Add DETRAC-MOT-toolkit

.gitattributes

@@ -68,3 +68,22 @@ DETRAC/DETRAC-Test-Annotations-XML/DETRAC-Test-Annotations-XML/MVI_40855.xml fil
 DETRAC/DETRAC-Test-Annotations-XML/DETRAC-Test-Annotations-XML/MVI_40863.xml filter=lfs diff=lfs merge=lfs -text
 DETRAC/DETRAC-Test-Annotations-XML/DETRAC-Test-Annotations-XML/MVI_40864.xml filter=lfs diff=lfs merge=lfs -text
 DETRAC/DETRAC-Test-Annotations-XML/DETRAC-Test-Annotations-XML/MVI_40892.xml filter=lfs diff=lfs merge=lfs -text
+DETRAC/DETRAC-MOT-toolkit/DETRAC-MOT-toolkit/evaluation/AP_DET_EVAL.exe filter=lfs diff=lfs merge=lfs -text
+DETRAC/DETRAC-MOT-toolkit/DETRAC-MOT-toolkit/evaluation/CLEAR_MOT_EVAL.exe filter=lfs diff=lfs merge=lfs -text
+DETRAC/DETRAC-MOT-toolkit/DETRAC-MOT-toolkit/evaluation/DETRAC_DET_EVAL.exe filter=lfs diff=lfs merge=lfs -text
+DETRAC/DETRAC-MOT-toolkit/DETRAC-MOT-toolkit/evaluation/DETRAC_MOT_EVAL.exe filter=lfs diff=lfs merge=lfs -text
+DETRAC/DETRAC-MOT-toolkit/DETRAC-MOT-toolkit/trackers/DCT/gco-v3.0/matlab/bin/gco_matlab.mexa64 filter=lfs diff=lfs merge=lfs -text
+DETRAC/DETRAC-MOT-toolkit/DETRAC-MOT-toolkit/trackers/DCT/gco-v3.0/matlab/bin/gco_matlab.mexmaci filter=lfs diff=lfs merge=lfs -text
+DETRAC/DETRAC-MOT-toolkit/DETRAC-MOT-toolkit/trackers/DCT/gco-v3.0/matlab/bin/gco_matlab.mexmaci64 filter=lfs diff=lfs merge=lfs -text
+DETRAC/DETRAC-MOT-toolkit/DETRAC-MOT-toolkit/trackers/FH2T/GraphMultiCarTracker.exe filter=lfs diff=lfs merge=lfs -text
+DETRAC/DETRAC-MOT-toolkit/DETRAC-MOT-toolkit/trackers/FH2T/GraphMultiCarTracker.pdb filter=lfs diff=lfs merge=lfs -text
+DETRAC/DETRAC-MOT-toolkit/DETRAC-MOT-toolkit/trackers/FH2T/opencv_core231.dll filter=lfs diff=lfs merge=lfs -text
+DETRAC/DETRAC-MOT-toolkit/DETRAC-MOT-toolkit/trackers/FH2T/opencv_highgui231.dll filter=lfs diff=lfs merge=lfs -text
+DETRAC/DETRAC-MOT-toolkit/DETRAC-MOT-toolkit/trackers/FH2T/opencv_imgproc231.dll filter=lfs diff=lfs merge=lfs -text
+DETRAC/DETRAC-MOT-toolkit/DETRAC-MOT-toolkit/trackers/FH2T/tbb.dll filter=lfs diff=lfs merge=lfs -text
+DETRAC/DETRAC-MOT-toolkit/DETRAC-MOT-toolkit/trackers/H2T/GraphMultiCarTracker.exe filter=lfs diff=lfs merge=lfs -text
+DETRAC/DETRAC-MOT-toolkit/DETRAC-MOT-toolkit/trackers/H2T/GraphMultiCarTracker.pdb filter=lfs diff=lfs merge=lfs -text
+DETRAC/DETRAC-MOT-toolkit/DETRAC-MOT-toolkit/trackers/H2T/opencv_core231.dll filter=lfs diff=lfs merge=lfs -text
+DETRAC/DETRAC-MOT-toolkit/DETRAC-MOT-toolkit/trackers/H2T/opencv_highgui231.dll filter=lfs diff=lfs merge=lfs -text
+DETRAC/DETRAC-MOT-toolkit/DETRAC-MOT-toolkit/trackers/H2T/opencv_imgproc231.dll filter=lfs diff=lfs merge=lfs -text
+DETRAC/DETRAC-MOT-toolkit/DETRAC-MOT-toolkit/trackers/H2T/tbb.dll filter=lfs diff=lfs merge=lfs -text

DETRAC/DETRAC-MOT-toolkit/DETRAC-MOT-toolkit/DETRAC_experiment.m

@@ -0,0 +1,28 @@
+% This script can be used to execute the tracking experiments or evaluate the detection results on the UA-DETRAC benchmark
+% Copyright (C)2016 The UA-DETRAC Group 
+
+% This program is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by
+% the Free Software Foundation, either version 3 of the License, or (at your option) any later version.
+
+% This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
+% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for more details.
+
+% You should have received a copy of the GNU General Public License along with this program. If not, see <http://www.gnu.org/licenses/>.
+
+clear, clc, close all;
+warning off all;
+global options sequences tracker
+
+%% add the path of functions
+addpath(genpath('utils'));
+addpath(genpath('evaluation'));
+addpath(genpath('display'));
+
+%% input the name of the tracker
+tracker.trackerName = 'GOG'; % ignore this line when evaluating detection results
+%% initialize the parameters for evalution
+options = initialize_environment();
+%% load the dataset
+sequences = load_datasets();
+%% evaluate the tracker
+run_experiment();

DETRAC/DETRAC-MOT-toolkit/DETRAC-MOT-toolkit/README.md

@@ -0,0 +1,71 @@
+The DETRAC-MOT evaluation toolkit
+======================
+
+This is the official detection/tracking evaluation kit for the [DETection and tRACking (DETRAC) Benchmark](http://detrac-db.rit.albany.edu/), 
+which contains the actual evaluation toolkit as a set of Matlab (Octave compatible) scripts, a readme documentation and several state-of-the-art tracking algorithms. 
+You can find more informations from our paper: [arXiv](http://arxiv.org/abs/1511.04136). 
+
+In addition, if you use the DETRAC benchmark or the evaluation toolkit, please cite the paper:
+@article{DETRAC:CoRR:WenDCLCQLYL15,
+  author    = {Longyin Wen and Dawei Du and Zhaowei Cai and Zhen Lei and Ming{-}Ching Chang and
+               Honggang Qi and Jongwoo Lim and Ming{-}Hsuan Yang and Siwei Lyu},
+  title     = { {DETRAC:} {A} New Benchmark and Protocol for Multi-Object Detection and Tracking},
+  journal   = {arXiv CoRR},
+  volume    = {abs/1511.04136},
+  year      = {2015}
+}     
+
+Enquiries, Questions and Comments
+--------------------------------
+
+If you have any further enquiries, questions, or comments, please find the information on the website: [DETRAC homepage](http://detrac-db.rit.albany.edu/), 
+or contact us: ua.detrack@gmail.com or lywen.cv.workbox@gmail.com. Besides, the QQ Group (387090533) is available to facilitate discussion. 
+If you find any bug in the toolkit, please inform us.
+
+You can also subscribe to the DETRAC [mailing list](http://detrac-db.rit.albany.edu/auth/register/) to receive news about the benchmark and important software updates.
+
+Platform Support
+----------------
+
+The toolkit is written in Matlab with executable binaries as well as support for multiple versions of Matlab (at the moment it was tested with versions from 2013 to 2015).
+
+The code should be run on Windows system. However, it is hard to verify this on all versions and system configurations. 
+If you find there exists some problems to run it on your computer, please contact us as soon as possible.
+
+Tracker Modules
+-------
+
+The tracker module contains several tracking related functions. For the proposed tracker, you should create a main function like below:
+
+[stateInfo, speed] = run_tracker(curSequence, baselinedetections);
+
+**Input**: There are two input variables available for the tracker:
+
+* 'curSequence' - A cell containing the sequence information.
+
+* 'baselinedetections' - A matrix containing comma-separated values that denote the detection bounding box and the detection score of the object.
+
+**Output**: the results file will be produced after execution.
+
+* 'stateInfo' - A struct containing the trajectory positions of the tacker (i.e., LX, LY, W, H).
+
+* 'speed' - A variable indicating the running speed of the tracker. This is an additional measure.
+
+If you want to submit the tracking results for comparison, you should put the code of the tracker into the path 'trackers/' of the toolkit at first. 
+
+How to run your code
+-------
+
+1. Open the 'initialize_enviroment.m' function, and set the parameters as follows:
+ a) make sure the images, detections and annotations are in the right path. 
+ b) select the evaluation type,  i.e.,  Detection and Tracking.
+ c) select the sequences for evaluation,  i.e.,  DETRAC-Train, DETRAC-Test, and DETRAC-Free.
+ d) if you chose 'DETRAC-Free', edit the 'sequences.txt' file to select the evaluated sequences you want. 
+2. Open the 'DETRAC_experiment.m' function, and input the name of the tracker if you chose 'Tracking'.
+3. Run the 'DETRAC_experiment.m' function for evaluation.
+
+More details are presented on the website http://detrac-db.rit.albany.edu/instructions. 
+
+To ease your first encounter with the code, we provide several source codes of state-of-the-art trackers in the toolkit, including CEM, CMOT, DCT, FH2T, GOG, H2T, IHTILS and RMOT.
+Specifically, the FH2T and RMOT methods are not included in the arXiv paper due to the time issue. 
+If you have any further questions about the trackers, please contact to the original authors of the tracker.

DETRAC/DETRAC-MOT-toolkit/DETRAC-MOT-toolkit/evaluation/AP_DET_EVAL.exe

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:40d310fb9e8cac4fb85b58008a7680fc0ba56cd44b7b57b77519d4c4097f50d1
+size 310444032

DETRAC/DETRAC-MOT-toolkit/DETRAC-MOT-toolkit/evaluation/CLEAR_MOT.m

@@ -0,0 +1,281 @@
+function [metrics, metricsInfo] = CLEAR_MOT(gtInfo,stateInfo)
+% compute CLEAR MOT and other metrics
+%
+% metrics contains the following
+% [1]   recall	- recall = percentage of detected targets
+% [2]   precision	- precision = percentage of correctly detected targets
+% [3]   FAR		- number of false alarms per frame
+% [4]   GT        - number of ground truth trajectories
+% [5-7] MT, PT, ML	- number of mostly tracked, partially tracked and mostly lost trajectories
+% [8]   falsepositives- number of false positives (FP)
+% [9]   missed        - number of missed targets (FN)
+% [10]  idswitches	- number of id switches     (IDs)
+% [11]  FRA       - number of fragmentations
+% [12]  MOTA	- Multi-object tracking accuracy in [0,100]
+% [13]  MOTP	- Multi-object tracking precision in [0,100] (3D) / [td,100] (2D)
+% [14]  MOTAL	- Multi-object tracking accuracy in [0,100] with log10(idswitches)
+%
+% 
+% (C) Anton Andriyenko, 2012
+%
+% The code may be used free of charge for non-commercial and
+% educational purposes, the only requirement is that this text is
+% preserved within the derivative work. For any other purpose you
+% must contact the authors for permission. This code may not be
+% redistributed without written permission from the authors.
+
+
+% default options: 2D
+options.eval3d = false;   % only bounding box overlap
+options.td = 0.7;      % threshold 70%
+
+td = options.td;
+
+assert(length(gtInfo.frameNums)==length(stateInfo.frameNums), ...
+    'Ground Truth and state must be of equal length');
+if(gtInfo.frameNums(1)~=stateInfo.frameNums(1))
+    gtInfo.frameNums = gtInfo.frameNums + stateInfo.frameNums(1) - gtInfo.frameNums(1);
+end
+assert(all(gtInfo.frameNums==stateInfo.frameNums), ...
+    'Ground Truth and state must contain equal frame numbers');
+
+% check if all necessery info is available
+if options.eval3d
+    assert(all(isfield(gtInfo,{'Xgp','Ygp'})), ...
+        'Ground Truth Ground Plane coordinates needed for 3D evaluation');
+    assert(all(isfield(stateInfo,{'Xgp','Ygp'})), ...
+        'Ground Plane coordinates needed for 3D evaluation');
+else
+    assert(all(isfield(gtInfo,{'X','Y','W','H'})), ...
+        'Ground Truth coordinates X,Y,W,H needed for 2D evaluation');
+    assert(all(isfield(stateInfo,{'Xi','Yi','W','H'})), ...
+        'State coordinates Xi,Yi,W,H needed for 2D evaluation');
+    
+end
+
+gtInd=~~gtInfo.X;
+stInd=~~stateInfo.X;
+
+[Fgt, Ngt]=size(gtInfo.X);
+[F, N]=size(stateInfo.X);
+
+aspectRatio=mean(gtInfo.W(~~gtInfo.W)./gtInfo.H(~~gtInfo.H));
+
+
+metricsInfo.names.long = {'Recall','Precision','False Alarm Rate', ...
+    'GT Tracks','Mostly Tracked','Partially Tracked','Mostly Lost', ...
+    'False Positives', 'False Negatives', 'ID Switches', 'Fragmentations', ...
+    'MOTA','MOTP', 'MOTA Log'};
+
+metricsInfo.names.short = {'Rcll','Prcn','FAR', ...
+    'GT','MT','PT','ML', ...
+    'FP', 'FN', 'IDs', 'FM', ...
+    'MOTA','MOTP', 'MOTAL'};
+
+metricsInfo.widths.long = [6 9 16 9 14 17 11 15 15 11 14 5 5 8];
+metricsInfo.widths.short = [5 5 5 3 3 3 3 4 4 3 3 5 5 5];
+
+metricsInfo.format.long = {'.1f','.1f','.2f', ...
+    'i','i','i','i', ...
+    'i','i','i','i', ...
+    '.1f','.1f','.1f'};
+
+metricsInfo.format.short=metricsInfo.format.long;
+
+
+metrics=zeros(1,14);
+metrics(9)=numel(find(gtInd));  % False Negatives (missed)
+metrics(7)=Ngt;                 % Mostly Lost
+
+% nothing to be done, if state is empty
+if ~N, return; end
+
+% mapping
+M=zeros(F,Ngt);
+
+mme=zeros(1,F); % ID Switchtes (mismatches)
+c=zeros(1,F);   % matches found
+fp=zeros(1,F);  % false positives
+m=zeros(1,F);   % misses = false negatives
+g=zeros(1,F);
+d=zeros(F,Ngt);  % all distances;
+ious=Inf*ones(F,Ngt);  % all overlaps
+
+matched=@matched2d;
+if options.eval3d, matched=@matched3d; end
+
+alltracked=zeros(F,Ngt);
+allfalsepos=zeros(F,N);
+
+for t=1:F
+    g(t)=numel(find(gtInd(t,:)));
+    
+    % mapping for current frame
+    if t>1
+        mappings=find(M(t-1,:));
+        for map=mappings
+            if gtInd(t,map) && stInd(t,M(t-1,map)) && matched(gtInfo,stateInfo,t,map,M(t-1,map),td*0.8)
+                M(t,map)=M(t-1,map);
+            end
+        end
+    end
+    
+    GTsNotMapped=find(~M(t,:) & gtInd(t,:));
+    EsNotMapped=setdiff(find(stInd(t,:)),M(t,:));
+    
+    if options.eval3d      
+        cost = zeros(numel(GTsNotMapped), numel(EsNotMapped));
+        for o = 1:numel(GTsNotMapped)
+           GT = [gtInfo.Xgp(t,GTsNotMapped(o)), gtInfo.Ygp(t,GTsNotMapped(o))];
+           for e = 1:numel(EsNotMapped)
+               E = [stateInfo.Xgp(t,EsNotMapped(e)), stateInfo.Ygp(t,EsNotMapped(e))];
+               cost(o,e)=norm(GT-E);
+           end
+        end   
+        cost(cost > td) = Inf;
+        assignLabel = munkres(cost);
+        for i = 1:numel(assignLabel)
+            if(assignLabel(i))
+                M(t, GTsNotMapped(i)) = EsNotMapped(assignLabel(i));
+            end
+        end    
+
+    else
+        allisects=zeros(Ngt,N);        maxisect=Inf;        
+        while maxisect > td && numel(GTsNotMapped)>0 && numel(EsNotMapped)>0
+            for o=GTsNotMapped
+                GT=[gtInfo.X(t,o)-gtInfo.W(t,o)/2 ...
+                    gtInfo.Y(t,o)-gtInfo.H(t,o) ...
+                    gtInfo.W(t,o) gtInfo.H(t,o) ];
+                for e=EsNotMapped
+                    E=[stateInfo.Xi(t,e)-stateInfo.W(t,e)/2 ...
+                        stateInfo.Yi(t,e)-stateInfo.H(t,e) ...
+                        stateInfo.W(t,e) stateInfo.H(t,e) ];
+                    allisects(o,e)=boxiou(GT(1),GT(2),GT(3),GT(4),E(1),E(2),E(3),E(4));
+                end
+            end
+            [maxisect, cind]=max(allisects(:));
+
+            if maxisect >= td
+                [u, v]=ind2sub(size(allisects),cind);
+                M(t,u)=v;
+                allisects(:,v)=0;
+                GTsNotMapped=find(~M(t,:) & gtInd(t,:));
+                EsNotMapped=setdiff(find(stInd(t,:)),M(t,:));
+            end
+
+        end
+    end
+    
+    curtracked=find(M(t,:));
+    
+    
+    alltrackers=find(stInd(t,:));
+    mappedtrackers=intersect(M(t,find(M(t,:))),alltrackers);
+    falsepositives=setdiff(alltrackers,mappedtrackers);
+    
+    alltracked(t,:)=M(t,:);
+    allfalsepos(t,1:length(falsepositives))=falsepositives;
+    
+    %%  mismatch errors
+    if t>1
+        for ct=curtracked
+            lastnotempty=find(M(1:t-1,ct),1,'last');
+            if gtInd(t-1,ct) && ~isempty(lastnotempty) && M(t,ct)~=M(lastnotempty,ct)
+                mme(t)=mme(t)+1;
+            end
+        end
+    end
+    
+    c(t)=numel(curtracked);
+    for ct=curtracked
+        eid=M(t,ct);
+        if options.eval3d
+            d(t,ct)=norm([gtInfo.Xgp(t,ct) gtInfo.Ygp(t,ct)] - ...
+                [stateInfo.Xgp(t,eid) stateInfo.Ygp(t,eid)]);
+        else
+            gtLeft=gtInfo.X(t,ct)-gtInfo.W(t,ct)/2;
+            gtTop=gtInfo.Y(t,ct)-gtInfo.H(t,ct);
+            gtWidth=gtInfo.W(t,ct);    gtHeight=gtInfo.H(t,ct);
+            
+            stLeft=stateInfo.Xi(t,eid)-stateInfo.W(t,eid)/2;
+            stTop=stateInfo.Yi(t,eid)-stateInfo.H(t,eid);
+            stWidth=stateInfo.W(t,eid);    stHeight=stateInfo.H(t,eid);
+            ious(t,ct)=boxiou(gtLeft,gtTop,gtWidth,gtHeight,stLeft,stTop,stWidth,stHeight);
+        end
+    end
+    
+    
+    fp(t)=numel(find(stInd(t,:)))-c(t);
+    m(t)=g(t)-c(t);
+    
+    
+end    
+
+missed=sum(m);
+falsepositives=sum(fp);
+idswitches=sum(mme);
+
+if options.eval3d
+    MOTP=(1-sum(sum(d))/sum(c)/td) * 100; % avg distance to [0,100]
+else
+    MOTP=sum(ious(ious>=td & ious<Inf))/sum(c) * 100; % avg ol
+end
+
+MOTAL=(1-((sum(m)+sum(fp)+log10(sum(mme)+1))/sum(g)))*100;
+MOTA=(1-((sum(m)+sum(fp)+(sum(mme)))/sum(g)))*100;
+recall=sum(c)/sum(g)*100;
+precision=sum(c)/(sum(fp)+sum(c))*100;
+FAR=sum(fp)/Fgt;
+ 
+
+%% MT PT ML
+MTstatsa=zeros(1,Ngt);
+for i=1:Ngt
+    gtframes=find(gtInd(:,i));
+    gtlength=length(gtframes);
+    gttotallength=numel(find(gtInd(:,i)));
+    trlengtha=numel(find(alltracked(gtframes,i)>0));
+    if(gtlength/gttotallength >= 0.8 && trlengtha/gttotallength < 0.2)
+        MTstatsa(i)=3;
+    elseif(t>=find(gtInd(:,i),1,'last') && trlengtha/gttotallength <= 0.8)
+        MTstatsa(i)=2;
+    elseif trlengtha/gttotallength >= 0.8
+        MTstatsa(i)=1;
+    end
+end
+% MTstatsa
+MT=numel(find(MTstatsa==1));PT=numel(find(MTstatsa==2));ML=numel(find(MTstatsa==3));
+
+%% fragments
+fr=zeros(1,Ngt);
+for i=1:Ngt
+    b=alltracked(find(alltracked(:,i),1,'first'):find(alltracked(:,i),1,'last'),i);
+    b(~~b)=1;
+    fr(i)=numel(find(diff(b)==-1));
+end
+FRA=sum(fr);
+
+assert(Ngt==MT+PT+ML,'Hmm... Not all tracks classified correctly.');
+metrics=[recall, precision, FAR, Ngt, MT, PT, ML, falsepositives, missed, idswitches, FRA, MOTA, MOTP, MOTAL];
+end 
+
+function ret=matched2d(gtInfo,stateInfo,t,map,mID,td)
+    gtLeft=gtInfo.X(t,map)-gtInfo.W(t,map)/2;
+    gtTop=gtInfo.Y(t,map)-gtInfo.H(t,map);
+    gtWidth=gtInfo.W(t,map);    gtHeight=gtInfo.H(t,map);
+    
+    stLeft=stateInfo.Xi(t,mID)-stateInfo.W(t,mID)/2;
+    stTop=stateInfo.Yi(t,mID)-stateInfo.H(t,mID);
+    stWidth=stateInfo.W(t,mID);    stHeight=stateInfo.H(t,mID);
+    
+    ret = boxiou(gtLeft,gtTop,gtWidth,gtHeight,stLeft,stTop,stWidth,stHeight) >= td;    
+end
+
+
+function ret=matched3d(gtInfo,stateInfo,t,map,mID,td)
+    Xgt=gtInfo.Xgp(t,map); Ygt=gtInfo.Ygp(t,map);
+    X=stateInfo.Xgp(t,mID); Y=stateInfo.Ygp(t,mID);
+    ret=norm([Xgt Ygt]-[X Y])<=td;
+
+end

DETRAC/DETRAC-MOT-toolkit/DETRAC-MOT-toolkit/evaluation/CLEAR_MOT_EVAL.exe

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+size 310567424

DETRAC/DETRAC-MOT-toolkit/DETRAC-MOT-toolkit/evaluation/DETRAC_DET_EVAL.exe

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DETRAC/DETRAC-MOT-toolkit/DETRAC-MOT-toolkit/evaluation/DETRAC_MOT_EVAL.exe

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DETRAC/DETRAC-MOT-toolkit/DETRAC-MOT-toolkit/evaluation/README_evaluation.txt

@@ -0,0 +1,238 @@
+==============================================
+ trainlist (60 sequences) Detection evaluation to calculate AP score
+ reference: M. Everingham, S. M. A. Eslami, L. J. V. Gool, C. K. I. Williams, J. M. Winn, and A. Zisserman. The pascal visual object classes challenge: A retrospective. IJCV, 111(1):98�C136, 2015.
+==============================================
+
+Command parameters:
+
+Input_1: Detector name
+
+Input_2: Detection result folder Path
+	Detection file is named as "SequenceName_Det_DetectorName.txt"
+	
+Input_3: path of a txt file contains which sequences will be evaluated.
+	For example:
+	*******************
+	MVI_39501
+	MVI_39511
+	*******************
+	
+Input_4: Output Path
+
+
+For example:
+	- Command line: AP_DET_EVAL.exe name C:/Detections/ C:/sqList.txt C:/PRCurve/ 
+	
+	The output file is named as "name_detection_PR.txt"
+	The format of this file is as following:
+	
+	***************************************
+	// left is recall, right is precision
+	0.000001581602796 1.000000000000000
+	0.000003163205593 1.000000000000000
+	0.000004744808389 1.000000000000000
+	0.000006326411185 1.000000000000000
+	0.000007908013981 1.000000000000000
+	0.000009489616778 1.000000000000000
+	0.000011071219574 1.000000000000000
+	0.000012652822370 1.000000000000000
+	0.000014234425166 1.000000000000000
+	0.000015816027963 1.000000000000000
+	0.000017397630759 1.000000000000000
+	0.000018979233555 1.000000000000000
+	0.000020560836352 1.000000000000000
+	0.000022142439148 1.000000000000000
+	0.000023724041944 1.000000000000000
+	0.000025305644740 1.000000000000000
+	0.000026887247537 1.000000000000000
+	0.000026887247537 0.944444444444444
+	0.000026887247537 0.894736842105263
+	0.000028468850333 0.900000000000000
+	......
+	*****************************************
+	
+==============================================
+ trainlist (60 sequences) CLEAR MOT evaluation
+==============================================
+
+threshold = 0:0.1:1
+
+Command parameters:
+
+Input_1: tracker name
+
+Input_2: detector name
+
+Input_3: Tracking result folder Path
+	There are N <= 11 folders under Input_1 path, which takes threshold value as name
+	*****
+	0.0
+	0.1
+	0.2
+	...
+	1.0
+	*****
+	Tracking file under each threshold folder is named as 
+		"SequenceName_LX.txt"
+		"SequenceName_LY.txt"
+		"SequenceName_H.txt"
+		"SequenceName_W.txt"
+
+Input_4: path of a txt file contains which threshold will be evaluated
+	For example:
+	*******************
+	0.0
+	0.3
+	0.6
+	1.0
+	*******************
+	
+Input_5: path of a txt file contains which sequences will be evaluated.
+	For example:
+	*******************
+	MVI_39501
+	MVI_39511
+	*******************
+	
+Input_6: Output Path
+	tracking indicators of each threshold in one file named as "DETRAC_MOT_Result.txt"
+	********
+	metrics contains the following
+    [1]   recall	- recall = percentage of detected targets
+    [2]   precision	- precision = percentage of correctly detected targets
+    [3]   FAR		- number of false alarms per frame
+    [4]   GT        - number of ground truth trajectories
+    [5-7] MT, PT, ML	- number of mostly tracked, partially tracked and mostly lost trajectories (*100)
+    [8]   falsepositives- number of false positives (FP)
+    [9]   missed        - number of missed targets (FN)
+    [10]  idswitches	- number of id switches     (IDs)
+    [11]  FRA       - number of fragmentations
+    [12]  MOTA	- Multi-object tracking accuracy in [0,100]
+    [13]  MOTP	- Multi-object tracking precision in [0,100] (3D) / [td,100] (2D)
+    [14]  MOTAL	- Multi-object tracking accuracy in [0,100] with log10(idswitches)
+	********
+	
+For example:
+	- Command line: exeName.exe CEM ACF C:/TrackerResult/ C:/thresh.txt C:/sequences.txt C:/output/
+
+
+==============================================
+ trainlist (60 sequences) Detection evaluation
+==============================================
+
+threshold = 0:step:1
+
+Command parameters:
+
+Input_1: Detector name
+
+Input_2: Detection result folder Path
+	Detection file is named as "SequenceName_Det_DetectorName.txt"
+	
+Input_3: path of a txt file contains which sequences will be evaluated.
+	For example:
+	*******************
+	MVI_39501
+	MVI_39511
+	*******************
+Input_4: score step
+	For example: 0.1
+	
+Input_5: Output Path
+
+
+For example:
+	- Command line: DETRAC_DET_EVAL.exe name C:/Detections/ C:/sqList.txt 0.1 C:/PRCurve/ 
+	
+	The output file is named as "name_detection_PR.txt"
+	The format of this file is as following:
+	
+	***************************************
+	// left is recall, right is precision
+	0.5672 0.2926
+	0.5672 0.2926
+	0.5672 0.2927
+	0.5672 0.2944
+	0.5672 0.3094
+	0.5666 0.3752
+	0.5573 0.5571
+	0.4644 0.7976
+	0.1008 0.9430
+	*****************************************
+	
+	The other output file is named as "name_thres.txt"
+	Since the maximal score value may be less than 1, we create this file to record what the actual scores are used. The next TRACK SYSTEM evaluation phase will reply on this file.
+	For example:
+	************
+	0.0
+	0.1
+	0.2
+	0.3
+	0.4
+	0.5
+	0.6
+	0.7
+	0.8
+	************
+
+==============================================
+ trainlist (60 sequences) DETRAC MOT evaluation
+==============================================
+
+Command parameters:
+
+Input_1: tracker name
+
+Input_2: detector name
+
+Input_3: "detectorname_thres.txt" file which is generated by detection evaluation phase.
+
+Input_4: detectorName_detection_PR.txt path
+
+Input_5: path of a txt file contains which sequences will be evaluated.
+	For example:
+	*******************
+	MVI_39501
+	MVI_39511
+	*******************
+
+Input_6: Tracking result folder Path
+	There are N folders under Input_1 path, which takes threshold value as name.
+	These names should be consistent with "detectorname_thres.txt" file
+	*****
+	0.0
+	0.2
+	0.4
+	...
+	1.0
+	*****
+	Tracking file under each threshold folder is named as 
+		"SequenceName_LX.txt"
+		"SequenceName_LY.txt"
+		"SequenceName_H.txt"
+		"SequenceName_W.txt"
+		
+Input_7: Output Path
+		
+	final average score (13 indicators) in one file named as "trackerName_detectorName_averageScore.txt"
+	********
+	scoreRECALL
+	scorePRECISION
+	scoreFAR
+	scoreMT
+	scorePT
+	scoreML
+	scoreFP
+	scoreFN	
+	scoreIDS	
+	scoreFM	
+	scoreMOTA	
+	scoreMOTP	
+	scoreMOTAL	
+	*********	
+	
+For example:
+	- Command line: exeName.exe TrackerName detectorName C:/detectorname_thres.txt C:/detectorname_detection_PR.txt C:/seqList.txt C:/TrackerName/ C:/output/
+	
+
+ 

DETRAC/DETRAC-MOT-toolkit/DETRAC-MOT-toolkit/evaluation/VOCap.m

@@ -0,0 +1,9 @@
+function ap = VOCap(rec,prec)
+    mrec=[0 ; rec ; 1];
+    mpre=[0 ; prec ; 0];
+    for i=numel(mpre)-1:-1:1
+        mpre(i)=max(mpre(i),mpre(i+1));
+    end
+    i=find(mrec(2:end)~=mrec(1:end-1))+1;
+    ap=sum((mrec(i)-mrec(i-1)).*mpre(i));
+end

DETRAC/DETRAC-MOT-toolkit/DETRAC-MOT-toolkit/evaluation/boxIntersect.m

@@ -0,0 +1,24 @@
+function isect=boxIntersect(bboxleft1, bboxright1, bboxbottom1, bboxup1, bboxleft2, bboxright2, bboxbottom2, bboxup2)
+% A=[bboxleft1 bboxbottom1 abs(bboxright1-bboxleft1) abs(bboxbottom1-bboxup1)];
+% B=[bboxleft2 bboxbottom2 abs(bboxright2-bboxleft2) abs(bboxbottom2-bboxup2)];
+% 
+% (C) Anton Andriyenko, 2012
+%
+% The code may be used free of charge for non-commercial and
+% educational purposes, the only requirement is that this text is
+% preserved within the derivative work. For any other purpose you
+% must contact the authors for permission. This code may not be
+% redistributed without written permission from the authors.
+
+% isect=rectint(A,B);        
+isect=0;
+
+hor= max(0,min(bboxright1,bboxright2) - max(bboxleft1,bboxleft2));
+
+if ~hor, return; end
+ver= max(0,min(bboxbottom1,bboxbottom2) - max(bboxup1,bboxup2));
+if ~ver, return; end
+
+isect = hor*ver;
+
+end

DETRAC/DETRAC-MOT-toolkit/DETRAC-MOT-toolkit/evaluation/boxUnion.m

@@ -0,0 +1,24 @@
+function union=boxUnion(bboxleft1, bboxright1, bboxbottom1, bboxup1, bboxleft2, bboxright2, bboxbottom2, bboxup2,isect)
+% 
+% (C) Anton Andriyenko, 2012
+%
+% The code may be used free of charge for non-commercial and
+% educational purposes, the only requirement is that this text is
+% preserved within the derivative work. For any other purpose you
+% must contact the authors for permission. This code may not be
+% redistributed without written permission from the authors.
+
+a1=bboxright1-bboxleft1;
+b1=bboxbottom1-bboxup1;
+a2=bboxright2-bboxleft2;
+b2=bboxbottom2-bboxup2;
+union=a1*b1+a2*b2;
+if nargin>8
+    bisect=isect;
+else
+    bisect=boxIntersect(bboxleft1, bboxright1, bboxbottom1, bboxup1, bboxleft2, bboxright2, bboxbottom2, bboxup2);
+end
+union=union-bisect;
+
+
+end

DETRAC/DETRAC-MOT-toolkit/DETRAC-MOT-toolkit/evaluation/boxiou.m

@@ -0,0 +1,21 @@
+function iou=boxiou(x1,y1,w1,h1,x2,y2,w2,h2)    
+% compute intersection over union of two bboxes
+% 
+% (C) Anton Andriyenko, 2012
+%
+% The code may be used free of charge for non-commercial and
+% educational purposes, the only requirement is that this text is
+% preserved within the derivative work. For any other purpose you
+% must contact the authors for permission. This code may not be
+% redistributed without written permission from the authors.
+
+    bisect=boxIntersect(x1,x1+w1,y1+h1,y1,x2,x2+w2,y2+h2,y2);
+    iou=0;
+    if ~bisect, return; end
+    
+    bunion=boxUnion(x1,x1+w1,y1+h1,y1,x2,x2+w2,y2+h2,y2,bisect);
+    
+    assert(bunion>0,'something wrong with union computation');
+    iou=bisect/bunion;
+
+end

DETRAC/DETRAC-MOT-toolkit/DETRAC-MOT-toolkit/evaluation/checkResultFormat.m

@@ -0,0 +1,90 @@
+function [errorMsg, realList] = checkResultFormat(unzipPath, detectorName)
+%% Check detection format
+global options
+
+errorMsg = [];
+HEIGHT = 540;
+WIDTH = 960;
+
+resList = dir(fullfile(unzipPath, '*.txt'));
+optionID = find(ismember({'DETRAC-Test','DETRAC-Train','DETRAC-Free','DETRAC-Test-Beginner','DETRAC-Test-Experienced'},options.evaluateSeqs));
+if(optionID == 1)
+    listPath  = 'seqs/testlist-full.txt';
+elseif(optionID == 2)
+    listPath  = 'seqs/trainlist-full.txt';
+elseif(optionID == 3)
+    listPath = '../sequences.txt';
+elseif(optionID == 4)
+    listPath  = 'seqs/testlist-det-beginner.txt';
+elseif(optionID == 5)
+    listPath  = 'seqs/testlist-det-experienced.txt';    
+else
+    error('error in sequences for evaluation!');
+end
+realList = importdata(listPath);
+
+%% Check number
+if(length(resList) < length(realList))
+    errorMsg = sprintf('Results must be %d txt files!', length(realList));
+    return;
+end
+
+%% Check list
+for i = 1:length(realList)
+    fprintf('Checking %d/%d\n', i, length(realList));
+    resName = [realList{i} '_Det_' detectorName '.txt'];
+    if(~exist([unzipPath resName], 'file'))
+        errorMsg = sprintf('Sequence %s is not valid', resName);
+    end        
+    %% Check ext
+    [~, namePart, nameExt] = fileparts(resName);
+    if(~strcmp(nameExt, '.txt'))
+        errorMsg = sprintf('%s must be txt file', resName);
+        return;
+    end
+    %% Check resName format
+    pos = strfind(namePart, '_');
+    if(length(pos) ~= 3)
+        errorMsg = sprintf('%s must be MVI_XXX_Det_DetectorName.txt', resName);
+        return;
+    end
+    midName = namePart(pos(2)+1:pos(3)-1);
+    if(~strcmp(midName, 'Det'))
+        errorMsg = sprintf('%s must be MVI_XXX_Det_DetectorName.txt', resName);
+        return;
+    end
+        
+    %% Check content
+    detections = load(fullfile(unzipPath, resName));
+    lineCnt = 1;
+    while(lineCnt <= size(detections, 1))
+        content = detections(lineCnt, :);
+        % each line of the file should be set as [Frame, Number, Left, Top, Width, Height, Score]
+        if(length(content) ~= 7)
+            errorMsg = sprintf('Content must be [Frame, Number, Left, Top, Width, Height, Score] (Line %d in %s)', lineCnt, resName);
+            return;
+        end
+        frame = content(1);
+        number = content(2);
+        left = min(max(content(3), 1), WIDTH);
+        top = min(max(content(4), 1), HEIGHT);
+        width = min(content(5), WIDTH - left + 1);
+        height = min(content(6), HEIGHT - top + 1);
+        score = content(7);
+        if (score < 0 || score > 1)
+            errorMsg = sprintf('Score must be in [0, 1] (Line %d in %s)', lineCnt, resName);      
+            return;
+        end
+        if(height <= 0)
+            errorMsg = sprintf('Height must be postive (Line %d in %s)', lineCnt, resName);
+            return;
+        end
+        if(width <= 0)
+            errorMsg = sprintf('Width must be positive (Line %d in %s)', lineCnt, resName);
+            return;
+        end
+        detections(lineCnt, :) = [frame, number, left, top, width, height, score];
+        lineCnt = lineCnt + 1;
+    end
+	dlmwrite(fullfile(unzipPath, resName), detections);    
+end

DETRAC/DETRAC-MOT-toolkit/DETRAC-MOT-toolkit/evaluation/createIntImg.m

@@ -0,0 +1,16 @@
+function intImg = createIntImg(img)
+
+[height, width] = size(img);
+intImg = img;
+for i = 2:height
+    intImg(i, 1) = intImg(i, 1) + intImg(i-1, 1);
+end
+for j = 2:width
+    intImg(1, j) = intImg(1, j) + intImg(1, j-1);
+end
+
+for i = 2:height
+    for j = 2:width
+        intImg(i, j) = intImg(i, j) + intImg(i-1, j) + intImg(i, j-1) - intImg(i-1, j-1);
+    end
+end

DETRAC/DETRAC-MOT-toolkit/DETRAC-MOT-toolkit/evaluation/createNewPath.m

@@ -0,0 +1,16 @@
+function createNewPath(filePath)
+% create new folder for saving results
+if(~isdir(filePath))
+    mkdir(filePath);
+elseif(isdir(filePath))
+    Dirs = dir(filePath);
+    for i = 1:length(Dirs)
+        % remove directory and all contents
+        if(Dirs(i).isdir && ~strcmp(Dirs(i).name,'.') && ~strcmp(Dirs(i).name,'..'))
+            rmdir([filePath Dirs(i).name],'s');
+        % delete the files in corresponding directory
+        elseif(~strcmp(Dirs(i).name,'.') && ~strcmp(Dirs(i).name,'..'))
+            delete([filePath Dirs(i).name]);            
+        end
+    end
+end

DETRAC/DETRAC-MOT-toolkit/DETRAC-MOT-toolkit/evaluation/createPath.m

@@ -0,0 +1,5 @@
+function createPath(newPath)
+
+if(~isdir(newPath))
+    mkdir(newPath);    
+end

DETRAC/DETRAC-MOT-toolkit/DETRAC-MOT-toolkit/evaluation/curve_results/ACF_detection_PR.txt

@@ -0,0 +1,21 @@
+0.567181741977320,0.292586135014274
+0.562226580416594,0.345369012885794
+0.548566277065178,0.444164705219456
+0.522548911066475,0.553060066388902
+0.484410141237130,0.647648168354098
+0.437192971357173,0.728205776667826
+0.378966264412355,0.795026295270169
+0.312682872823319,0.851369857114558
+0.244322836762775,0.893871622911833
+0.185887358248849,0.920721341783456
+0.134227466114160,0.941628110818937
+0.091119300298923,0.954520602415627
+0.058218798930837,0.958568787271165
+0.031815521849843,0.953093906945892
+0.016206683853417,0.962792445738983
+0.007136191816787,0.989256741942556
+0.002103531719044,0.994764397905759
+0.000434940768975,0.996376811594203
+0.000080661742610,1.000000000000000
+0.000017397630759,1.000000000000000
+0.000001581602796,1.000000000000000

DETRAC/DETRAC-MOT-toolkit/DETRAC-MOT-toolkit/evaluation/curve_results/DPM_detection_PR.txt

@@ -0,0 +1,21 @@
+0.422645388837047,0.171554399987160
+0.415246650956079,0.237891713367976
+0.394445410979487,0.302024712169708
+0.370944375029655,0.367771374808891
+0.341437993262372,0.433240215615681
+0.311128157274582,0.498839860123900
+0.272609802774131,0.560962432834412
+0.229414648805099,0.622853535895707
+0.182589716418619,0.674086054781243
+0.139011814572888,0.716406109906591
+0.101371249624369,0.747025023601674
+0.067721068530849,0.787254775781868
+0.039087731507109,0.810162268480577
+0.021044806807218,0.845147357723577
+0.009922975943821,0.871509931934991
+0.003791101902668,0.882872928176796
+0.001129264396539,0.871794871794872
+0.000355860629162,0.925925925925926
+0.000093314564980,0.921875000000000
+0.000014234425166,1.000000000000000
+0.000001581602796,1.000000000000000

DETRAC/DETRAC-MOT-toolkit/DETRAC-MOT-toolkit/evaluation/curve_results/R-CNN_detection_PR.txt

@@ -0,0 +1,21 @@
+0.566832207759343,0.292402245940614
+0.566832207759343,0.292403677329661
+0.566832207759343,0.292412981700068
+0.566832207759343,0.292437557628128
+0.566832207759343,0.292531127105681
+0.566832207759343,0.292874408965581
+0.566832207759343,0.294199591196776
+0.566832207759343,0.298166198551728
+0.566825881348158,0.309192601884556
+0.566723077166400,0.332688979506949
+0.566239106710741,0.374961641462620
+0.563869865721923,0.450425956364583
+0.557034178436427,0.556861554613212
+0.534999288278742,0.680253065788257
+0.464336438546823,0.797504149338143
+0.296091859490408,0.897902607711382
+0.100811362234488,0.942927305541584
+0.014395748651684,0.969638862256312
+0.000778148575767,0.984000000000000
+0.000074335331425,0.979166666666667
+0.000001581602796,1.000000000000000

DETRAC/DETRAC-MOT-toolkit/DETRAC-MOT-toolkit/evaluation/curve_results/README_curve.txt

@@ -0,0 +1,3 @@
+The Precision-Recall curve is generated by tuning the threshold (i.e., 0:0.05:1) of an detector to generate different precision and recall values.
+In the Precision-Recall result file, the first column is for recall and the second column is for precision.
+The raw result is interpolated linearly with the step 0.0001 to calculate the corresponding AP score.

DETRAC/DETRAC-MOT-toolkit/DETRAC-MOT-toolkit/evaluation/curve_results/compACT_detection_PR.txt

@@ -0,0 +1,21 @@
+0.614658294715865,0.390629633091797
+0.607433533142487,0.486536885323780
+0.590255745172158,0.599103915034065
+0.559412909042023,0.686765445426709
+0.514572888164866,0.755913616245164
+0.461563888844955,0.816227040966160
+0.402962342037421,0.859089391747676
+0.340245464753982,0.891378210174773
+0.272722096572667,0.918457678848213
+0.209563952109067,0.935946428949841
+0.156056747908330,0.950339991909541
+0.110348427096019,0.967080185737057
+0.073598304521802,0.976149021417633
+0.044696095022696,0.978633514561762
+0.024926060069274,0.982911313458900
+0.011613709333038,0.995391080384980
+0.003974567827036,0.997618102421596
+0.000971104116912,0.996753246753247
+0.000185047527164,1.000000000000000
+0.000037958467111,1.000000000000000
+0.000001581602796,1.000000000000000

DETRAC/DETRAC-MOT-toolkit/DETRAC-MOT-toolkit/evaluation/detectionEvaluation.m

@@ -0,0 +1,41 @@
+function detectionEvaluation()
+
+global options
+
+detectorSet = options.detectorSet; % the detector set
+
+% Debug Logs
+curPath = pwd;
+log_path = [curPath '/logs/'];
+createPath(log_path); 
+
+cd('./evaluation');
+addpath(genpath('.'));
+for idDet = 1:length(detectorSet) 
+    detectorName = detectorSet{idDet};
+    diary([log_path 'DETRAC_' detectorName '_detection_logs.txt']);    
+    % Check formats
+    detPath = [options.detPath detectorName '/'];
+    [errorMsg, realList] = checkResultFormat(detPath, detectorName);
+    if(~isempty(errorMsg))
+        error(errorMsg);
+    end
+    % pre-processing the detection results
+    preProcessDetectionResults(detectorName);
+    % obtain detection PR scores
+    if(options.printDetectionEval)
+        detprFile = [options.detPath detectorName '/' detectorName '_detection_PR.txt'];
+        detprLine = ['AP_DET_EVAL.exe ' detectorName ' ' detPath ' ' curPath '/sequences.txt ' detPath];
+        evalexe(detprLine);
+        if(exist(detprFile, 'file'))                
+            APscore = showDetectionPRCurve(detprFile, detectorName);
+            disp(['The AP score of the detector ' detectorName ' is ' num2str(roundn(APscore,-2)) '%.']);
+        else
+            error('no detection results!');
+        end
+    end
+end
+cd('../');
+
+%% zip the detection results for DETRAC-Test
+zipDetectionResults(detectorSet, realList);

DETRAC/DETRAC-MOT-toolkit/DETRAC-MOT-toolkit/evaluation/display/clampBBox.m

@@ -0,0 +1,19 @@
+function [bleft bright btop bbottom]= clampBBox(bleft, bright, btop, bbottom, imgWidth, imHeight)
+% 
+% (C) Anton Andriyenko, 2012
+%
+% The code may be used free of charge for non-commercial and
+% educational purposes, the only requirement is that this text is
+% preserved within the derivative work. For any other purpose you
+% must contact the authors for permission. This code may not be
+% redistributed without written permission from the authors.
+
+    
+% clamp bounding box to [1, imageDim]
+
+bleft=max(1,bleft); bleft=min(imgWidth,bleft);
+bright=max(1,bright); bright=min(imgWidth,bright);
+btop=max(1,btop); btop=min(imHeight,btop);
+bbottom=max(1,bbottom); bbottom=min(imHeight,bbottom);
+
+end

DETRAC/DETRAC-MOT-toolkit/DETRAC-MOT-toolkit/evaluation/display/displayBBoxes.m

@@ -0,0 +1,123 @@
+function displayBBoxes(sceneInfo, X, Y, W, H)
+% Draw bounding boxes on top of images
+% 
+% (C) Anton Andriyenko, 2012
+%
+% The code may be used free of charge for non-commercial and
+% educational purposes, the only requirement is that this text is
+% preserved within the derivative work. For any other purpose you
+% must contact the authors for permission. This code may not be
+% redistributed without written permission from the authors.
+%
+[F, numObjs] = size(X);
+if(F == 0)
+    disp('no tracking results!');
+end
+ind=find(W);
+aspectRatio=mean(H(ind)./W(ind));
+frameNums = sceneInfo.frameNums;
+
+for t = 1:F
+    clf
+    im = imread([sceneInfo.imgFolder sprintf(sceneInfo.imgFileFormat,frameNums(t))]);
+    im = double(im)/255;
+    imshow(im,'Border','tight'), hold on;
+    
+    % frame number
+    text(10,20,sprintf('#%04d',t),'FontSize',30,'color','r');
+    
+    extar=find(X(t,:));
+    % foot position
+    if(sceneInfo.displayDots)
+        for id=extar
+            plot(X(t,id),Y(t,id),'.','color',getColorFromID(id, numObjs),'MarkerSize',sceneInfo.dotSize);
+        end
+    end
+    
+    % box
+    if(sceneInfo.displayBoxes)
+        for id=extar
+            bleft=X(t,id)-W(t,id)/2;
+            btop=Y(t,id)-H(t,id);
+            rectangle('Position',[bleft,btop,W(t,id),H(t,id)],'Curvature',[.1,.2*(W(t,id)/H(t,id))],'EdgeColor',getColorFromID(id, numObjs),'linewidth',sceneInfo.boxLineWidth);
+        end
+    end
+    
+    % ID
+    if sceneInfo.displayID
+        for id=extar
+            tx=X(t,id)-W(t,id)/2; 
+            ty=Y(t,id)-H(t,id)*0.8; % on top
+            text(tx,ty,sprintf('%i',id),'color',getColorFromID(id, numObjs), 'HorizontalAlignment','left', 'FontSize',W(t,id)/5, 'FontUnits','pixels','FontWeight','bold');
+        end
+    end
+    
+    % cropouts
+    if(sceneInfo.displayCropouts)
+        bw=2; %border cropouts
+        
+       %% crop outs var sized
+        maxTar=30;
+        extarRed=extar(extar<=maxTar); % reducde
+
+       %% crop outs fixed sized
+        uniH=min(60,round(sceneInfo.imgHeight/10)); uniW=round(uniH/aspectRatio);
+        mxfac=.5;
+        crpImg=im(1:uniH,1:min(sceneInfo.imgWidth,round(uniW*size(W,2)+bw*size(W,2))),:)*mxfac; 
+        crpImg=crpImg + (1-mxfac)*ones(size(crpImg));   % bleeched
+        for id=extarRed
+            offset=(id-1)*uniW + (id-1)*bw+1;
+            bleft=round(X(t,id)-W(t,id)/2);
+            bright=round(X(t,id)+W(t,id)/2);
+            btop=round(Y(t,id)-H(t,id));
+            bbottom=round(Y(t,id));
+            
+            [bleft, bright, btop, bbottom] = clampBBox(bleft, bright, btop, bbottom, sceneInfo.imgWidth, sceneInfo.imgHeight);
+            ht=uniH;
+            imres=imresize(im(btop:bbottom,bleft:bright,:),[uniH uniW]);
+            crpImg(1:ht,offset:offset+uniW-1,:)=imres;
+            
+        end        
+        imshow(crpImg);
+
+        for id=extarRed
+            tx = id*uniW-uniW/2 + id*bw;
+            ty = 30; % top
+            text(tx,ty,sprintf('%i',id),'color',getColorFromID(id, numObjs), 'HorizontalAlignment','center', ...
+                'FontSize',uniW/4, 'FontUnits','pixels','FontWeight','bold'); % fixed size            
+        end
+        if(sceneInfo.displayConnections)
+            for id=extarRed
+                if(t-find(X(:,id),1,'first')<5)
+                btop=round(Y(t,id)-H(t,id));
+                offset=(id-1)*uniW + (id-1)*bw+1 + uniW/2;
+                line([X(t,id) offset],[btop uniH],'color',getColorFromID(id, numObjs),'linestyle','-');
+                end
+            end
+        end
+    end
+    
+    % show trace
+    if(sceneInfo.traceLength)
+        for tracet=max(1,t-sceneInfo.traceLength):max(1,t-1)
+            ipolpar=(t-tracet)/sceneInfo.traceLength; % parameter [0,1] for color adjustment
+
+            extarpast=find(X(tracet,:));
+            % foot position
+            for id=extarpast             
+                if(W(tracet+1,id))
+                    endcol=sceneInfo.grey;
+                    line(X(tracet:tracet+1,id) ,Y(tracet:tracet+1,id), 'color',ipolpar*endcol + (1-ipolpar)*getColorFromID(id, numObjs),'linewidth',(1-ipolpar)*sceneInfo.traceWidth+1);
+                end
+            end
+        end
+    end    
+    pause(sceneInfo.framePause);
+    
+    % save
+    if(~isempty(sceneInfo.outFolder))
+        im2save=getframe(gcf);
+        im2save=im2save.cdata;
+        imwrite(im2save, [sceneInfo.outFolder sprintf('_frame_%04d.jpg',frameNums(t))]);
+    end    
+end

DETRAC/DETRAC-MOT-toolkit/DETRAC-MOT-toolkit/evaluation/display/displayTrackingResult.m

@@ -0,0 +1,22 @@
+function displayTrackingResult(sceneInfo, stateInfo, seqName)
+% Display Tracking Result
+%
+% Take scene information sceneInfo and
+% the tracking result from stateInfo
+% 
+% 
+% (C) Anton Andriyenko, 2012
+%
+% The code may be used free of charge for non-commercial and
+% educational purposes, the only requirement is that this text is
+% preserved within the derivative work. For any other purpose you
+% must contact the authors for permission. This code may not be
+% redistributed without written permission from the authors.
+
+W = stateInfo.W;
+H = stateInfo.H;
+Xi = stateInfo.Xi;
+Yi = stateInfo.Yi;
+
+reopenFig(['Tracking Results of Sequence ' seqName]);
+displayBBoxes(sceneInfo, Xi, Yi, W, H);

DETRAC/DETRAC-MOT-toolkit/DETRAC-MOT-toolkit/evaluation/display/getColorFromID.m

@@ -0,0 +1,24 @@
+function col=getColorFromID(id, numObjs)
+% get rgb [0,1] values from id
+global options
+    if(~isfield(options,'colors'))
+        options.colors = rand(max(1,numObjs-13), 3);
+        colors=[
+                128 255 255;    % 
+                255 0 0;        % red           1
+                0 255 0;        % green         2
+                0 0 255;        % blue          3
+                0 255 255;      % cyan          4
+                255 0 255;      % magenta       5
+                212 212 0;      % yellow        6
+                25 25 25;       % black         7
+                34,139,34;      % forestgreen   8
+                0,191,255;      % deepskyblue   9
+                139,0,0 ;       % darkred       10
+                218,112,214;    % orchid        11
+                244,164,96 ;]/255;  % sandybrown    12
+        colors = colors / 255;
+        options.colors = cat(1,colors,options.colors);
+    end
+    col = options.colors(id,:);
+end

DETRAC/DETRAC-MOT-toolkit/DETRAC-MOT-toolkit/evaluation/display/reopenFig.m

@@ -0,0 +1,14 @@
+function reopenFig(figname)
+% 
+% (C) Anton Andriyenko, 2012
+%
+% The code may be used free of charge for non-commercial and
+% educational purposes, the only requirement is that this text is
+% preserved within the derivative work. For any other purpose you
+% must contact the authors for permission. This code may not be
+% redistributed without written permission from the authors.
+
+close(findobj('type','figure','name',figname))
+figure('name',figname);
+
+end

DETRAC/DETRAC-MOT-toolkit/DETRAC-MOT-toolkit/evaluation/display/showDetectionPRCurve.m

@@ -0,0 +1,27 @@
+function AP = showDetectionPRCurve(detprFile, detectorName)
+
+global options
+
+% load the PR file
+detResult = load(detprFile);
+rec = detResult(:,1);
+prec = detResult(:,2);
+AP = roundn(VOCap(rec,prec)*100,-2);
+
+if(options.showDetectionCurve)
+    fontSizeLegend = 14;
+    fontSize = 14;
+    curFig = figure(1);
+    curAxes = axes('Parent',curFig,'FontSize',14);    
+    if(numel(rec)<100)
+        legendName = detectorName;            
+    else
+        legendName = [detectorName ' (' num2str(roundn(AP,-2)) '%)'];  
+    end
+    plot(detResult(:,1),detResult(:,2),'color','r','lineStyle','-','lineWidth',5,'Parent',curAxes);grid on;hold on;   
+    title(['Detection Curve of ' detectorName],'fontsize',fontSize);
+    xlabel('Recall','fontsize',fontSize);
+    ylabel('Precision','fontsize',fontSize);
+    axis([0 1 0 1]);
+    legend(legendName,'Interpreter','none','fontsize',fontSizeLegend,'Location','SouthEast');
+end

DETRAC/DETRAC-MOT-toolkit/DETRAC-MOT-toolkit/evaluation/display/showResults.m

@@ -0,0 +1,36 @@
+function showResults(stateInfo, curSequence, resultSavePath)
+
+global options
+
+if(options.showVisualResults)
+    sceneInfo.imgFolder = curSequence.imgFolder;
+    sceneInfo.imgFileFormat = 'img%05d.jpg';
+    if(options.saveVisualResults)
+        sceneInfo.outFolder = ['visual' resultSavePath '/' curSequence.seqName]; % tracking results saving path
+        createPath(['visual' resultSavePath '/']);
+    else
+        sceneInfo.outFolder = [];
+    end
+    sceneInfo.frameNums = stateInfo.frameNums;
+    sceneInfo.imgHeight = curSequence.imgHeight;
+    sceneInfo.imgWidth = curSequence.imgWidth;
+
+    %% Display parameters
+    sceneInfo.defaultColor = [.1 .2 .9];
+    sceneInfo.grey = 0.7*ones(1,3);
+    sceneInfo.framePause = 0.001; % pause between frames
+
+    sceneInfo.traceLength = 20; % overlay track from past n frames
+    sceneInfo.dotSize = 20;
+    sceneInfo.boxLineWidth = 3;
+    sceneInfo.traceWidth = 2;
+
+    % what to display
+    sceneInfo.displayDots = options.displayDots;
+    sceneInfo.displayBoxes = options.displayBoxes;
+    sceneInfo.displayID = options.displayID;
+    sceneInfo.displayCropouts = options.displayCropouts;
+    sceneInfo.displayConnections = options.displayConnections;    
+
+    displayTrackingResult(sceneInfo, stateInfo, curSequence.seqName);
+end

DETRAC/DETRAC-MOT-toolkit/DETRAC-MOT-toolkit/evaluation/dropDetections.m

@@ -0,0 +1,29 @@
+function detections = dropDetections(detections, ignoreFile, imgHeight, imgWidth)
+
+% drop detections in ignore region
+ignoreRegion = load(ignoreFile);
+if(~isempty(ignoreRegion))
+    igrMap = zeros(imgHeight, imgWidth);
+    numIgnore = size(ignoreRegion,1);
+    for j = 1:numIgnore
+        igrMap(ignoreRegion(j,2):min(imgHeight,ignoreRegion(j,2)+ignoreRegion(j,4)),ignoreRegion(j,1):min(imgWidth,ignoreRegion(j,1)+ignoreRegion(j,3))) = 1;
+    end
+    intIgrMap = createIntImg(double(igrMap));
+    idxIgnoreLeft = [];
+    for i = 1:size(detections, 1)
+        curDet = max(1,round(detections(i,3:6)));
+        x = max(1, min(imgWidth, curDet(1)));
+        y = max(1, min(imgHeight, curDet(2)));
+        w = curDet(3);
+        h = curDet(4);
+        tl = intIgrMap(y, x);
+        tr = intIgrMap(y, min(imgWidth,x+w));
+        bl = intIgrMap(max(1,min(imgHeight,y+h)), x);
+        br = intIgrMap(max(1,min(imgHeight,y+h)), min(imgWidth,x+w));
+        ignoreValue = tl + br - tr - bl; 
+        if(ignoreValue/(h*w)<0.5)
+            idxIgnoreLeft = cat(1, idxIgnoreLeft, i);
+        end
+    end
+    detections = detections(idxIgnoreLeft, :);
+end

DETRAC/DETRAC-MOT-toolkit/DETRAC-MOT-toolkit/evaluation/dropTracks.m

@@ -0,0 +1,83 @@
+function stateInfo = dropTracks(stateInfo, curSequence)
+%% Thank Victor Stamatescu <Victor.Stamatescu@unisa.edu.au> for his valuable comment to add this function
+
+global options
+
+% drop system tracks in ignored regions
+ignoreRegion = curSequence.ignoreRegion;
+imgHeight = curSequence.imgHeight;
+imgWidth = curSequence.imgWidth;
+
+dropBoxes = 0;
+totalBoxes = 0;
+
+if(~isempty(ignoreRegion))
+    igrMap = zeros(imgHeight, imgWidth);
+    numIgnore = size(ignoreRegion, 1);
+    for j = 1:numIgnore
+        igrMap(ignoreRegion(j,2):min(imgHeight,ignoreRegion(j,2)+ignoreRegion(j,4)),ignoreRegion(j,1):min(imgWidth,ignoreRegion(j,1)+ignoreRegion(j,3))) = 1;
+    end
+    intIgrMap = createIntImg(double(igrMap));
+    if(options.showRemoveResults)
+        figure(10); imagesc(igrMap); colormap bone; colorbar;
+        title('tracks: blue-drop red-keep, ignore region: white');
+    end
+    for i = 1:size(stateInfo.W,2)% tracks
+        for j = 1:size(stateInfo.W,1)% frames
+            h = round(stateInfo.H(j,i));
+            w = round(stateInfo.W(j,i));
+            if(w==0 || h==0)
+                continue;
+            end
+            totalBoxes = totalBoxes + 1;
+            
+            xc = stateInfo.X(j,i);
+            yc = stateInfo.Y(j,i) - h/2;
+            x = round(xc - w/2);
+            y = round(yc - h/2);
+            if(options.showRemoveResults)
+                Left = x;
+                Top = y;
+                BoundingBox_X1 = Left;
+                BoundingBox_Y1 = Top + h;
+                BoundingBox_X2 = Left;
+                BoundingBox_Y2 = Top;
+                BoundingBox_X3 = Left + w;
+                BoundingBox_Y3 = Top;
+                BoundingBox_X4 = Left + w;
+                BoundingBox_Y4 = Top + h;
+            end
+            tl = intIgrMap(max(1,min(imgHeight,y)), max(1,min(imgWidth,x)));
+            tr = intIgrMap(max(1,min(imgHeight,y)), max(1,min(imgWidth,x+w)));
+            bl = intIgrMap(max(1,min(imgHeight,y+h)), max(1,min(imgWidth,x)));
+            br = intIgrMap(max(1,min(imgHeight,y+h)), max(1,min(imgWidth,x+w)));
+            ignoreValue = tl + br - tr - bl;
+            if(ignoreValue/(h*w)>=0.5)
+                dropBoxes = dropBoxes +1;
+                stateInfo.W(j,i) = 0;
+                stateInfo.H(j,i) = 0;
+                stateInfo.X(j,i) = 0;
+                stateInfo.Y(j,i) = 0;
+                stateInfo.Xi(j,i) = 0;
+                stateInfo.Yi(j,i) = 0;
+                if(options.showRemoveResults)
+                    rect.vertices = [BoundingBox_X1 BoundingBox_Y1; BoundingBox_X2 BoundingBox_Y2;...
+                        BoundingBox_X3 BoundingBox_Y3; BoundingBox_X4 BoundingBox_Y4; BoundingBox_X1 BoundingBox_Y1];
+                    rect.faces = [1 2 3 4]; 
+                    hold on;  patch(rect,'Vertices',rect.vertices,'FaceColor',[0 0 1],'FaceAlpha',0.1); hold off; pause(0.1);
+                end
+            else
+                if(options.showRemoveResults)
+                    rect.vertices = [BoundingBox_X1 BoundingBox_Y1; BoundingBox_X2 BoundingBox_Y2;...
+                        BoundingBox_X3 BoundingBox_Y3; BoundingBox_X4 BoundingBox_Y4; BoundingBox_X1 BoundingBox_Y1];
+                    rect.faces = [1 2 3 4];
+                    hold on;  patch(rect,'Vertices',rect.vertices,'FaceColor',[1 0 0],'FaceAlpha',0.1); hold off; pause(0.1);
+                end
+            end
+        end
+    end
+end
+
+if(dropBoxes)
+    disp(['Ignored Regions ---> dropped ' num2str(dropBoxes) ' out of ' num2str(totalBoxes) ' boxes']);
+end

DETRAC/DETRAC-MOT-toolkit/DETRAC-MOT-toolkit/evaluation/evalexe.m

@@ -0,0 +1,7 @@
+function evalexe(commandline)
+
+if(verLessThan('matlab', '7.14.0'))
+    [status, b] = system(commandline);
+else
+    [status,b] = system(commandline, '');
+end

DETRAC/DETRAC-MOT-toolkit/DETRAC-MOT-toolkit/evaluation/getMetricInfo.m

@@ -0,0 +1,21 @@
+function metricsInfo = getMetricInfo()
+
+metricsInfo.names.long = {'Recall','Precision','False Alarm Rate', ...
+    'GT Tracks','Mostly Tracked','Partially Tracked','Mostly Lost', ...
+    'False Positives', 'False Negatives', 'ID Switches', 'Fragmentations', ...
+    'MOTA','MOTP', 'MOTA Log'};
+
+metricsInfo.names.short = {'Rcll','Prcn','FAR', ...
+    'GT','MT','PT','ML', ...
+    'FP', 'FN', 'IDs', 'FM', ...
+    'MOTA','MOTP', 'MOTAL'};
+
+metricsInfo.widths.long = [6 9 16 9 14 17 11 15 15 11 14 5 5 8];
+metricsInfo.widths.short = [5 5 5 3 3 3 3 4 4 3 3 5 5 5];
+
+metricsInfo.format.long = {'.1f','.1f','.2f', ...
+    'i','.1f%%','.1f%%','.1f%%', ...
+    'i','i','i','i', ...
+    '.1f','.1f','.1f'};
+
+metricsInfo.format.short=metricsInfo.format.long;

DETRAC/DETRAC-MOT-toolkit/DETRAC-MOT-toolkit/evaluation/getPRMetricInfo.m

@@ -0,0 +1,21 @@
+function metricsInfo = getPRMetricInfo()
+
+metricsInfo.names.long = {'Recall','Precision','False Alarm Rate', ...
+    'Mostly Tracked','Partially Tracked','Mostly Lost', ...
+    'False Positives', 'False Negatives', 'ID Switches', 'Fragmentations', ...
+    'MOTA','MOTP', 'MOTA Log'};
+
+metricsInfo.names.short = {'PR-Rcll','PR-Prcn','PR-FAR', ...
+    'PR-MT','PR-PT','PR-ML', ...
+    'PR-FP', 'PR-FN', 'PR-IDs', 'PR-FM', ...
+    'PR-MOTA','PR-MOTP', 'PR-MOTAL'};
+
+metricsInfo.widths.long = [6 9 16 14 17 11 15 15 11 14 5 5 8];
+metricsInfo.widths.short = [5 5 5 3 3 3 4 4 3 3 5 5 5];
+
+metricsInfo.format.long = {'.1f','.1f','.2f', ...
+    '.1f%%','.1f%%','.1f%%', ...
+    '.1f','.1f','.1f','.1f', ...
+    '.1f','.1f','.1f'};
+
+metricsInfo.format.short=metricsInfo.format.long;

DETRAC/DETRAC-MOT-toolkit/DETRAC-MOT-toolkit/evaluation/igrs/MVI_20011_IgR.txt

@@ -0,0 +1,7 @@
+778.75,24.75,181.75,63.5
+930.75,94.75,29.75,33.5
+523.75,13.75,178.5,37.5
+207.75,34.75,270.5,94.5
+182.75,131.75,145.5,117.5
+0.5,231.75,88.75,121.5
+123.75,151.75,57.5,97.5

DETRAC/DETRAC-MOT-toolkit/DETRAC-MOT-toolkit/evaluation/igrs/MVI_20012_IgR.txt

@@ -0,0 +1,6 @@
+497.75,0.5,462.75,22.75
+820.75,28.75,139.75,50.5
+190.75,48.75,269.5,46.5
+356.75,0.5,78.5,45.75
+0.5,216.75,70.75,112.5
+106.75,98.75,191.5,120.5

DETRAC/DETRAC-MOT-toolkit/DETRAC-MOT-toolkit/evaluation/igrs/MVI_20032_IgR.txt

@@ -0,0 +1,5 @@
+716.75,55.75,243.75,64.5
+877.75,123.75,82.75,55.5
+455.75,31.75,155.5,53.5
+120.75,62.75,227.5,101.5
+46.75,166.75,102.5,80.5

DETRAC/DETRAC-MOT-toolkit/DETRAC-MOT-toolkit/evaluation/igrs/MVI_20033_IgR.txt

@@ -0,0 +1,5 @@
+458.75,0.5,159.5,53.75
+710.75,29.75,239.5,69.5
+824.75,101.75,129.5,55.5
+126.75,39.75,223.5,86.5
+38.75,126.75,186.5,111.5

DETRAC/DETRAC-MOT-toolkit/DETRAC-MOT-toolkit/evaluation/igrs/MVI_20034_IgR.txt

@@ -0,0 +1,5 @@
+455.75,0.5,189.5,55.75
+718.75,32.75,241.75,60.5
+874.75,97.75,85.75,42.5
+133.75,37.75,219.5,94.5
+45.75,134.75,165.5,112.5

DETRAC/DETRAC-MOT-toolkit/DETRAC-MOT-toolkit/evaluation/igrs/MVI_20035_IgR.txt

@@ -0,0 +1,7 @@
+450.75,0.5,183.5,60
+716.75,26.75,243.75,57.5
+877.75,87.75,82.75,51.5
+0.5,123.75,141.75,152.5
+144.75,85.75,97.5,114.5
+244.75,42.75,102.5,65.5
+0.5,279.75,27.75,25.5

DETRAC/DETRAC-MOT-toolkit/DETRAC-MOT-toolkit/evaluation/igrs/MVI_20051_IgR.txt

@@ -0,0 +1,5 @@
+807.75,0.5,146.5,92.75
+543.75,0.5,173.5,58.75
+0.5,180.75,160.75,100.5
+122.75,116.75,266.5,74.5
+322.75,60.75,107.5,48.5

DETRAC/DETRAC-MOT-toolkit/DETRAC-MOT-toolkit/evaluation/igrs/MVI_20052_IgR.txt

@@ -0,0 +1,6 @@
+542.75,0.5,194.5,27.75
+832.75,0.5,127.75,53.75
+256.75,42.75,155.5,75.5
+135.75,88.75,120.5,132.5
+259.75,123.75,109.5,71.5
+0.5,166.75,131.75,107.5

DETRAC/DETRAC-MOT-toolkit/DETRAC-MOT-toolkit/evaluation/igrs/MVI_20061_IgR.txt

@@ -0,0 +1,6 @@
+513.75,13.75,185.5,46.5
+839.75,46.75,114.5,62.5
+298.75,59.75,112.5,121.5
+92.75,94.75,203.5,171.5
+0.5,246.75,90.75,282.5
+93.75,270.75,136.5,108.5

DETRAC/DETRAC-MOT-toolkit/DETRAC-MOT-toolkit/evaluation/igrs/MVI_20062_IgR.txt

@@ -0,0 +1,6 @@
+517.75,0.5,165,33.75
+824.75,30.75,135.75,54.5
+323.75,36.75,107.5,76.5
+97.75,107.75,336.5,56.5
+86.75,167.75,153.5,65.5
+0.5,234.75,155.75,103.5

DETRAC/DETRAC-MOT-toolkit/DETRAC-MOT-toolkit/evaluation/igrs/MVI_20063_IgR.txt

@@ -0,0 +1,6 @@
+851.75,14.75,108.75,48.5
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DETRAC/DETRAC-MOT-toolkit/DETRAC-MOT-toolkit/evaluation/igrs/MVI_20064_IgR.txt

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DETRAC/DETRAC-MOT-toolkit/DETRAC-MOT-toolkit/evaluation/igrs/MVI_20065_IgR.txt

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DETRAC/DETRAC-MOT-toolkit/DETRAC-MOT-toolkit/evaluation/igrs/MVI_39031_IgR.txt

@@ -0,0 +1,3 @@
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DETRAC/DETRAC-MOT-toolkit/DETRAC-MOT-toolkit/evaluation/igrs/MVI_39051_IgR.txt

@@ -0,0 +1,2 @@
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