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comparison scripts/compute-clearmot.py @ 594:9e39cd95e017

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first implementation of CLEAR MOT (needs formal tests)
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Sun, 07 Dec 2014 01:32:36 -0500
parents e2a873e08568
children 17b02c8054d0
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593:e2a873e08568 594:9e39cd95e017
3 import sys, argparse 3 import sys, argparse
4 from numpy import loadtxt 4 from numpy import loadtxt
5 import moving, storage 5 import moving, storage
6 6
7 # TODO: need to trim objects to same mask ? 7 # TODO: need to trim objects to same mask ?
8 # pass frame interval where matching is done?
9 8
10 parser = argparse.ArgumentParser(description='The program computes the CLEAR MOT metrics between ground truth and tracker output (in Polytrack format)', epilog='''CLEAR MOT metrics information: 9 parser = argparse.ArgumentParser(description='The program computes the CLEAR MOT metrics between ground truth and tracker output (in Polytrack format)', epilog='''CLEAR MOT metrics information:
11 Keni, Bernardin, and Stiefelhagen Rainer. "Evaluating multiple object tracking performance: the CLEAR MOT metrics." EURASIP Journal on Image and Video Processing 2008 (2008) 10 Keni, Bernardin, and Stiefelhagen Rainer. "Evaluating multiple object tracking performance: the CLEAR MOT metrics." EURASIP Journal on Image and Video Processing 2008 (2008)
12 11
13 Polytrack format: 12 Polytrack format:
14 JP. Jodoin\'s MSc thesis (in french) 13 JP. Jodoin\'s MSc thesis (in french)
15 see examples on http://www.jpjodoin.com/urbantracker/dataset.html''', formatter_class=argparse.RawDescriptionHelpFormatter) 14 see examples on http://www.jpjodoin.com/urbantracker/dataset.html''', formatter_class=argparse.RawDescriptionHelpFormatter)
16 parser.add_argument('-d', dest = 'trackerDatabaseFilename', help = 'name of the Sqlite database containing the tracker output', required = True) 15 parser.add_argument('-d', dest = 'trackerDatabaseFilename', help = 'name of the Sqlite database containing the tracker output', required = True)
17 parser.add_argument('-g', dest = 'groundTruthDatabaseFilename', help = 'name of the Sqlite database containing the ground truth', required = True) 16 parser.add_argument('-g', dest = 'groundTruthDatabaseFilename', help = 'name of the Sqlite database containing the ground truth', required = True)
18 parser.add_argument('-o', dest = 'homographyFilename', help = 'name of the filename for the homography (if tracking was done using the homography)') 17 parser.add_argument('-o', dest = 'homographyFilename', help = 'name of the filename for the homography (if tracking was done using the homography)')
19 parser.add_argument('-m', dest = 'matchingDistance', help = 'matching distance between tracker and ground truth trajectories', required = True) 18 parser.add_argument('-m', dest = 'matchingDistance', help = 'matching distance between tracker and ground truth trajectories', required = True, type = float)
20 parser.add_argument('-f', dest = 'firstInstant', help = 'first instant for measurement', required = True) 19 parser.add_argument('-f', dest = 'firstInstant', help = 'first instant for measurement', required = True, type = int)
21 parser.add_argument('-l', dest = 'lastInstant', help = 'last instant for measurement', required = True) 20 parser.add_argument('-l', dest = 'lastInstant', help = 'last instant for measurement', required = True, type = int)
22 args = parser.parse_args() 21 args = parser.parse_args()
23 22
24 # args.homographyFilename is None if nothing as argument
25 if args.homographyFilename != None: 23 if args.homographyFilename != None:
26 homography = loadtxt(args.homographyFilename) 24 homography = loadtxt(args.homographyFilename)
27 else: 25 else:
28 homography = None 26 homography = None
29
30 firstInstant = int(args.firstInstant)
31 lastInstant = int(args.lastInstant)
32 27
33 objects = storage.loadTrajectoriesFromSqlite(args.trackerDatabaseFilename, 'object') 28 objects = storage.loadTrajectoriesFromSqlite(args.trackerDatabaseFilename, 'object')
34 annotations = storage.loadGroundTruthFromSqlite(args.groundTruthDatabaseFilename) 29 annotations = storage.loadGroundTruthFromSqlite(args.groundTruthDatabaseFilename)
35 for a in annotations: 30 for a in annotations:
36 a.computeCentroidTrajectory(homography) 31 a.computeCentroidTrajectory(homography)
37 32
38 matchTable = moving.matchingGroundTruthToTracker(objects, annotations, args.matchingDistance, 33 motp, mota, mt, mme, fpt, gt = moving.computeClearMOT(objects, annotations, args.matchingDistance, args.firstInstant, args.lastInstant)
39 firstInstant, lastInstant)
40 34
41 # number of frames of existence of all objects within [firstInstant, lastInstant] 35 print 'MOTP: {}'.format(motp)
42 nTrackFrames = sum([min(o.getLastInstant(),lastInstant)-max(o.getFirstInstant(),firstInstant)+1 for o in objects]) 36 print 'MOTA: {}'.format(mota)
43 37 print 'Number of missed objects.frames: {}'.format(mt)
44 print moving.computeClearMOT(matchTable, nTrackFrames) 38 print 'Number of mismatches: {}'.format(mme)
45 39 print 'Number of false alarms.frames: {}'.format(fpt)