├── LICENSE
├── README.md
├── Supplemental_material.pdf
├── doc
└── sample.png
├── file_parser.py
├── opticalflow_estimate.py
├── opticalflow_evaluate.py
├── trajectory_evaluate.py
└── util.py
/LICENSE:
--------------------------------------------------------------------------------
1 | GNU GENERAL PUBLIC LICENSE
2 | Version 3, 29 June 2007
3 |
4 | Copyright (C) 2007 Free Software Foundation, Inc.
5 | Everyone is permitted to copy and distribute verbatim copies
6 | of this license document, but changing it is not allowed.
7 |
8 | Preamble
9 |
10 | The GNU General Public License is a free, copyleft license for
11 | software and other kinds of works.
12 |
13 | The licenses for most software and other practical works are designed
14 | to take away your freedom to share and change the works. By contrast,
15 | the GNU General Public License is intended to guarantee your freedom to
16 | share and change all versions of a program--to make sure it remains free
17 | software for all its users. We, the Free Software Foundation, use the
18 | GNU General Public License for most of our software; it applies also to
19 | any other work released this way by its authors. You can apply it to
20 | your programs, too.
21 |
22 | When we speak of free software, we are referring to freedom, not
23 | price. Our General Public Licenses are designed to make sure that you
24 | have the freedom to distribute copies of free software (and charge for
25 | them if you wish), that you receive source code or can get it if you
26 | want it, that you can change the software or use pieces of it in new
27 | free programs, and that you know you can do these things.
28 |
29 | To protect your rights, we need to prevent others from denying you
30 | these rights or asking you to surrender the rights. Therefore, you have
31 | certain responsibilities if you distribute copies of the software, or if
32 | you modify it: responsibilities to respect the freedom of others.
33 |
34 | For example, if you distribute copies of such a program, whether
35 | gratis or for a fee, you must pass on to the recipients the same
36 | freedoms that you received. You must make sure that they, too, receive
37 | or can get the source code. And you must show them these terms so they
38 | know their rights.
39 |
40 | Developers that use the GNU GPL protect your rights with two steps:
41 | (1) assert copyright on the software, and (2) offer you this License
42 | giving you legal permission to copy, distribute and/or modify it.
43 |
44 | For the developers' and authors' protection, the GPL clearly explains
45 | that there is no warranty for this free software. For both users' and
46 | authors' sake, the GPL requires that modified versions be marked as
47 | changed, so that their problems will not be attributed erroneously to
48 | authors of previous versions.
49 |
50 | Some devices are designed to deny users access to install or run
51 | modified versions of the software inside them, although the manufacturer
52 | can do so. This is fundamentally incompatible with the aim of
53 | protecting users' freedom to change the software. The systematic
54 | pattern of such abuse occurs in the area of products for individuals to
55 | use, which is precisely where it is most unacceptable. Therefore, we
56 | have designed this version of the GPL to prohibit the practice for those
57 | products. If such problems arise substantially in other domains, we
58 | stand ready to extend this provision to those domains in future versions
59 | of the GPL, as needed to protect the freedom of users.
60 |
61 | Finally, every program is threatened constantly by software patents.
62 | States should not allow patents to restrict development and use of
63 | software on general-purpose computers, but in those that do, we wish to
64 | avoid the special danger that patents applied to a free program could
65 | make it effectively proprietary. To prevent this, the GPL assures that
66 | patents cannot be used to render the program non-free.
67 |
68 | The precise terms and conditions for copying, distribution and
69 | modification follow.
70 |
71 | TERMS AND CONDITIONS
72 |
73 | 0. Definitions.
74 |
75 | "This License" refers to version 3 of the GNU General Public License.
76 |
77 | "Copyright" also means copyright-like laws that apply to other kinds of
78 | works, such as semiconductor masks.
79 |
80 | "The Program" refers to any copyrightable work licensed under this
81 | License. Each licensee is addressed as "you". "Licensees" and
82 | "recipients" may be individuals or organizations.
83 |
84 | To "modify" a work means to copy from or adapt all or part of the work
85 | in a fashion requiring copyright permission, other than the making of an
86 | exact copy. The resulting work is called a "modified version" of the
87 | earlier work or a work "based on" the earlier work.
88 |
89 | A "covered work" means either the unmodified Program or a work based
90 | on the Program.
91 |
92 | To "propagate" a work means to do anything with it that, without
93 | permission, would make you directly or secondarily liable for
94 | infringement under applicable copyright law, except executing it on a
95 | computer or modifying a private copy. Propagation includes copying,
96 | distribution (with or without modification), making available to the
97 | public, and in some countries other activities as well.
98 |
99 | To "convey" a work means any kind of propagation that enables other
100 | parties to make or receive copies. Mere interaction with a user through
101 | a computer network, with no transfer of a copy, is not conveying.
102 |
103 | An interactive user interface displays "Appropriate Legal Notices"
104 | to the extent that it includes a convenient and prominently visible
105 | feature that (1) displays an appropriate copyright notice, and (2)
106 | tells the user that there is no warranty for the work (except to the
107 | extent that warranties are provided), that licensees may convey the
108 | work under this License, and how to view a copy of this License. If
109 | the interface presents a list of user commands or options, such as a
110 | menu, a prominent item in the list meets this criterion.
111 |
112 | 1. Source Code.
113 |
114 | The "source code" for a work means the preferred form of the work
115 | for making modifications to it. "Object code" means any non-source
116 | form of a work.
117 |
118 | A "Standard Interface" means an interface that either is an official
119 | standard defined by a recognized standards body, or, in the case of
120 | interfaces specified for a particular programming language, one that
121 | is widely used among developers working in that language.
122 |
123 | The "System Libraries" of an executable work include anything, other
124 | than the work as a whole, that (a) is included in the normal form of
125 | packaging a Major Component, but which is not part of that Major
126 | Component, and (b) serves only to enable use of the work with that
127 | Major Component, or to implement a Standard Interface for which an
128 | implementation is available to the public in source code form. A
129 | "Major Component", in this context, means a major essential component
130 | (kernel, window system, and so on) of the specific operating system
131 | (if any) on which the executable work runs, or a compiler used to
132 | produce the work, or an object code interpreter used to run it.
133 |
134 | The "Corresponding Source" for a work in object code form means all
135 | the source code needed to generate, install, and (for an executable
136 | work) run the object code and to modify the work, including scripts to
137 | control those activities. However, it does not include the work's
138 | System Libraries, or general-purpose tools or generally available free
139 | programs which are used unmodified in performing those activities but
140 | which are not part of the work. For example, Corresponding Source
141 | includes interface definition files associated with source files for
142 | the work, and the source code for shared libraries and dynamically
143 | linked subprograms that the work is specifically designed to require,
144 | such as by intimate data communication or control flow between those
145 | subprograms and other parts of the work.
146 |
147 | The Corresponding Source need not include anything that users
148 | can regenerate automatically from other parts of the Corresponding
149 | Source.
150 |
151 | The Corresponding Source for a work in source code form is that
152 | same work.
153 |
154 | 2. Basic Permissions.
155 |
156 | All rights granted under this License are granted for the term of
157 | copyright on the Program, and are irrevocable provided the stated
158 | conditions are met. This License explicitly affirms your unlimited
159 | permission to run the unmodified Program. The output from running a
160 | covered work is covered by this License only if the output, given its
161 | content, constitutes a covered work. This License acknowledges your
162 | rights of fair use or other equivalent, as provided by copyright law.
163 |
164 | You may make, run and propagate covered works that you do not
165 | convey, without conditions so long as your license otherwise remains
166 | in force. You may convey covered works to others for the sole purpose
167 | of having them make modifications exclusively for you, or provide you
168 | with facilities for running those works, provided that you comply with
169 | the terms of this License in conveying all material for which you do
170 | not control copyright. Those thus making or running the covered works
171 | for you must do so exclusively on your behalf, under your direction
172 | and control, on terms that prohibit them from making any copies of
173 | your copyrighted material outside their relationship with you.
174 |
175 | Conveying under any other circumstances is permitted solely under
176 | the conditions stated below. Sublicensing is not allowed; section 10
177 | makes it unnecessary.
178 |
179 | 3. Protecting Users' Legal Rights From Anti-Circumvention Law.
180 |
181 | No covered work shall be deemed part of an effective technological
182 | measure under any applicable law fulfilling obligations under article
183 | 11 of the WIPO copyright treaty adopted on 20 December 1996, or
184 | similar laws prohibiting or restricting circumvention of such
185 | measures.
186 |
187 | When you convey a covered work, you waive any legal power to forbid
188 | circumvention of technological measures to the extent such circumvention
189 | is effected by exercising rights under this License with respect to
190 | the covered work, and you disclaim any intention to limit operation or
191 | modification of the work as a means of enforcing, against the work's
192 | users, your or third parties' legal rights to forbid circumvention of
193 | technological measures.
194 |
195 | 4. Conveying Verbatim Copies.
196 |
197 | You may convey verbatim copies of the Program's source code as you
198 | receive it, in any medium, provided that you conspicuously and
199 | appropriately publish on each copy an appropriate copyright notice;
200 | keep intact all notices stating that this License and any
201 | non-permissive terms added in accord with section 7 apply to the code;
202 | keep intact all notices of the absence of any warranty; and give all
203 | recipients a copy of this License along with the Program.
204 |
205 | You may charge any price or no price for each copy that you convey,
206 | and you may offer support or warranty protection for a fee.
207 |
208 | 5. Conveying Modified Source Versions.
209 |
210 | You may convey a work based on the Program, or the modifications to
211 | produce it from the Program, in the form of source code under the
212 | terms of section 4, provided that you also meet all of these conditions:
213 |
214 | a) The work must carry prominent notices stating that you modified
215 | it, and giving a relevant date.
216 |
217 | b) The work must carry prominent notices stating that it is
218 | released under this License and any conditions added under section
219 | 7. This requirement modifies the requirement in section 4 to
220 | "keep intact all notices".
221 |
222 | c) You must license the entire work, as a whole, under this
223 | License to anyone who comes into possession of a copy. This
224 | License will therefore apply, along with any applicable section 7
225 | additional terms, to the whole of the work, and all its parts,
226 | regardless of how they are packaged. This License gives no
227 | permission to license the work in any other way, but it does not
228 | invalidate such permission if you have separately received it.
229 |
230 | d) If the work has interactive user interfaces, each must display
231 | Appropriate Legal Notices; however, if the Program has interactive
232 | interfaces that do not display Appropriate Legal Notices, your
233 | work need not make them do so.
234 |
235 | A compilation of a covered work with other separate and independent
236 | works, which are not by their nature extensions of the covered work,
237 | and which are not combined with it such as to form a larger program,
238 | in or on a volume of a storage or distribution medium, is called an
239 | "aggregate" if the compilation and its resulting copyright are not
240 | used to limit the access or legal rights of the compilation's users
241 | beyond what the individual works permit. Inclusion of a covered work
242 | in an aggregate does not cause this License to apply to the other
243 | parts of the aggregate.
244 |
245 | 6. Conveying Non-Source Forms.
246 |
247 | You may convey a covered work in object code form under the terms
248 | of sections 4 and 5, provided that you also convey the
249 | machine-readable Corresponding Source under the terms of this License,
250 | in one of these ways:
251 |
252 | a) Convey the object code in, or embodied in, a physical product
253 | (including a physical distribution medium), accompanied by the
254 | Corresponding Source fixed on a durable physical medium
255 | customarily used for software interchange.
256 |
257 | b) Convey the object code in, or embodied in, a physical product
258 | (including a physical distribution medium), accompanied by a
259 | written offer, valid for at least three years and valid for as
260 | long as you offer spare parts or customer support for that product
261 | model, to give anyone who possesses the object code either (1) a
262 | copy of the Corresponding Source for all the software in the
263 | product that is covered by this License, on a durable physical
264 | medium customarily used for software interchange, for a price no
265 | more than your reasonable cost of physically performing this
266 | conveying of source, or (2) access to copy the
267 | Corresponding Source from a network server at no charge.
268 |
269 | c) Convey individual copies of the object code with a copy of the
270 | written offer to provide the Corresponding Source. This
271 | alternative is allowed only occasionally and noncommercially, and
272 | only if you received the object code with such an offer, in accord
273 | with subsection 6b.
274 |
275 | d) Convey the object code by offering access from a designated
276 | place (gratis or for a charge), and offer equivalent access to the
277 | Corresponding Source in the same way through the same place at no
278 | further charge. You need not require recipients to copy the
279 | Corresponding Source along with the object code. If the place to
280 | copy the object code is a network server, the Corresponding Source
281 | may be on a different server (operated by you or a third party)
282 | that supports equivalent copying facilities, provided you maintain
283 | clear directions next to the object code saying where to find the
284 | Corresponding Source. Regardless of what server hosts the
285 | Corresponding Source, you remain obligated to ensure that it is
286 | available for as long as needed to satisfy these requirements.
287 |
288 | e) Convey the object code using peer-to-peer transmission, provided
289 | you inform other peers where the object code and Corresponding
290 | Source of the work are being offered to the general public at no
291 | charge under subsection 6d.
292 |
293 | A separable portion of the object code, whose source code is excluded
294 | from the Corresponding Source as a System Library, need not be
295 | included in conveying the object code work.
296 |
297 | A "User Product" is either (1) a "consumer product", which means any
298 | tangible personal property which is normally used for personal, family,
299 | or household purposes, or (2) anything designed or sold for incorporation
300 | into a dwelling. In determining whether a product is a consumer product,
301 | doubtful cases shall be resolved in favor of coverage. For a particular
302 | product received by a particular user, "normally used" refers to a
303 | typical or common use of that class of product, regardless of the status
304 | of the particular user or of the way in which the particular user
305 | actually uses, or expects or is expected to use, the product. A product
306 | is a consumer product regardless of whether the product has substantial
307 | commercial, industrial or non-consumer uses, unless such uses represent
308 | the only significant mode of use of the product.
309 |
310 | "Installation Information" for a User Product means any methods,
311 | procedures, authorization keys, or other information required to install
312 | and execute modified versions of a covered work in that User Product from
313 | a modified version of its Corresponding Source. The information must
314 | suffice to ensure that the continued functioning of the modified object
315 | code is in no case prevented or interfered with solely because
316 | modification has been made.
317 |
318 | If you convey an object code work under this section in, or with, or
319 | specifically for use in, a User Product, and the conveying occurs as
320 | part of a transaction in which the right of possession and use of the
321 | User Product is transferred to the recipient in perpetuity or for a
322 | fixed term (regardless of how the transaction is characterized), the
323 | Corresponding Source conveyed under this section must be accompanied
324 | by the Installation Information. But this requirement does not apply
325 | if neither you nor any third party retains the ability to install
326 | modified object code on the User Product (for example, the work has
327 | been installed in ROM).
328 |
329 | The requirement to provide Installation Information does not include a
330 | requirement to continue to provide support service, warranty, or updates
331 | for a work that has been modified or installed by the recipient, or for
332 | the User Product in which it has been modified or installed. Access to a
333 | network may be denied when the modification itself materially and
334 | adversely affects the operation of the network or violates the rules and
335 | protocols for communication across the network.
336 |
337 | Corresponding Source conveyed, and Installation Information provided,
338 | in accord with this section must be in a format that is publicly
339 | documented (and with an implementation available to the public in
340 | source code form), and must require no special password or key for
341 | unpacking, reading or copying.
342 |
343 | 7. Additional Terms.
344 |
345 | "Additional permissions" are terms that supplement the terms of this
346 | License by making exceptions from one or more of its conditions.
347 | Additional permissions that are applicable to the entire Program shall
348 | be treated as though they were included in this License, to the extent
349 | that they are valid under applicable law. If additional permissions
350 | apply only to part of the Program, that part may be used separately
351 | under those permissions, but the entire Program remains governed by
352 | this License without regard to the additional permissions.
353 |
354 | When you convey a copy of a covered work, you may at your option
355 | remove any additional permissions from that copy, or from any part of
356 | it. (Additional permissions may be written to require their own
357 | removal in certain cases when you modify the work.) You may place
358 | additional permissions on material, added by you to a covered work,
359 | for which you have or can give appropriate copyright permission.
360 |
361 | Notwithstanding any other provision of this License, for material you
362 | add to a covered work, you may (if authorized by the copyright holders of
363 | that material) supplement the terms of this License with terms:
364 |
365 | a) Disclaiming warranty or limiting liability differently from the
366 | terms of sections 15 and 16 of this License; or
367 |
368 | b) Requiring preservation of specified reasonable legal notices or
369 | author attributions in that material or in the Appropriate Legal
370 | Notices displayed by works containing it; or
371 |
372 | c) Prohibiting misrepresentation of the origin of that material, or
373 | requiring that modified versions of such material be marked in
374 | reasonable ways as different from the original version; or
375 |
376 | d) Limiting the use for publicity purposes of names of licensors or
377 | authors of the material; or
378 |
379 | e) Declining to grant rights under trademark law for use of some
380 | trade names, trademarks, or service marks; or
381 |
382 | f) Requiring indemnification of licensors and authors of that
383 | material by anyone who conveys the material (or modified versions of
384 | it) with contractual assumptions of liability to the recipient, for
385 | any liability that these contractual assumptions directly impose on
386 | those licensors and authors.
387 |
388 | All other non-permissive additional terms are considered "further
389 | restrictions" within the meaning of section 10. If the Program as you
390 | received it, or any part of it, contains a notice stating that it is
391 | governed by this License along with a term that is a further
392 | restriction, you may remove that term. If a license document contains
393 | a further restriction but permits relicensing or conveying under this
394 | License, you may add to a covered work material governed by the terms
395 | of that license document, provided that the further restriction does
396 | not survive such relicensing or conveying.
397 |
398 | If you add terms to a covered work in accord with this section, you
399 | must place, in the relevant source files, a statement of the
400 | additional terms that apply to those files, or a notice indicating
401 | where to find the applicable terms.
402 |
403 | Additional terms, permissive or non-permissive, may be stated in the
404 | form of a separately written license, or stated as exceptions;
405 | the above requirements apply either way.
406 |
407 | 8. Termination.
408 |
409 | You may not propagate or modify a covered work except as expressly
410 | provided under this License. Any attempt otherwise to propagate or
411 | modify it is void, and will automatically terminate your rights under
412 | this License (including any patent licenses granted under the third
413 | paragraph of section 11).
414 |
415 | However, if you cease all violation of this License, then your
416 | license from a particular copyright holder is reinstated (a)
417 | provisionally, unless and until the copyright holder explicitly and
418 | finally terminates your license, and (b) permanently, if the copyright
419 | holder fails to notify you of the violation by some reasonable means
420 | prior to 60 days after the cessation.
421 |
422 | Moreover, your license from a particular copyright holder is
423 | reinstated permanently if the copyright holder notifies you of the
424 | violation by some reasonable means, this is the first time you have
425 | received notice of violation of this License (for any work) from that
426 | copyright holder, and you cure the violation prior to 30 days after
427 | your receipt of the notice.
428 |
429 | Termination of your rights under this section does not terminate the
430 | licenses of parties who have received copies or rights from you under
431 | this License. If your rights have been terminated and not permanently
432 | reinstated, you do not qualify to receive new licenses for the same
433 | material under section 10.
434 |
435 | 9. Acceptance Not Required for Having Copies.
436 |
437 | You are not required to accept this License in order to receive or
438 | run a copy of the Program. Ancillary propagation of a covered work
439 | occurring solely as a consequence of using peer-to-peer transmission
440 | to receive a copy likewise does not require acceptance. However,
441 | nothing other than this License grants you permission to propagate or
442 | modify any covered work. These actions infringe copyright if you do
443 | not accept this License. Therefore, by modifying or propagating a
444 | covered work, you indicate your acceptance of this License to do so.
445 |
446 | 10. Automatic Licensing of Downstream Recipients.
447 |
448 | Each time you convey a covered work, the recipient automatically
449 | receives a license from the original licensors, to run, modify and
450 | propagate that work, subject to this License. You are not responsible
451 | for enforcing compliance by third parties with this License.
452 |
453 | An "entity transaction" is a transaction transferring control of an
454 | organization, or substantially all assets of one, or subdividing an
455 | organization, or merging organizations. If propagation of a covered
456 | work results from an entity transaction, each party to that
457 | transaction who receives a copy of the work also receives whatever
458 | licenses to the work the party's predecessor in interest had or could
459 | give under the previous paragraph, plus a right to possession of the
460 | Corresponding Source of the work from the predecessor in interest, if
461 | the predecessor has it or can get it with reasonable efforts.
462 |
463 | You may not impose any further restrictions on the exercise of the
464 | rights granted or affirmed under this License. For example, you may
465 | not impose a license fee, royalty, or other charge for exercise of
466 | rights granted under this License, and you may not initiate litigation
467 | (including a cross-claim or counterclaim in a lawsuit) alleging that
468 | any patent claim is infringed by making, using, selling, offering for
469 | sale, or importing the Program or any portion of it.
470 |
471 | 11. Patents.
472 |
473 | A "contributor" is a copyright holder who authorizes use under this
474 | License of the Program or a work on which the Program is based. The
475 | work thus licensed is called the contributor's "contributor version".
476 |
477 | A contributor's "essential patent claims" are all patent claims
478 | owned or controlled by the contributor, whether already acquired or
479 | hereafter acquired, that would be infringed by some manner, permitted
480 | by this License, of making, using, or selling its contributor version,
481 | but do not include claims that would be infringed only as a
482 | consequence of further modification of the contributor version. For
483 | purposes of this definition, "control" includes the right to grant
484 | patent sublicenses in a manner consistent with the requirements of
485 | this License.
486 |
487 | Each contributor grants you a non-exclusive, worldwide, royalty-free
488 | patent license under the contributor's essential patent claims, to
489 | make, use, sell, offer for sale, import and otherwise run, modify and
490 | propagate the contents of its contributor version.
491 |
492 | In the following three paragraphs, a "patent license" is any express
493 | agreement or commitment, however denominated, not to enforce a patent
494 | (such as an express permission to practice a patent or covenant not to
495 | sue for patent infringement). To "grant" such a patent license to a
496 | party means to make such an agreement or commitment not to enforce a
497 | patent against the party.
498 |
499 | If you convey a covered work, knowingly relying on a patent license,
500 | and the Corresponding Source of the work is not available for anyone
501 | to copy, free of charge and under the terms of this License, through a
502 | publicly available network server or other readily accessible means,
503 | then you must either (1) cause the Corresponding Source to be so
504 | available, or (2) arrange to deprive yourself of the benefit of the
505 | patent license for this particular work, or (3) arrange, in a manner
506 | consistent with the requirements of this License, to extend the patent
507 | license to downstream recipients. "Knowingly relying" means you have
508 | actual knowledge that, but for the patent license, your conveying the
509 | covered work in a country, or your recipient's use of the covered work
510 | in a country, would infringe one or more identifiable patents in that
511 | country that you have reason to believe are valid.
512 |
513 | If, pursuant to or in connection with a single transaction or
514 | arrangement, you convey, or propagate by procuring conveyance of, a
515 | covered work, and grant a patent license to some of the parties
516 | receiving the covered work authorizing them to use, propagate, modify
517 | or convey a specific copy of the covered work, then the patent license
518 | you grant is automatically extended to all recipients of the covered
519 | work and works based on it.
520 |
521 | A patent license is "discriminatory" if it does not include within
522 | the scope of its coverage, prohibits the exercise of, or is
523 | conditioned on the non-exercise of one or more of the rights that are
524 | specifically granted under this License. You may not convey a covered
525 | work if you are a party to an arrangement with a third party that is
526 | in the business of distributing software, under which you make payment
527 | to the third party based on the extent of your activity of conveying
528 | the work, and under which the third party grants, to any of the
529 | parties who would receive the covered work from you, a discriminatory
530 | patent license (a) in connection with copies of the covered work
531 | conveyed by you (or copies made from those copies), or (b) primarily
532 | for and in connection with specific products or compilations that
533 | contain the covered work, unless you entered into that arrangement,
534 | or that patent license was granted, prior to 28 March 2007.
535 |
536 | Nothing in this License shall be construed as excluding or limiting
537 | any implied license or other defenses to infringement that may
538 | otherwise be available to you under applicable patent law.
539 |
540 | 12. No Surrender of Others' Freedom.
541 |
542 | If conditions are imposed on you (whether by court order, agreement or
543 | otherwise) that contradict the conditions of this License, they do not
544 | excuse you from the conditions of this License. If you cannot convey a
545 | covered work so as to satisfy simultaneously your obligations under this
546 | License and any other pertinent obligations, then as a consequence you may
547 | not convey it at all. For example, if you agree to terms that obligate you
548 | to collect a royalty for further conveying from those to whom you convey
549 | the Program, the only way you could satisfy both those terms and this
550 | License would be to refrain entirely from conveying the Program.
551 |
552 | 13. Use with the GNU Affero General Public License.
553 |
554 | Notwithstanding any other provision of this License, you have
555 | permission to link or combine any covered work with a work licensed
556 | under version 3 of the GNU Affero General Public License into a single
557 | combined work, and to convey the resulting work. The terms of this
558 | License will continue to apply to the part which is the covered work,
559 | but the special requirements of the GNU Affero General Public License,
560 | section 13, concerning interaction through a network will apply to the
561 | combination as such.
562 |
563 | 14. Revised Versions of this License.
564 |
565 | The Free Software Foundation may publish revised and/or new versions of
566 | the GNU General Public License from time to time. Such new versions will
567 | be similar in spirit to the present version, but may differ in detail to
568 | address new problems or concerns.
569 |
570 | Each version is given a distinguishing version number. If the
571 | Program specifies that a certain numbered version of the GNU General
572 | Public License "or any later version" applies to it, you have the
573 | option of following the terms and conditions either of that numbered
574 | version or of any later version published by the Free Software
575 | Foundation. If the Program does not specify a version number of the
576 | GNU General Public License, you may choose any version ever published
577 | by the Free Software Foundation.
578 |
579 | If the Program specifies that a proxy can decide which future
580 | versions of the GNU General Public License can be used, that proxy's
581 | public statement of acceptance of a version permanently authorizes you
582 | to choose that version for the Program.
583 |
584 | Later license versions may give you additional or different
585 | permissions. However, no additional obligations are imposed on any
586 | author or copyright holder as a result of your choosing to follow a
587 | later version.
588 |
589 | 15. Disclaimer of Warranty.
590 |
591 | THERE IS NO WARRANTY FOR THE PROGRAM, TO THE EXTENT PERMITTED BY
592 | APPLICABLE LAW. EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT
593 | HOLDERS AND/OR OTHER PARTIES PROVIDE THE PROGRAM "AS IS" WITHOUT WARRANTY
594 | OF ANY KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO,
595 | THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
596 | PURPOSE. THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE PROGRAM
597 | IS WITH YOU. SHOULD THE PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF
598 | ALL NECESSARY SERVICING, REPAIR OR CORRECTION.
599 |
600 | 16. Limitation of Liability.
601 |
602 | IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING
603 | WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MODIFIES AND/OR CONVEYS
604 | THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY
605 | GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE
606 | USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED TO LOSS OF
607 | DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD
608 | PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS),
609 | EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF
610 | SUCH DAMAGES.
611 |
612 | 17. Interpretation of Sections 15 and 16.
613 |
614 | If the disclaimer of warranty and limitation of liability provided
615 | above cannot be given local legal effect according to their terms,
616 | reviewing courts shall apply local law that most closely approximates
617 | an absolute waiver of all civil liability in connection with the
618 | Program, unless a warranty or assumption of liability accompanies a
619 | copy of the Program in return for a fee.
620 |
621 | END OF TERMS AND CONDITIONS
622 |
623 | How to Apply These Terms to Your New Programs
624 |
625 | If you develop a new program, and you want it to be of the greatest
626 | possible use to the public, the best way to achieve this is to make it
627 | free software which everyone can redistribute and change under these terms.
628 |
629 | To do so, attach the following notices to the program. It is safest
630 | to attach them to the start of each source file to most effectively
631 | state the exclusion of warranty; and each file should have at least
632 | the "copyright" line and a pointer to where the full notice is found.
633 |
634 | tf_smoe
635 | Copyright (C) 2018 bochinski
636 |
637 | This program is free software: you can redistribute it and/or modify
638 | it under the terms of the GNU General Public License as published by
639 | the Free Software Foundation, either version 3 of the License, or
640 | (at your option) any later version.
641 |
642 | This program is distributed in the hope that it will be useful,
643 | but WITHOUT ANY WARRANTY; without even the implied warranty of
644 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
645 | GNU General Public License for more details.
646 |
647 | You should have received a copy of the GNU General Public License
648 | along with this program. If not, see .
649 |
650 | Also add information on how to contact you by electronic and paper mail.
651 |
652 | If the program does terminal interaction, make it output a short
653 | notice like this when it starts in an interactive mode:
654 |
655 | tf_smoe Copyright (C) 2018 bochinski
656 | This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
657 | This is free software, and you are welcome to redistribute it
658 | under certain conditions; type `show c' for details.
659 |
660 | The hypothetical commands `show w' and `show c' should show the appropriate
661 | parts of the General Public License. Of course, your program's commands
662 | might be different; for a GUI interface, you would use an "about box".
663 |
664 | You should also get your employer (if you work as a programmer) or school,
665 | if any, to sign a "copyright disclaimer" for the program, if necessary.
666 | For more information on this, and how to apply and follow the GNU GPL, see
667 | .
668 |
669 | The GNU General Public License does not permit incorporating your program
670 | into proprietary programs. If your program is a subroutine library, you
671 | may consider it more useful to permit linking proprietary applications with
672 | the library. If this is what you want to do, use the GNU Lesser General
673 | Public License instead of this License. But first, please read
674 | .
675 |
--------------------------------------------------------------------------------
/README.md:
--------------------------------------------------------------------------------
1 | 
2 | ## TUB CrowdFlow Dataset
3 | Optical Flow Dataset and Evaluation Kit for Visual Crowd Analysis developed at [Communication Systems Group](https://www.nue.tu-berlin.de/) at TU-Berlin desciribed in the AVSS 2018 paper
4 | [Optical Flow Dataset and Benchmark for Visual Crowd Analysis](http://elvera.nue.tu-berlin.de/files/1548Schr%C3%B6der2018.pdf) or [TUBCrowdFlow@arxiv.org](https://arxiv.org/abs/1811.07170).
5 |
6 | The Dataset contains 10 sequences showing 5 scenes. Each scene is rendered twice: with a static point of view and a dynamic camera to simulate drone/UAV based surveillance. We render at HD resolution (1280x720) at 25 fps, which is typical for current commercial CCTV surveillance systems. The total number of frames 3200.
7 |
8 | For each sequence we provide the following **ground-truth** data:
9 | * **Optical flow fields**
10 | * **Person trajectories (up to 1451)**
11 | * **Dense pixel trajectories**
12 |
13 | This evaluation framework is released under the MIT License (details in [LICENSE](LICENSE)).
14 | If you use the dataset or evaluation kit or think our work is useful in your research, please consider citing:
15 |
16 | ```
17 | @INPROCEEDINGS{TUBCrowdFlow2018,
18 | AUTHOR = {Gregory Schr{\"o}der and Tobias Senst and Erik Bochinski and Thomas Sikora},
19 | TITLE = {Optical Flow Dataset and Benchmark for Visual Crowd Analysis},
20 | BOOKTITLE = {IEEE International Conference on Advanced Video and Signals-based Surveillance},
21 | YEAR = {2018},
22 | }
23 | ```
24 |
25 | Download the dataset via the following direct link
26 | - [https://hidrive.ionos.com/lnk/LUiCHfYG](https://hidrive.ionos.com/lnk/LUiCHfYG)
27 |
28 | The password is the case sensitive name of the repository.
29 |
30 | Unpack the dataset by:
31 | ```
32 | sudo apt-get install unrar
33 | unrar x TUBCrowdFlow
34 | ```
35 | **The TUB CrowdFlow dataset is made available for academic use only.** If you wish to use this dataset commercially please contact [sikora@nue.tu-berlin.de](mailto:sikora@nue.tu-berlin.de).
36 |
37 | ## Contact
38 | If you have any questions or encounter problems regarding the method/code or want to send us your optical flow benchmark
39 | results feel free to contact me
40 | at [tobias.senst@gmail.com](mailto:tobias.senst@gmail.com)
41 |
42 | ### Installation
43 | Minimum required python version: 3.5
44 |
45 | **Install dependencies on Ubuntu:**
46 | ```
47 | sudo apt-get install python3-dev python3-virtualenv virtualenv
48 | ```
49 | Create a virtual environment and install python requirements:
50 | ```
51 | virtualenv -p python3 crowdflow_env
52 | source crowdflow_env/bin/activate
53 | pip3 install numpy progressbar2 opencv-contrib-python
54 | ```
55 |
56 | ## Evaluation Framework
57 | To evaluate an optical flow method with the providen framework perform these step:
58 | * create a new directory in the `/TUBCrowdFlow/estimate` directory.
59 | * compute flow fields and save them in *.flo* fileformat with the structure given in by the
60 | `/TUBCrowdFlow/images` directory. For example optical flow results from the image pair `/TUBCrowdFlow/images/IM01/frame_0000.png` and `/TUBCrowdFlow/images/IM01/frame_0001.png`
61 | must be stored as `/estimate/[mymethod]/images/IM01/frame_0000.flo
62 | * run `opticalflow_evaluate.py` to compute EPE and R2 short-term metrics.
63 | * run `trajectory_evaluate.py` to compute tracking accuracy long-term metrics.
64 |
65 | **Optical Flow Samples**
66 |
67 | `
68 | opticalflow_estimate.py ...
69 | `
70 |
71 | With the following program optical flow fields for the TUB CrowdFlow dataset will be estimated with Dual-TVL1.
72 | ```
73 | source crowdflow_env/bin/activate
74 | python3 opticalflow_estimate.py TUBCrowdFlow/ dual farneback plk
75 | ```
76 | The optical flow files will be stored in the directory `/estimate/dual/` .
77 |
78 | **Short-Term Evaluation**
79 |
80 | Short-term evaluation performs classical approch for optical flow evaluation, i.e. measures based on ground-truth optical flow fields (e.g. end-point error, RX measures)
81 |
82 | `
83 | opticalflow_evaluate.py ...
84 | `
85 |
86 | Example:
87 | ```
88 | source crowdflow_env/bin/activate
89 | python3 opticalflow_evaluate.py TUBCrowdFlow/ dual plk farneback
90 | ```
91 | After execution the file *short_term_results.tex* will contain the evaluation results (*method 1 - method n*) in form of a latex table.
92 | *short_term_results.pb* will contain the evaluation results stored with pickle.
93 |
94 | **Long-Term Evaluation**
95 |
96 | Long-term evaluation performs evaluation based on ground-truth trajectories, i.e. **person trajectories** and **dense pixel trajectories** (see paper).
97 |
98 | `
99 | trajectory_evaluate.py ...
100 | `
101 |
102 | Example:
103 | ```
104 | source crowdflow_env/bin/activate
105 | python3 trajectory_evaluate.py TUBCrowdFlow/ dual plk farneback
106 | ```
107 | After execution the file *long_term_results.tex* will contain the evaluation results (*method 1 - method n*) in form of a latex table.
108 | *long_term_results.pb* will contain the evaluation results stored with pickle.
109 |
110 | ## Results
111 | To assess the quality of the optical flow we propose to use two types of metrics: i) common optical flow metrics, i.e. average endpoint error (EPE) and percentage of erroneous
112 | pixel (RX) and ii) long-term motion metrics based on trajectories. An detailed overview of the optical flow parameters can be found in the document: [Supplemental_materials.pdf](./Supplemental_material.pdf)).
113 | ### Common optical flow metrics (short-term)
114 |
115 | | |FG (Static)| FG (Static)| BG (Static)|BG (Static) |FG (Dynamic)| FG (Dynamic) | BG (Dynamic) | BG (Dynamic) | FG(Avg.)| FG(Avg.) | BG(Avg.) | BG(Avg.) | Avg. |Avg. ||
116 | | ---------- | ----- | ----- | ----- | ---- | ----- | ----- | ------ | ----- | ----- | ------ | ----- | ----- | ----- | ----- | ----- |
117 | | | EPE |R2[%] |EPE |R2[%] |EPE |R2[%] |EPE |R2[%] |EPE |R2[%] |EPE |R2[%] |EPE |R2[%] |t[sec]|
118 | | **[FlowFields (Bailer2015)](https://av.dfki.de/publications/flow-fields-dense-correspondence-fields-for-highly-accurate-large-displacement-optical-flow-estimation/)** | 0.756 | 8.27 | 0.213 | 2.79 | 1.069 | 14.92 | 2.571 | 51.42 | 0.913 | 11.595 | 1.392 | 27.10 | 0.915 | 11.74 | 43.53 |
119 | | **[RIC (Hu2017)](https://github.com/YinlinHu/Ric)** | 0.859 | 8.64 | 0.243 | 3.31 | 1.166 | 15.69 | 2.623 | 53.58 | 1.013 | 12.164 | 1.433 | 28.45 | 1.015 | 12.32 | 8.30 |
120 | |**[CPM (Li2018)](https://github.com/YinlinHu/CPM)** |0.701 |7.09 |0.247 |3.63 |1.026 |13.94 |2.585 |51.78 |0.864 |10.517 |1.416 |27.71 |0.868 |10.69 |14.74|
121 | |**[DeepFlow (Weinzaepfel2013)](https://thoth.inrialpes.fr/src/deepflow/)** |0.629 |6.19 |0.237 |3.67 |1.005 |13.95 |2.594 |51.67 |0.817 |10.069 |1.416 |27.67 |0.822 |10.25 |39.63|
122 | |**[RLOF6 (Geistert2016)](https://github.com/tsenst/RLOFLib)** |0.753 |8.61 |0.315 |5.00 |1.088 |15.61 |2.655 |53.47 |0.921 |12.112 |1.485 |29.23 |0.924 |12.27 |1.49|
123 | |**[RLOF10 (Geistert2016)](https://github.com/tsenst/RLOFLib)** |0.772 |8.80 |0.324 |5.10 |1.104 |15.80 |2.658 |53.60 |0.938 |12.303 |1.491 |29.35 |0.941 |12.46 |0.80|
124 | |**[DIS4 (Kroeger2016)](https://github.com/tikroeger/OF_DIS)** |0.627 |5.72 |0.356 |5.85 |0.928 |11.86 |2.665 |53.67 |0.777 |8.790 |1.511 |29.76 |0.784 |9.01 |1.70|
125 | |**[DIS2 (Kroeger2016)](https://github.com/tikroeger/OF_DIS)** |1.441 |20.40|0.528 |8.24 |1.726 |27.41 |3.001 |64.01 |1.583 |23.903 |1.765 |36.13 |1.579 |23.92 |0.28|
126 | |**[Farneback (Farneback2003)](http://www.diva-portal.org/smash/get/diva2:273847/FULLTEXT01.pdf)** |0.737 |7.21 |0.441 |7.30 |0.996 |12.67 |2.491 |50.60 |0.867 |9.940 |1.466 | 28.95|0.872 |10.13 | |
127 | |**[Sparse to Dense PLK (Bouguet2000)](http://robots.stanford.edu/cs223b04/algo_tracking.pdf)** | 0.793 | 8.07 | 0.563 | 9.12 | 1.041 | 13.24 | 2.875 | 56.29 | 0.917 | 10.653 | 1.719 | 32.71 | 0.925 | 10.88 | |
128 |
129 | ### Tracking Accuracy (long-term)
130 |
131 | **Dense Trajectories**
132 |
133 | | |IM01 |(Dyn) |IM02 |(Dyn)|IM03 |(Dyn) |IM04 |(Dyn) |IM05 |(Dyn) |Avg. |
134 | | --------- | --- | ---- | ---- | ---- | ---- | ---- | ---- | --- | ---- | ---- | --- |
135 | | **[FlowFields (Bailer2015)](https://av.dfki.de/publications/flow-fields-dense-correspondence-fields-for-highly-accurate-large-displacement-optical-flow-estimation/)** |70.63| 61.79| 56.69 |45.93| 71.46| 68.35| 42.27| 37.63| 65.15| 59.61| 57.95|
136 | | **[RIC (Hu2017)](https://github.com/YinlinHu/Ric)** |74.39| 69.41| 58.72 |50.33| 54.18| 73.80| 44.21| 39.52| 60.23| 60.28| 58.51|
137 | |**[CPM (Li2018)](https://github.com/YinlinHu/CPM)** |73.41| 65.16| 58.31 |47.57| 74.41| 71.13| 46.23| 41.15| 67.97| 61.68| 60.70|
138 | |**[DeepFlow (Weinzaepfel2013)](https://thoth.inrialpes.fr/src/deepflow/)** |83.84| 81.90| 63.33 |55.52| 83.38| 80.87| 57.08| 56.65| 71.25| 64.67| 69.85|
139 | |**[RLOF6 (Geistert2016)](https://github.com/tsenst/RLOFLib)** |82.80| 78.31| 63.16 |57.68| 87.46| 86.76| 50.56| 50.53| 69.86| 68.73| 69.59|
140 | |**[RLOF10 (Geistert2016)](https://github.com/tsenst/RLOFLib)** |80.14| 73.95| 62.05 |55.54| 85.44| 84.39| 48.80| 47.84| 67.53| 67.41| 67.31|
141 | |**[DIS4 (Kroeger2016)](https://github.com/tikroeger/OF_DIS)** |80.44| 76.19| 64.11 |56.99| 82.89| 82.24| 53.91| 52.75| 72.11| 70.71| 69.23|
142 | |**[DIS2 (Kroeger2016)](https://github.com/tikroeger/OF_DIS)** |47.55| 33.03| 36.52 |25.32| 22.59| 19.76| 26.79| 20.89| 27.63| 27.91| 28.80|
143 | |**[Farneback (Farneback2003)](http://www.diva-portal.org/smash/get/diva2:273847/FULLTEXT01.pdf)** |78.69| 74.24| 65.22 |59.43| 86.89| 87.17| 52.85| 55.29| 70.22| 68.94| 69.89|
144 | |**[Sparse to Dense PLK (Bouguet2000)](http://robots.stanford.edu/cs223b04/algo_tracking.pdf)** |75.15| 68.54| 64.71 |57.88| 84.71| 84.11| 50.08| 49.26| 68.45| 69.75| 67.26|
145 |
146 | **Person Trajectories**
147 |
148 | | | IM01|(Dyn)|IM02 |(Dyn)|IM03 |(Dyn)| IM04 |(Dyn)|IM05 |(Dyn) | Avg. |
149 | | --------- | --- | --- | --- | --- | --- | --- | ---- | --- | ---- | ---- | ------ |
150 | | **[FlowFields (Bailer2015)](https://av.dfki.de/publications/flow-fields-dense-correspondence-fields-for-highly-accurate-large-displacement-optical-flow-estimation/)** | 77.94| 62.68| 52.35| 38.22| 66.76| 63.17| 30.09| 25.24| 65.67| 68.20| 55.03 |
151 | | **[RIC (Hu2017)](https://github.com/YinlinHu/Ric)** | 87.88| 80.87| 56.56| 48.14| 43.49| 70.98| 32.48| 27.81| 57.47| 68.56| 57.42|
152 | |**[CPM (Li2018)](https://github.com/YinlinHu/CPM)** | 82.17| 68.82| 54.56| 40.99| 70.37| 66.69| 35.98| 30.00| 69.64| 71.58| 59.08|
153 | |**[DeepFlow (Weinzaepfel2013)](https://thoth.inrialpes.fr/src/deepflow/)** | 99.19| 95.32| 68.60| 63.04| 83.18| 81.20| 53.82| 52.22| 76.32| 79.15| 75.20|
154 | |**[RLOF6 (Geistert2016)](https://github.com/tsenst/RLOFLib)** | 97.70| 92.37| 66.70| 65.08| 88.73| 90.22| 43.56| 46.47| 72.60| 80.12| 74.36|
155 | |**[RLOF10 (Geistert2016)](https://github.com/tsenst/RLOFLib)** |96.00 | 85.02| 63.08| 59.77| 85.97| 86.69| 39.41| 40.48| 69.09| 78.70| 70.42|
156 | |**[DIS4 (Kroeger2016)](https://github.com/tikroeger/OF_DIS)** | 92.22| 85.98| 63.97| 56.35| 81.59| 81.61| 44.58| 42.64| 74.95| 82.09| 70.60|
157 | |**[DIS2 (Kroeger2016)](https://github.com/tikroeger/OF_DIS)** | 40.81| 22.39| 22.86| 15.37| 9.05 | 6.72 | 13.63| 9.72 | 17.86| 18.10| 17.65 |
158 | |**[Farneback (Farneback2003)](http://www.diva-portal.org/smash/get/diva2:273847/FULLTEXT01.pdf)** | 88.75| 81.33| 64.69| 59.05| 85.92| 87.44| 42.42| 45.35| 71.51| 79.63| 70.61|
159 | |**[Sparse to Dense PLK (Bouguet2000)](http://robots.stanford.edu/cs223b04/algo_tracking.pdf)** | 79.31| 66.83| 61.05| 52.41| 82.63| 83.11| 37.92| 36.81| 67.53| 76.18| 64.38|
160 | |**[NMC (IDREES2014)](https://www.sciencedirect.com/science/article/pii/S0262885613001637)** | 96.96 | 90.33 | 72.18 | 71.44 | 92.28 | 20.70 | 32.72 | 42.38 | 60.15 | 56.02 | 63.52 |
161 |
162 |
163 |
164 |
165 | ## References - Optical Flow Algorithm
166 |
167 | ```
168 | @inproceedings
169 | {Bailer2015,
170 | title = {Flow Fields: Dense Correspondence Fields for Highly Accurate Large Displacement Optical Flow Estimation},
171 | author={Bailer, C. and Taetz, B. and Stricker, D.},
172 | booktitle = {International Conference on Computer Vision},
173 | pages={4015--4023},
174 | year = {2015}
175 | }
176 | ```
177 | ```
178 | @inproceedings{Hu2017,
179 | title={Robust interpolation of correspondences for large displacement optical flow},
180 | author={Hu, Y. and Li, Y. and Song, R.},
181 | booktitle={Conference on Computer Vision and Pattern Recognition},
182 | pages={4791--4799},
183 | year={2017},
184 | }
185 | ```
186 | ```
187 | @article{Li2018,
188 | author={Y. Li and Y. Hu and R. Song and P. Rao and Y. Wang},
189 | journal={IEEE Transactions on Circuits and Systems for Video Technology},
190 | title={Coarse-to-Fine PatchMatch for Dense Correspondence},
191 | year={2018},
192 | volume={28},
193 | number={9},
194 | pages={2233-2245},
195 | }
196 | ```
197 | ```
198 | @inproceedings{Weinzaepfel2013,
199 | AUTHOR = {Weinzaepfel, Philippe and Revaud, Jerome and Harchaoui, Zaid and Schmid, Cordelia},
200 | TITLE = {{DeepFlow: Large displacement optical flow with deep matching}},
201 | BOOKTITLE = {{Intenational Conference on Computer Vision }},
202 | YEAR = {2013},
203 | }
204 | ```
205 | ```
206 | @inproceedings{Geistert2016,
207 | AUTHOR = {Jonas Geistert and Tobias Senst and Thomas Sikora},
208 | TITLE = {Robust Local Optical Flow: Dense Motion Vector Field Interpolation},
209 | BOOKTITLE = {Picture Coding Symposium},
210 | YEAR = {2016},
211 | PAGES = {1--5},
212 | }
213 | ```
214 | ```
215 | @inproceedings{Kroeger2016,
216 | Author = {Till Kroeger and Radu Timofte and Dengxin Dai and Luc Van Gool},
217 | Title = {Fast Optical Flow using Dense Inverse Search},
218 | Booktitle = {European Conference on Computer Vision },
219 | Year = {2016}
220 | }
221 | ```
222 | ```
223 | @inproceedings{Farneback2003,
224 | Author = {Gunnar Farneb{\"a}ck},
225 | Title = {Two-Frame Motion Estimation Based on Polynomial Expansion},
226 | Booktitle = {Proceedings of the 13th Scandinavian Conference on Image Analysis},
227 | Pages = {363--370},
228 | Year = {2003},
229 | }
230 | ```
231 | ```
232 | @TECHREPORT{Bouguet2000,
233 | author = {J.-Y. Bouguet},
234 | title = {Pyramidal Implementation of the Lucas Kanade Feature Tracker},
235 | institution = {Intel Corporation Microprocessor Research Lab},
236 | year = {2000},
237 | type = {Technical {R}eport},
238 | publisher = {Intel Corporation Microprocessor Research Labs},
239 | timestamp = {2013.04.03}
240 | }
241 | ```
242 |
243 | ## References - Person Tracking Algorithm
244 |
245 | ```
246 | @article{IDREES2014,
247 | title = "Tracking in dense crowds using prominence and neighborhood motion concurrence",
248 | journal = "Image and Vision Computing",
249 | volume = "32",
250 | number = "1",
251 | pages = "14 - 26",
252 | year = "2014",
253 | author = "Haroon Idrees and Nolan Warner and Mubarak Shah",
254 | }
255 | ```
256 |
--------------------------------------------------------------------------------
/Supplemental_material.pdf:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/tsenst/CrowdFlow/086517805fe557b44ad1d529e384634a5fa048b3/Supplemental_material.pdf
--------------------------------------------------------------------------------
/doc/sample.png:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/tsenst/CrowdFlow/086517805fe557b44ad1d529e384634a5fa048b3/doc/sample.png
--------------------------------------------------------------------------------
/file_parser.py:
--------------------------------------------------------------------------------
1 | # ---------------------------------------------------------------------
2 | # Copyright (c) 2018 TU Berlin, Communication Systems Group
3 | # Written by Tobias Senst
4 | #
5 | # This program is free software: you can redistribute it and/or modify
6 | # it under the terms of the GNU General Public License as published by
7 | # the Free Software Foundation, either version 3 of the License, or
8 | # (at your option) any later version.
9 | #
10 | # This program is distributed in the hope that it will be useful,
11 | # but WITHOUT ANY WARRANTY; without even the implied warranty of
12 | # MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
13 | # GNU General Public License for more details.
14 | #
15 | # You should have received a copy of the GNU General Public License
16 | # along with this program. If not, see .
17 | # ---------------------------------------------------------------------
18 | import os
19 | import glob
20 | try:
21 | from itertools import tee, izip
22 | except ImportError:
23 | pass
24 |
25 | def window(iterable, size):
26 | iters = tee(iterable, size)
27 | for i in range(1, size):
28 | for each in iters[i:]:
29 | next(each, None)
30 | return zip(*iters)
31 |
32 | class SDataBaseParser:
33 | def __init__(self):
34 | self.filenames_dict = list()
35 |
36 | class CrowdFileParser(SDataBaseParser):
37 | def __init__(self):
38 | SDataBaseParser.__init__(self)
39 |
40 | def parseFilenames(self, basepaths):
41 | self.filenames_dict = []
42 | for dirpath, dirnames, filenames in os.walk(basepaths["images"]):
43 | for dirs in dirnames:
44 | image_paths = glob.glob("{}/*.png".format(dirpath + dirs))
45 | image_paths1 = glob.glob("{}/*.jpg".format(dirpath + dirs))
46 | image_paths = image_paths + image_paths1
47 | image_paths = sorted(image_paths) # assume filenames are sortable
48 | image_pairs = list(window(image_paths, 2))
49 | for image_pair in image_pairs:
50 | #print(image_pair)
51 | filename_dict = dict()
52 | filename_dict["prevImg"] = image_pair[0]
53 | filename_dict["currImg"] = image_pair[1]
54 | filename_base = os.path.relpath(filename_dict["prevImg"], dirpath + dirs )
55 | filename_base = os.path.splitext(filename_base)[0]
56 |
57 |
58 |
59 | if "groundtruth" in basepaths:
60 | filenumber = filename_base.split("_")[1]
61 | filename_dict["gtflow"] = basepaths["groundtruth"] + "/" + dirs + "/frameGT_" + filenumber + ".flo"
62 | if "masks" in basepaths:
63 | filenumber = filename_base.split("_")[1]
64 | filename_dict["mask"] = basepaths["masks"] + "/" + dirs + "/maskGT_" + filenumber + ".png"
65 |
66 | if "estimate" in basepaths :
67 | filename_dict["estimatepath"] = basepaths["estimate"] + "/" + dirs + "/"
68 | filename_dict["estflow"] = basepaths["estimate"] + "/" + dirs + "/frame_" + filenumber + ".flo"
69 |
70 | filename_dict["filename"] = "frame_" + filenumber
71 | filename_dict["dir"] = dirs
72 | filename_dict["basepath"] = basepaths["basepath"]
73 | self.filenames_dict.append(filename_dict)
74 |
75 | """
76 | create_filename_list(basepath) -> retval
77 | . @brief Create a list of dictionaries containing file-paths for the optical flow dataset
78 | . @param basepath is a dictionary containing sub path.
79 | """
80 | def create_filename_list(basepath):
81 | fileparser = CrowdFileParser()
82 | fileparser.parseFilenames(basepath)
83 | return fileparser.filenames_dict
--------------------------------------------------------------------------------
/opticalflow_estimate.py:
--------------------------------------------------------------------------------
1 | # ---------------------------------------------------------------------
2 | # Copyright (c) 2018 TU Berlin, Communication Systems Group
3 | # Written by Tobias Senst
4 | #
5 | # This program is free software: you can redistribute it and/or modify
6 | # it under the terms of the GNU General Public License as published by
7 | # the Free Software Foundation, either version 3 of the License, or
8 | # (at your option) any later version.
9 | #
10 | # This program is distributed in the hope that it will be useful,
11 | # but WITHOUT ANY WARRANTY; without even the implied warranty of
12 | # MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
13 | # GNU General Public License for more details.
14 | #
15 | # You should have received a copy of the GNU General Public License
16 | # along with this program. If not, see .
17 | # ---------------------------------------------------------------------
18 | import file_parser as fp
19 | import cv2
20 | import sys
21 | import os
22 | import util as ut
23 | import numpy as np
24 |
25 |
26 | def run_parameter(config_item):
27 | prev_img = cv2.imread(config_item["files"]["prevImg"])
28 | curr_img = cv2.imread(config_item["files"]["currImg"])
29 | flow_method = config_item["parameter"]["flow_method"]
30 | estimate_base = config_item["files"]["estimatepath"] + "/"
31 |
32 | if os.path.exists(estimate_base) == False:
33 | os.makedirs(estimate_base)
34 |
35 | if os.path.exists(config_item["files"]["estflow"]):
36 | return
37 | # compute optical flow
38 | if flow_method.find("dual") >= 0:
39 | dual_proc = cv2.DualTVL1OpticalFlow_create(config_item["parameter"]["tau"],
40 | config_item["parameter"]["lambda"],
41 | config_item["parameter"]["theta"],
42 | config_item["parameter"]["nscales"],
43 | config_item["parameter"]["warps"])
44 | est_flow = np.zeros(shape=(prev_img.shape[0], prev_img.shape[1],2), dtype=np.float32)
45 | dual_proc.calc(cv2.cvtColor(prev_img, cv2.COLOR_BGR2GRAY), cv2.cvtColor(curr_img, cv2.COLOR_BGR2GRAY), est_flow)
46 | #
47 | elif flow_method.find("farneback") >= 0:
48 | est_flow = cv2.calcOpticalFlowFarneback(cv2.cvtColor(prev_img, cv2.COLOR_BGR2GRAY),
49 | cv2.cvtColor(curr_img, cv2.COLOR_BGR2GRAY),
50 | None, 0.5, 3, 15, 3, 5, 1.2, 0)
51 | elif flow_method.find("plk") >= 0:
52 | prev_pts = list()
53 | for r in range(prev_img.shape[0]):
54 | for c in range(prev_img.shape[1]):
55 | prev_pts.append((c,r))
56 | prev_pts = np.array(prev_pts, dtype=np.float32)
57 | curr_pts, st, err = cv2.calcOpticalFlowPyrLK(cv2.cvtColor(prev_img, cv2.COLOR_BGR2GRAY),
58 | cv2.cvtColor(curr_img, cv2.COLOR_BGR2GRAY),
59 | prev_pts, None,
60 | winSize=(21,21), maxLevel=3, criteria=(cv2.TERM_CRITERIA_EPS | cv2.TERM_CRITERIA_COUNT, 20, 0.001))
61 | est_flow = np.zeros(shape=(prev_img.shape[0], prev_img.shape[1],2), dtype=np.float32)
62 | n = 0
63 | flow_pts = curr_pts - prev_pts
64 | for r in range(prev_img.shape[0]):
65 | for c in range(prev_img.shape[1]):
66 | est_flow[r, c, :] = flow_pts[n,:]
67 | n = n + 1
68 | #here alternative optical flow methods can be applied
69 | #
70 | else:
71 | raise ValueError("flow method has not been implemented")
72 |
73 | ut.writeFlowFile(config_item["files"]["estflow"], est_flow)
74 | ut.drawFlowField(config_item["files"]["estflow"][:-3] + "png", est_flow)
75 | print("Done -> ", config_item["files"]["estflow"])
76 |
77 | def create_dual_parameter(parameter_list):
78 | parameter_list.append({"flow_method": "dual",
79 | "tau" : 0.25,
80 | "lambda" : 0.08,
81 | "theta" : 0.37,
82 | "nscales" : 6,
83 | "warps" : 5})
84 | return parameter_list
85 |
86 | def main():
87 | if len(sys.argv) < 2:
88 | print("Please provide the first argument that is the root path of the CrowdFlow dataset.")
89 | return
90 | basepath = sys.argv[1]
91 |
92 | flow_method_list = list()
93 | for n in range(2, len(sys.argv)):
94 | flow_method_list.append(sys.argv[n])
95 |
96 |
97 | parameter_list = list()
98 | for flow_method in flow_method_list:
99 | if flow_method == "dual":
100 | parameter_list = create_dual_parameter(parameter_list)
101 | else:
102 | parameter_list.append({"flow_method": flow_method})
103 |
104 | for parameter in parameter_list:
105 | basepath_dict = {"basepath": basepath,
106 | "images" : basepath + "/images/",
107 | "groundtruth": basepath + "/gt_flow/",
108 | "estimate": basepath + "/estimate/" + parameter["flow_method"],
109 | "masks": basepath + "/masks/",
110 | }
111 |
112 | filenames = fp.create_filename_list(basepath_dict)
113 | config_list = ut.create_config(parameter, filenames)
114 |
115 | for config_item in config_list:
116 | run_parameter(config_item)
117 |
118 | main()
--------------------------------------------------------------------------------
/opticalflow_evaluate.py:
--------------------------------------------------------------------------------
1 | # ---------------------------------------------------------------------
2 | # Copyright (c) 2018 TU Berlin, Communication Systems Group
3 | # Written by Tobias Senst
4 | #
5 | # This program is free software: you can redistribute it and/or modify
6 | # it under the terms of the GNU General Public License as published by
7 | # the Free Software Foundation, either version 3 of the License, or
8 | # (at your option) any later version.
9 | #
10 | # This program is distributed in the hope that it will be useful,
11 | # but WITHOUT ANY WARRANTY; without even the implied warranty of
12 | # MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
13 | # GNU General Public License for more details.
14 | #
15 | # You should have received a copy of the GNU General Public License
16 | # along with this program. If not, see .
17 | # ---------------------------------------------------------------------
18 | import file_parser as fp
19 | import cv2
20 | import sys
21 | import pickle
22 | import copy
23 | import util as ut
24 | import progressbar
25 |
26 | def run_parameter(config_item):
27 | result = dict()
28 | result["ee"] = 0
29 | result["R1"] = 0
30 | result["R2"] = 0
31 | result["R3"] = 0
32 | result["no_points"] = 0
33 | # load ground truth optical flow
34 | flow_gt = ut.readFlowFiles(config_item["files"]["gtflow"])
35 | # load ground truth mask indicating foreground and background flow vectors
36 | mask_rgb = cv2.imread(config_item["files"]["mask"])
37 | # load estimated optical flow
38 | est_flow = ut.readFlowFiles(config_item["files"]["estflow"])
39 | # compute short term errors
40 | result = ut.compute_error(est_flow, flow_gt, mask_rgb)
41 |
42 | return (config_item, result)
43 |
44 |
45 | def main():
46 | if len(sys.argv) < 2:
47 | print("Please provide the first argument that is the root path of the CrowdFlow dataset.")
48 | return
49 | basepath = sys.argv[1]
50 |
51 | parameter_list = list()
52 |
53 | for n in range(2, len(sys.argv)):
54 | parameter_list.append({"flow_method": "/" + sys.argv[n] + "/" })
55 |
56 | latex_filename = "short_term_results.tex"
57 | result_filename = "short_term_results.pb"
58 |
59 |
60 | result_list = list()
61 | bar = progressbar.ProgressBar()
62 |
63 | for n, parameter in enumerate(parameter_list):
64 | basepath_dict = {"basepath": basepath,
65 | "images" : basepath + "/images/",
66 | "groundtruth": basepath + "/gt_flow/",
67 | "estimate": basepath + "/estimate/" + parameter["flow_method"] + "/",
68 | "masks": basepath + "/masks/",
69 | }
70 |
71 | filenames = fp.create_filename_list(basepath_dict)
72 | config_list = ut.create_config(parameter, filenames)
73 |
74 | bar.start(max_value=len(config_list) * len(parameter_list))
75 | for c, config_item in enumerate(config_list):
76 | result = run_parameter(config_item)
77 | result_list.append(copy.deepcopy(result))
78 | bar.update(c + n * len(config_list))
79 |
80 | bar.finish()
81 | print("\n")
82 | print("\n")
83 | print("Save short term evaluation file ", result_filename)
84 | out_dict = {"result": result_list}
85 | pickle.dump(out_dict, open( result_filename, "wb"))
86 |
87 | result_str = ut.getLatexTable(result_filename)
88 | print(result_str)
89 | if len(latex_filename) > 0:
90 | with open(latex_filename, "w") as f:
91 | f.write(result_str)
92 | main()
--------------------------------------------------------------------------------
/trajectory_evaluate.py:
--------------------------------------------------------------------------------
1 | # ---------------------------------------------------------------------
2 | # Copyright (c) 2018 TU Berlin, Communication Systems Group
3 | # Written by Tobias Senst
4 | #
5 | # This program is free software: you can redistribute it and/or modify
6 | # it under the terms of the GNU General Public License as published by
7 | # the Free Software Foundation, either version 3 of the License, or
8 | # (at your option) any later version.
9 | #
10 | # This program is distributed in the hope that it will be useful,
11 | # but WITHOUT ANY WARRANTY; without even the implied warranty of
12 | # MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
13 | # GNU General Public License for more details.
14 | #
15 | # You should have received a copy of the GNU General Public License
16 | # along with this program. If not, see .
17 | # ---------------------------------------------------------------------
18 | import copy
19 | import time
20 | import sys
21 | import numpy as np
22 | import pickle
23 | import util as ut
24 | import file_parser as fp
25 |
26 |
27 | class Trajectory:
28 | def __init__(self, pos, from_idx, to_idx):
29 | self.points = np.ones(shape=(int(to_idx) - int(from_idx) + 1, 2), dtype=np.float32) * 99999
30 | self.points[0,:] = pos
31 | self.start_index = int(from_idx)
32 |
33 | def run(self, flow, index):
34 | idx = index - self.start_index
35 | if idx >= 0 and idx + 1 < self.points.shape[0]:
36 | # position is in (x,y)
37 | pos = self.points[idx,:]
38 | ipos = np.floor(pos).astype(np.int32)
39 | if ipos[0] >= 0 and ipos[1] >= 0 and ipos[0] + 1 < flow.shape[1] and ipos[1] + 1 < flow.shape[0]:
40 | a = pos - ipos
41 | iw00 = (1 - a[0]) * (1 - a[1])
42 | iw01 = a[0] * (1 - a[1])
43 | iw10 = (1 - a[0]) * a[1]
44 | iw11 = 1 - iw00 - iw01 - iw10
45 | self.points[idx + 1, :] = pos + \
46 | flow[ipos[1], ipos[0]] * iw00 + \
47 | flow[ipos[1], ipos[0] + 1] * iw01 + \
48 | flow[ipos[1] + 1, ipos[0]] * iw10 + \
49 | flow[ipos[1] + 1, ipos[0] + 1] * iw11
50 |
51 | class TrajectoryEvaluator:
52 | def __init__(self,
53 | thresholds=[1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25],
54 | dense_person_groundtruth_filename_base="DenseTracks.pb",
55 | person_groundtruth_filename="PersonTracks.pb"):
56 | self.dense_person_groundtruth_filename_base = None
57 | self.person_groundtruth_filename = None
58 |
59 | if dense_person_groundtruth_filename_base is not None:
60 | self.dense_person_groundtruth_filename_base = copy.deepcopy(dense_person_groundtruth_filename_base)
61 | if person_groundtruth_filename is not None:
62 | self.person_groundtruth_filename = copy.deepcopy(person_groundtruth_filename)
63 |
64 | self.threshold_list = copy.deepcopy(thresholds)
65 |
66 | def compute_differenz_trajectories(self, flow_filenames, groundtruth_filename):
67 | print(" Load ", groundtruth_filename)
68 | ret = pickle.load(open(groundtruth_filename, "rb"))
69 | start_points_trajectory = ret["GT_StartPoints"]
70 | gt_trajectory = ret["GT_Trajectories"]
71 | print(" Start TrajectoryEstimator ", flow_filenames[0])
72 |
73 | trajectory_list = list()
74 | for r in range(0,start_points_trajectory.shape[0]):
75 | trajectory_list.append(Trajectory(pos = (start_points_trajectory[r,3], start_points_trajectory[r,2]) ,
76 | from_idx = start_points_trajectory[r,0], to_idx= start_points_trajectory[r,1]))
77 |
78 | for i, flow_file in enumerate(flow_filenames):
79 | flow = ut.readFlowFiles(flow_file)
80 | for trajectory_item in trajectory_list:
81 | trajectory_item.run(flow, i)
82 |
83 | estimated_trajectory = list()
84 | for trajectory_item in trajectory_list:
85 | estimated_trajectory.append(list())
86 | for n in range(trajectory_item.points.shape[0]):
87 | estimated_trajectory[-1].append(trajectory_item.points[n,1])
88 | estimated_trajectory[-1].append(trajectory_item.points[n,0])
89 |
90 | return ut.differenz_trajectory_list(gt_trajectory, estimated_trajectory)
91 |
92 | def run_sequence(self, sequence_name):
93 | start = time.time()
94 | print("Start ", sequence_name)
95 | flow_filenames = list()
96 | filebase = None
97 | for f in self.file_dict:
98 | if f["dir"] == sequence_name:
99 | filebase = f["basepath"]
100 |
101 | flow_filenames.append(f["estflow"])
102 |
103 | flow_filenames = sorted(flow_filenames)
104 | result = dict()
105 | gt_filebase = filebase + "/gt_trajectories/" + sequence_name + "/"
106 | if self.person_groundtruth_filename is not None:
107 | person_diff_trajectory = self.compute_differenz_trajectories(flow_filenames,
108 | gt_filebase + self.person_groundtruth_filename)
109 | result["person"] = ut.compute_tracking_error(person_diff_trajectory, self.threshold_list)
110 | print("Done person_groundtruth_filename ")
111 |
112 | if self.dense_person_groundtruth_filename_base is not None:
113 | print("Start next")
114 | dense_person_diff_trajectory = self.compute_differenz_trajectories(flow_filenames,
115 | gt_filebase + self.dense_person_groundtruth_filename_base)
116 | result["dense_person"] = ut.compute_tracking_error(dense_person_diff_trajectory, self.threshold_list)
117 | print("Done dense_person_groundtruth_filename_base ")
118 |
119 | print(time.time() - start)
120 | return result
121 |
122 | def average(self, sequences):
123 | keys = []
124 | if self.dense_person_groundtruth_filename_base is not None:
125 | keys.append("dense_person")
126 | if self.person_groundtruth_filename is not None:
127 | keys.append("person")
128 | result = dict()
129 | no_sequences = 1.0 / len(sequences)
130 | for seq_key in sequences.keys():
131 | for key in keys:
132 | if key in result:
133 | result[key] = result[key] + np.array(sequences[seq_key][key]) * no_sequences
134 | else:
135 | result[key] = np.array(sequences[seq_key][key]) * no_sequences
136 |
137 | return result
138 |
139 | def run(self, file_dict):
140 | self.file_dict = copy.deepcopy(file_dict)
141 | result = dict()
142 |
143 | sequence_name = ["IM01", "IM02", "IM03", "IM04", "IM05"]
144 | static_ret = dict()
145 | for s in sequence_name:
146 | static_ret[s] = self.run_sequence(s)
147 | result["static"] = self.average(static_ret)
148 | result = {**result, **static_ret}
149 |
150 | sequence_name = ["IM01_hDyn", "IM02_hDyn", "IM03_hDyn", "IM04_hDyn", "IM05_hDyn"]
151 | dynamic_ret = dict()
152 | for s in sequence_name:
153 | dynamic_ret[s] = self.run_sequence(s)
154 | result["dynamic"] = self.average(dynamic_ret)
155 | result = {**result, **dynamic_ret}
156 | result["all"] = self.average({**dynamic_ret, **static_ret})
157 | return result
158 |
159 | def get_statistics(self, basepath):
160 | static_sequence_name = ["IM01", "IM02", "IM03", "IM04", "IM05"]
161 | dynamic_sequence_name = ["IM01_hDyn", "IM02_hDyn", "IM03_hDyn", "IM04_hDyn", "IM05_hDyn"]
162 | sequence_name = static_sequence_name + dynamic_sequence_name
163 |
164 | length_list = list()
165 | for seq in sequence_name:
166 | filename_base = basepath + "/gt_trajectories/" + seq + "/"
167 | ret = pickle.load(open(filename_base + self.person_groundtruth_filename, "rb"))
168 | retl = ut.get_trajectory_lengths(ret["GT_Trajectories"])
169 | length_list = length_list + retl
170 |
171 | print("Max Length", np.max(length_list))
172 | np.save("Person_Trajectory_Length", np.array(length_list))
173 | print("Done Stored")
174 |
175 | def run_parameter(flow_method, basepath):
176 |
177 | basepath_dict = {"basepath": basepath,
178 | "images" : basepath + "/images/",
179 | "groundtruth": basepath + "/gt_flow/",
180 | "estimate": basepath + "/estimate/" + flow_method + "/",
181 | "masks": basepath + "/masks/",
182 | }
183 |
184 | filenames = fp.create_filename_list(basepath_dict)
185 | evaluator = TrajectoryEvaluator()
186 | ret_dict = evaluator.run(filenames)
187 | ret_dict["name"] = flow_method.replace("/", "")
188 | return ret_dict
189 |
190 |
191 | def main():
192 | if len(sys.argv) < 2:
193 | print("Please provide the first argument. Root path of the CrowdFlow dataset.")
194 | return
195 | basepath = sys.argv[1]
196 |
197 | method_list = list()
198 | for n in range(2, len(sys.argv)):
199 | method_list.append("/" + sys.argv[n] + "/" )
200 |
201 | latex_filename = "long_term_results.tex"
202 | result_filename = "long_term_results.pb"
203 |
204 |
205 |
206 | result_dict = list()
207 |
208 | for method in method_list:
209 | result_dict.append(run_parameter(method, basepath))
210 |
211 | print("Try to save file ", result_filename)
212 | pickle.dump(result_dict, open( result_filename, "wb"))
213 | print("Person Trajectories")
214 | result_str = ut.genTrajectoryLatexTable(filename=result_filename, item_key="dense_person")
215 | print("Dense Person Trajectories")
216 | result_str = result_str + ut.genTrajectoryLatexTable(filename=result_filename, item_key="person")
217 | if len(latex_filename) > 0:
218 | with open(latex_filename, "w") as f:
219 | f.write(result_str)
220 |
221 | main()
222 |
--------------------------------------------------------------------------------
/util.py:
--------------------------------------------------------------------------------
1 | # ---------------------------------------------------------------------
2 | # Copyright (c) 2018 TU Berlin, Communication Systems Group
3 | # Written by Tobias Senst
4 | #
5 | # This program is free software: you can redistribute it and/or modify
6 | # it under the terms of the GNU General Public License as published by
7 | # the Free Software Foundation, either version 3 of the License, or
8 | # (at your option) any later version.
9 | #
10 | # This program is distributed in the hope that it will be useful,
11 | # but WITHOUT ANY WARRANTY; without even the implied warranty of
12 | # MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
13 | # GNU General Public License for more details.
14 | #
15 | # You should have received a copy of the GNU General Public License
16 | # along with this program. If not, see .
17 | # ---------------------------------------------------------------------
18 | import numpy as np
19 | import cv2
20 | import copy
21 | import pickle
22 | import math
23 |
24 | def parameter_to_string(parameter_dict):
25 | out_str = str()
26 | for key in sorted(parameter_dict.keys()):
27 | try:
28 | str_value = str(parameter_dict[key])
29 | except TypeError:
30 | str_value = parameter_dict[key]
31 |
32 | out_str = out_str + str_value + "_"
33 | return out_str
34 |
35 | def create_config(parameter, filelist):
36 | config_list = list()
37 | for id, f in enumerate(filelist):
38 | file_list = copy.deepcopy(f)
39 | config_list.append({ "files" : file_list, "parameter" : copy.deepcopy(parameter), "file_index": id})
40 |
41 | return config_list
42 |
43 |
44 | def computeEE(src0, src1):
45 | diff_flow = src0 - src1
46 | res = (diff_flow[:, :, 0] * diff_flow[:, :, 0]) + (diff_flow[:, :, 1] * diff_flow[:, :, 1])
47 | return cv2.sqrt(res)
48 |
49 | def computer_errors(ee_base, mask):
50 | ee_base = ee_base * mask
51 | ret, R1 = cv2.threshold(src=ee_base, thresh=1, maxval=1, type=cv2.THRESH_BINARY)
52 | ret, R2 = cv2.threshold(src=ee_base, thresh=2, maxval=1, type=cv2.THRESH_BINARY)
53 | ret, R3 = cv2.threshold(src=ee_base, thresh=3, maxval=1, type=cv2.THRESH_BINARY)
54 | R3 = R3 * mask
55 | R2 = R2 * mask
56 | R1 = R1 * mask
57 | r3_sum = cv2.sumElems(R3)[0]
58 | r2_sum = cv2.sumElems(R2)[0]
59 | r1_sum = cv2.sumElems(R1)[0]
60 | ee = cv2.sumElems(ee_base)[0]
61 | no_p = cv2.sumElems(mask)[0]
62 | result = {"ee" : ee, "R1": r1_sum, "R2": r2_sum, "R3" : r3_sum, "noPoints" : no_p}
63 | return result
64 |
65 | def compute_error(flow, gt_flow, invalid_mask):
66 |
67 | mag_flow = cv2.sqrt(gt_flow[:, :, 0] * gt_flow[:, :, 0] + gt_flow[:, :, 1] * gt_flow[:, :, 1])
68 |
69 |
70 | ret, mask_to_large = cv2.threshold(src=mag_flow, thresh=900, maxval=1, type=cv2.THRESH_BINARY_INV)
71 |
72 | total_inp_mask = invalid_mask[:, :, 0] + invalid_mask[:, :, 1] + invalid_mask[:, :, 2]
73 | ret, fg_mask = cv2.threshold(src=invalid_mask[:, :, 1], thresh=0.5, maxval=1,
74 | type=cv2.THRESH_BINARY)
75 | ret, total_mask = cv2.threshold(src=total_inp_mask, thresh=0.5, maxval=1,
76 | type=cv2.THRESH_BINARY)
77 | #mask_to_large = np.ones(fg_mask.shape)
78 | bg_mask = total_mask - fg_mask
79 | ee_base = computeEE(flow, gt_flow)
80 | result = dict()
81 | result["FG"] = computer_errors(ee_base, fg_mask * mask_to_large)
82 | result["BG"] = computer_errors(ee_base, bg_mask * mask_to_large)
83 | result["Total"] = computer_errors(ee_base, total_mask * mask_to_large)
84 | return result
85 |
86 |
87 | def draw_trajectories(gt_trajectory, estimate_trajectory, img):
88 |
89 | h = img.shape[0]
90 | w = img.shape[1]
91 | for n in range(len(gt_trajectory)):
92 | pos = (int(gt_trajectory[n][0]),int(gt_trajectory[n][1]))
93 | if pos[0] >= 0 and pos[0] < h and pos[1] >= 0 and pos[1] < w:
94 | img[pos[0], pos[1],:] = [0,255,0]
95 | #cv2.circle(img,center=(int(gt_trajectory[n][0]),int(gt_trajectory[n][1])),
96 | # radius=1, color=(0,255,0), thickness=-1)
97 | for n in range(0,len(estimate_trajectory),2):
98 | pos = (int(estimate_trajectory[n]), int(estimate_trajectory[n+1]))
99 | if pos[0] >= 0 and pos[0] < h and pos[1] >= 0 and pos[1] < w:
100 | img[pos[0], pos[1], :] = [255, 0, 0]
101 |
102 | #cv2.circle(img, center=(int(estimate_trajectory[n]),int(estimate_trajectory[n+1])),
103 | # radius=2, color=(255,0,0), thickness=-1)
104 | return img
105 |
106 | def differenz_trajectory_list(gt_trajectories, estimate_trajectories):
107 | """
108 | .@brief gt_trajectories and estimate trajectories have to be aligned
109 | """
110 | differenz_trajectory_list = list()
111 | assert len(gt_trajectories) == len(estimate_trajectories)
112 | for n in range(len(gt_trajectories)):
113 | if len(gt_trajectories[n]) != (len(estimate_trajectories[n])) / 2:
114 | print( "ID", n, len(gt_trajectories[n]), (len(estimate_trajectories[n])) / 2)
115 | for i in range(len(gt_trajectories[n])):
116 |
117 | diff_x = gt_trajectories[n][i][0] - estimate_trajectories[n][2*i]
118 | diff_y = gt_trajectories[n][i][1] - estimate_trajectories[n][2*i+1]
119 | differenz_trajectory_list.append(math.sqrt( diff_x * diff_x + diff_y * diff_y))
120 |
121 | return np.array(differenz_trajectory_list)
122 |
123 | def compute_tracking_error(differenz_trajectory_list, thresholds_list):
124 | result = list()
125 | for thresholds in thresholds_list:
126 | ret, mask = cv2.threshold(src=differenz_trajectory_list, thresh=thresholds, maxval=1, type=cv2.THRESH_BINARY_INV)
127 | result.append(cv2.sumElems(mask)[0] / differenz_trajectory_list.shape[0])
128 | return result
129 |
130 |
131 | def get_trajectory_lengths(groundtruth_trajectory_list):
132 | result = list()
133 | for item in groundtruth_trajectory_list:
134 | result.append(len(item))
135 | return result
136 |
137 | def flow2RGB(flow, max_flow_mag = 5):
138 | """ Color-coded visualization of optical flow fields
139 |
140 | # Arguments
141 | flow: array of shape [:,:,2] containing optical flow
142 | max_flow_mag: maximal expected flow magnitude used to normalize. If max_flow_mag < 0 the maximal
143 | magnitude of the optical flow field will be used
144 | """
145 | hsv_mat = np.ones(shape=(flow.shape[0], flow.shape[1], 3), dtype=np.float32) * 255
146 | ee = cv2.sqrt(flow[:, :, 0] * flow[:, :, 0] + flow[:, :, 1] * flow[:, :, 1])
147 | angle = np.arccos(flow[:, :, 0]/ ee)
148 | angle[flow[:, :, 0] == 0] = 0
149 | angle[flow[:, :, 1] == 0] = 6.2831853 - angle[flow[:, :, 1] == 0]
150 | angle = angle * 180 / 3.141
151 | hsv_mat[:,:,0] = angle
152 | if max_flow_mag < 0:
153 | max_flow_mag = ee.max()
154 | hsv_mat[:,:,1] = ee * 255.0 / max_flow_mag
155 | ret, hsv_mat[:,:,1] = cv2.threshold(src=hsv_mat[:,:,1], maxval=255, thresh=255, type=cv2.THRESH_TRUNC )
156 | rgb_mat = cv2.cvtColor(hsv_mat.astype(np.uint8), cv2.COLOR_HSV2BGR)
157 | return rgb_mat
158 |
159 | def readFlowFiles(filename):
160 | with open(filename, 'rb') as f:
161 | magic = np.fromfile(f, np.float32, count=1)
162 | if 202021.25 != magic:
163 | print( "Magic number incorrect. Invalid .flo file")
164 | else:
165 | w = np.fromfile(f, np.int32, count=1)[0]
166 | h = np.fromfile(f, np.int32, count=1)[0]
167 | data = np.fromfile(f, np.float32, count=2 * w * h)
168 | # Reshape data into 3D array (columns, rows, bands)
169 | data2D = np.resize(data, (h, w, 2))
170 | return data2D
171 |
172 | def writeFlowFile(filename,flow):
173 | TAG_STRING = np.array(202021.25, dtype=np.float32)
174 | assert flow.shape[2] == 2
175 | h = np.array(flow.shape[0], dtype=np.int32)
176 | w = np.array(flow.shape[1], dtype=np.int32)
177 | with open(filename, 'wb') as f:
178 | f.write(TAG_STRING.tobytes())
179 | f.write(w.tobytes())
180 | f.write(h.tobytes())
181 | f.write(flow.tobytes())
182 |
183 | def flow2RGB(flow, max_flow_mag = 5):
184 | """ Color-coded visualization of optical flow fields
185 |
186 | # Arguments
187 | flow: array of shape [:,:,2] containing optical flow
188 | max_flow_mag: maximal expected flow magnitude used to normalize. If max_flow_mag < 0 the maximal
189 | magnitude of the optical flow field will be used
190 | """
191 | hsv_mat = np.ones(shape=(flow.shape[0], flow.shape[1], 3), dtype=np.float32) * 255
192 | ee = cv2.sqrt(flow[:, :, 0] * flow[:, :, 0] + flow[:, :, 1] * flow[:, :, 1])
193 | angle = np.arccos(flow[:, :, 0]/ ee)
194 | angle[flow[:, :, 0] == 0] = 0
195 | angle[flow[:, :, 1] == 0] = 6.2831853 - angle[flow[:, :, 1] == 0]
196 | angle = angle * 180 / 3.141
197 | hsv_mat[:,:,0] = angle
198 | if max_flow_mag < 0:
199 | max_flow_mag = ee.max()
200 | hsv_mat[:,:,1] = ee * 220.0 / max_flow_mag
201 | ret, hsv_mat[:,:,1] = cv2.threshold(src=hsv_mat[:,:,1], maxval=255, thresh=255, type=cv2.THRESH_TRUNC )
202 | rgb_mat = cv2.cvtColor(hsv_mat.astype(np.uint8), cv2.COLOR_HSV2BGR)
203 | return rgb_mat
204 |
205 | def drawFlowField(filename, flow):
206 | cv2.imwrite(filename=filename, img = flow2RGB(flow))
207 |
208 | def avg_sequence(src):
209 | sequence_result = dict()
210 | for seq_keys in src.keys():
211 | result = dict()
212 | for item in src[seq_keys]:
213 | for key in item.keys():
214 | if key != "FG" and key != "BG" and key != "Total" :
215 | continue
216 | if key not in result:
217 | result[key] = item[key]
218 | else:
219 | for key1 in item[key].keys():
220 | result[key][key1] += item[key][key1]
221 |
222 | for key in result.keys():
223 | result[key]["ee"] = result[key]["ee"] / result[key]["noPoints"]
224 | result[key]["R1"] = result[key]["R1"] / result[key]["noPoints"]
225 | result[key]["R2"] = result[key]["R2"] / result[key]["noPoints"]
226 | result[key]["R3"] = result[key]["R3"] / result[key]["noPoints"]
227 | sequence_result[seq_keys] = copy.deepcopy(result)
228 | return sequence_result
229 |
230 | def get_sequence_measures(result_list):
231 |
232 | sequence_list = dict()
233 | for item in result_list:
234 | parameter_str = parameter_to_string(item[0]["parameter"])
235 | if "dir" in item[0]["files"]:
236 | seq_name = item[0]["files"]["dir"]
237 | else:
238 | seq_name = "None"
239 |
240 | if seq_name.find("_dyn") >= 0 :
241 | continue
242 |
243 |
244 |
245 | if parameter_str not in sequence_list:
246 | sequence_list[parameter_str] = dict()
247 |
248 | if seq_name not in sequence_list[parameter_str]:
249 | sequence_list[parameter_str][seq_name] = list()
250 |
251 | sequence_list[parameter_str][seq_name].append(item[1])
252 |
253 |
254 | return sequence_list
255 |
256 | def avg_measures(src):
257 |
258 | total_result = dict()
259 | for seq_keys in src.keys():
260 | result = dict()
261 | for item in src[seq_keys]:
262 | for key in item.keys():
263 | if key == "time":
264 | continue
265 | if key not in result:
266 | result[key] = item[key]
267 | else:
268 | for key1 in item[key].keys():
269 | result[key][key1] += int(item[key][key1])
270 |
271 | for key in result.keys():
272 | result[key]["ee"] = result[key]["ee"] / result[key]["noPoints"]
273 | result[key]["R1"] = result[key]["R1"] / result[key]["noPoints"]
274 | result[key]["R2"] = result[key]["R2"] / result[key]["noPoints"]
275 | result[key]["R3"] = result[key]["R3"] / result[key]["noPoints"]
276 |
277 | if len(total_result) == 0:
278 | for key in result.keys():
279 | total_result[key] = dict()
280 | total_result[key]["ee"] = result[key]["ee"] / len(src)
281 | total_result[key]["R1"] = result[key]["R1"] / len(src)
282 | total_result[key]["R2"] = result[key]["R2"] / len(src)
283 | total_result[key]["R3"] = result[key]["R3"] / len(src)
284 | else:
285 | for key in result.keys():
286 | total_result[key]["ee"] += result[key]["ee"] / len(src)
287 | total_result[key]["R1"] += result[key]["R1"] / len(src)
288 | total_result[key]["R2"] += result[key]["R2"] / len(src)
289 | total_result[key]["R3"] += result[key]["R3"] / len(src)
290 | return total_result
291 |
292 | def avg_measures_no_dict(src):
293 | total_result = dict()
294 | for seq_keys in src.keys():
295 | result = dict()
296 | for item in src[seq_keys]:
297 | for key in item.keys():
298 | if key not in result:
299 | result[key] = item[key]
300 | else:
301 | result[key] += item[key]
302 |
303 |
304 | result["ee"] = result["ee"] / result["no_points"]
305 | result["R1"] = result["R1"] / result["no_points"]
306 | result["R2"] = result["R2"] / result["no_points"]
307 | result["R3"] = result["R3"] / result["no_points"]
308 |
309 | if len(total_result) == 0:
310 | for key in result.keys():
311 | total_result = dict()
312 | total_result["ee"] = result["ee"] / len(src)
313 | total_result["R1"] = result["R1"] / len(src)
314 | total_result["R2"] = result["R2"] / len(src)
315 | total_result["R3"] = result["R3"] / len(src)
316 | else:
317 | for key in result.keys():
318 | total_result["ee"] += result["ee"] / len(src)
319 | total_result["R1"] += result["R1"] / len(src)
320 | total_result["R2"] += result["R2"] / len(src)
321 | total_result["R3"] += result["R3"] / len(src)
322 | return total_result
323 |
324 | def avg_sequences(sequence_list, use_type):
325 | res_FG_ee = []
326 | res_FG_R2 = []
327 | res_BG_ee = []
328 | res_BG_R2 = []
329 | res_total_ee = []
330 | res_total_R2 = []
331 | for seq_name in sequence_list.keys():
332 | if use_type == 1 and seq_name.find("_hDyn") == -1:
333 | continue
334 | if use_type == 0 and seq_name.find("_hDyn") >= 0 :
335 | continue
336 | res_FG_ee.append(sequence_list[seq_name]["FG"]["ee"])
337 | res_FG_R2.append(sequence_list[seq_name]["FG"]["R2"])
338 | res_BG_ee.append(sequence_list[seq_name]["BG"]["ee"])
339 | res_BG_R2.append(sequence_list[seq_name]["BG"]["R2"])
340 | res_total_ee.append(sequence_list[seq_name]["Total"]["ee"])
341 | res_total_R2.append(sequence_list[seq_name]["Total"]["R2"])
342 |
343 | return np.mean(res_FG_ee), 100 * np.mean(res_FG_R2), \
344 | np.mean(res_BG_ee), 100 * np.mean(res_BG_R2), \
345 | np.mean(res_total_ee), 100 * np.mean(res_total_R2)
346 |
347 | def getLatexTable(filename):
348 |
349 | data = pickle.load(open(filename, "rb"))
350 |
351 | str_result = "\\begin{table} \n \\centering " \
352 | "\\begin{tabular}{l|crcr|crcr|crcrcr|r} \n" \
353 | "\\hline \n " \
354 | "\\multicolumn{1}{c|}{} & \\multicolumn{2}{|c}{FG (Static) } & \\multicolumn{2}{c|} { BG (Static)} & " \
355 | "\\multicolumn{2}{|c}{FG (Dynamic)} & \\multicolumn{2}{c|}{ BG (Dynamic)} & " \
356 | "\\multicolumn{2}{c}{FG($\\varnothing$)}&\multicolumn{2}{c}{BG ($\\varnothing$)} & " \
357 | "\\multicolumn{2}{c|}{$\\varnothing$} \\\\ \n " \
358 | "\\multicolumn{1}{c|}{}& EPE & R2[\\%] & EPE & R2[\\%]& EPE & R2[\\%]& EPE & R2[\\%]" \
359 | "& EPE & R2[\\%]& EPE & R2[\\%]& EPE & R2[\\%] \\\\ \n "
360 | result_list = data["result"]
361 | method_result_list = get_sequence_measures(result_list)
362 | for method_key in method_result_list.keys():
363 | sequence_result = avg_sequence(method_result_list[method_key])
364 | # print(sequence_result)
365 | ret_static = avg_sequences(sequence_result, 0)
366 | ret_dynamic = avg_sequences(sequence_result, 1)
367 | ret_total = avg_sequences(sequence_result, 2)
368 | name = method_key.replace("/","")
369 | name = name.replace("_", "")
370 | str_out = method_key \
371 | + " & {:.3f}".format(ret_static[0]) \
372 | + " & {:.2f}".format(ret_static[1]) \
373 | + " & {:.3f}".format(ret_static[2]) \
374 | + " & {:.2f}".format(ret_static[3]) \
375 | + " & {:.3f}".format(ret_dynamic[0]) \
376 | + " & {:.2f}".format(ret_dynamic[1]) \
377 | + " & {:.3f}".format(ret_dynamic[2]) \
378 | + " & {:.2f}".format(ret_dynamic[3]) \
379 | + " & {:.3f}".format(ret_total[0]) \
380 | + " & {:.3f}".format(ret_total[1]) \
381 | + " & {:.3f}".format(ret_total[2]) \
382 | + " & {:.2f}".format(ret_total[3]) \
383 | + " & {:.3f}".format(ret_total[4]) \
384 | + " & {:.2f}".format(ret_total[5]) \
385 | + " \\\ "
386 | str_result = str_result + str_out + "\n"
387 |
388 | str_result = str_result + "\end{tabular} \n " \
389 | "\\vspace{0.1cm} \n" \
390 | "\\caption{Evaluation results common optical flow metrics. " \
391 | "Dynamic comprised sequences with and static without camera motion, " \
392 | "BG - background motion vectors and FG - motion vectors located at persons of the crowd.} \n" \
393 | "\\end{table}"
394 | return str_result
395 |
396 | def genTrajectoryLatexTable(filename, item_key = "dense_person"):
397 |
398 | str_result = "\n \\begin{table} \n " \
399 | "\\scriptsize \n " \
400 | "\\setlength{\\tabcolsep}{2.4pt} \n " \
401 | "\\centering \n " \
402 | "\\begin{tabular}{l|cc|cc|cc|cc|cc|c} \n " \
403 | " & \\multicolumn{2}{c|}{IM01 (Dyn)} & \\multicolumn{2}{c|}{IM02 (Dyn)} " \
404 | " & \\multicolumn{2}{c|}{IM03 (Dyn)} & \\multicolumn{2}{c|}{IM04 (Dyn)} " \
405 | " & \\multicolumn{2}{c|}{IM05 (Dyn)} & $\\varnothing$ \\\\ \n" \
406 | "\\hline \n"
407 | methods = pickle.load(open(filename, "rb"))
408 |
409 | for ret in methods:
410 | result = ret["name"] \
411 | + " & " + "{:2.2f}".format(100 * ret["IM01"][item_key][14]) \
412 | + " & " + "{:2.2f}".format(100 * ret["IM01_hDyn"][item_key][14]) \
413 | + " & " + "{:2.2f}".format(100 * ret["IM02"][item_key][14]) \
414 | + " & " + "{:2.2f}".format(100 * ret["IM02_hDyn"][item_key][14]) \
415 | + " & " + "{:2.2f}".format(100 * ret["IM03"][item_key][14]) \
416 | + " & " + "{:2.2f}".format(100 * ret["IM03_hDyn"][item_key][14]) \
417 | + " & " + "{:2.2f}".format(100 * ret["IM04"][item_key][14]) \
418 | + " & " + "{:2.2f}".format(100 * ret["IM04_hDyn"][item_key][14]) \
419 | + " & " + "{:2.2f}".format(100 * ret["IM05"][item_key][14]) \
420 | + " & " + "{:2.2f}".format(100 * ret["IM05_hDyn"][item_key][14]) \
421 | + " & " + "{:2.2f}".format(100 * ret["all"][item_key][14]) + "\\\ "
422 |
423 | str_result = str_result + result + "\n"
424 |
425 | if item_key == "person":
426 | name_str = "person trajectories"
427 | else:
428 | name_str = "dense person trajectories"
429 | str_result = str_result + "\\hline \n " \
430 | "\\end{tabular} \n " \
431 | "\\vspace{0.01cm} \n " \
432 | "\\caption{Evaluation results with long-term motion metric (" + name_str + ")" \
433 | "The \\textbf{tracking accuracy} in percentage for the threshold set to 15 pixels. " \
434 | "Higher values denote more accurate results.} \n " \
435 | "\\end{table} \n"
436 | return str_result
437 |
--------------------------------------------------------------------------------