructor
+
+        Args:
+            region_format: Region format options
+        """
+        assert(region_format in [trax.Region.RECTANGLE, trax.Region.POLYGON])
+
+        if channels is None:
+            channels = ['color']
+        elif channels == 'rgbd':
+            channels = ['color', 'depth']
+        elif channels == 'rgbt':
+            channels = ['color', 'ir']
+        elif channels == 'ir':
+            channels = ['ir']
+        else:
+            raise Exception('Illegal configuration {}.'.format(channels))
+
+        self._trax = trax.Server([region_format], [trax.Image.PATH], channels)
+
+        request = self._trax.wait()
+        assert(request.type == 'initialize')
+        if isinstance(request.region, trax.Polygon):
+            self._region = Polygon([Point(x[0], x[1]) for x in request.region])
+        else:
+            self._region = Rectangle(*request.region.bounds())
+        self._image = [x.path() for k, x in request.image.items()]
+        if len(self._image) == 1:
+            self._image = self._image[0]
+
+        self._trax.status(request.region)
+
+    def region(self):
+        """
+        Send configuration message to the client and receive the initialization
+        region and the path of the first image
+
+        Returns:
+            initialization region
+        """
+
+        return self._region
+
+    def report(self, region, confidence = None):
+        """
+        Report the tracking results to the client
+
+        Arguments:
+            region: region for the frame
+        """
+        assert(isinstance(region, Rectangle) or isinstance(region, Polygon))
+        if isinstance(region, Polygon):
+            tregion = trax.Polygon.create([(x.x, x.y) for x in region.points])
+        else:
+            tregion = trax.Rectangle.create(region.x, region.y, region.width, region.height)
+        properties = {}
+        if not confidence is None:
+            properties['confidence'] = confidence
+        self._trax.status(tregion, properties)
+
+    def frame(self):
+        """
+        Get a frame (image path) from client
+
+        Returns:
+            absolute path of the image
+        """
+        if hasattr(self, "_image"):
+            image = self._image
+            del self._image
+            return image
+
+        request = self._trax.wait()
+
+        if request.type == 'frame':
+            image = [x.path() for k, x in request.image.items()]
+            if len(image) == 1:
+                return image[0]
+            return image
+        else:
+            return None
+
+
+    def quit(self):
+        if hasattr(self, '_trax'):
+            self._trax.quit()
+
+    def __del__(self):
+        self.quit()
+

vot_iter/vot_iter.py

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+import sys
+import cv2
+import torch
+import numpy as np
+import os
+from os.path import join
+
+from pysot.core.config import cfg
+from pysot.models.model_builder import ModelBuilder
+from pysot.tracker.tracker_builder import build_tracker
+from pysot.utils.bbox import get_axis_aligned_bbox
+from pysot.utils.model_load import load_pretrain
+from toolkit.datasets import DatasetFactory
+from toolkit.utils.region import vot_overlap, vot_float2str
+
+from . import vot
+from .vot import Rectangle, Polygon, Point
+
+
+# modify root
+
+cfg_root = "path/to/expr"
+model_file = join(cfg_root, 'model.pth')
+cfg_file = join(cfg_root, 'config.yaml')
+
+def warmup(model):
+    for i in range(10):
+        model.template(torch.FloatTensor(1,3,127,127).cuda())
+
+def setup_tracker():
+    cfg.merge_from_file(cfg_file)
+
+    model = ModelBuilder()
+    model = load_pretrain(model, model_file).cuda().eval()
+
+    tracker = build_tracker(model)
+    warmup(model)
+    return tracker
+
+
+tracker = setup_tracker()
+
+handle = vot.VOT("polygon")
+region = handle.region()
+try:
+    region = np.array([region[0][0][0], region[0][0][1], region[0][1][0], region[0][1][1],
+                       region[0][2][0], region[0][2][1], region[0][3][0], region[0][3][1]])
+except:
+    region = np.array(region)
+
+cx, cy, w, h = get_axis_aligned_bbox(region)
+
+image_file = handle.frame()
+if not image_file:
+    sys.exit(0)
+
+im = cv2.imread(image_file)  # HxWxC
+# init
+target_pos, target_sz = np.array([cx, cy]), np.array([w, h])
+gt_bbox_ = [cx-(w-1)/2, cy-(h-1)/2, w, h]
+tracker.init(im, gt_bbox_)
+
+while True:
+    img_file = handle.frame()
+    if not img_file:
+        break
+    im = cv2.imread(img_file)
+    outputs = tracker.track(im)
+    pred_bbox = outputs['bbox']
+    result = Rectangle(*pred_bbox)
+    score = outputs['best_score']
+    if cfg.MASK.MASK:
+        pred_bbox = outputs['polygon']
+        result = Polygon(Point(x[0], x[1]) for x in pred_bbox)
+
+    handle.report(result, score)