118 lines
3.9 KiB
C++
118 lines
3.9 KiB
C++
// Copyright 2019 The MediaPipe Authors.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include "mediapipe/util/tracking/box_tracker.h"
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#include "mediapipe/framework/deps/file_path.h"
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#include "mediapipe/framework/port/gtest.h"
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namespace mediapipe {
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namespace {
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constexpr double kWidth = 1280.0;
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constexpr double kHeight = 720.0;
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// Ground truth test; testing tracking accuracy and multi-thread load testing.
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TEST(BoxTrackerTest, MovingBoxTest) {
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const std::string cache_dir =
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file::JoinPath("./", "/mediapipe/util/tracking/testdata/box_tracker");
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BoxTracker box_tracker(cache_dir, BoxTrackerOptions());
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// Ground truth positions of the overlay (linear in between).
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// @ 0: (50, 100)
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// @ 3000: (50, 400)
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// @ 6000: (500, 400)
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// @ 9000: (1000, 50)
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// @ 12000: (50, 100)
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// @ 15000: (1000, 400)
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//
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// size of overlay: 220 x 252
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std::vector<Vector2_d> positions{
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{50.0 / kWidth, 100.0 / kHeight}, {50.0 / kWidth, 400.0 / kHeight},
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{500.0 / kWidth, 400.0 / kHeight}, {1000.0 / kWidth, 50.0 / kHeight},
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{50.0 / kWidth, 100.0 / kHeight}, {1000.0 / kWidth, 400.0 / kHeight},
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};
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const Vector2_d overlay_sz(220.0 / kWidth, 252.0 / kHeight);
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TimedBox initial_pos;
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initial_pos.left = positions[1].x();
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initial_pos.top = positions[1].y();
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initial_pos.right = initial_pos.left + overlay_sz.x();
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initial_pos.bottom = initial_pos.top + overlay_sz.y();
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initial_pos.time_msec = 3000;
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// Test multithreading under load, ensure this does not crash or stall.
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box_tracker.NewBoxTrack(initial_pos, 0);
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// Cancel right after issuing.
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box_tracker.CancelAllOngoingTracks();
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// Should not be scheduled.
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box_tracker.NewBoxTrack(initial_pos, 0);
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EXPECT_FALSE(box_tracker.IsTrackingOngoing());
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box_tracker.ResumeTracking();
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box_tracker.NewBoxTrack(initial_pos, 0);
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// Two cancelations in a row should not block.
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box_tracker.CancelAllOngoingTracks();
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box_tracker.CancelAllOngoingTracks();
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box_tracker.ResumeTracking();
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// Start again for real this time.
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box_tracker.NewBoxTrack(initial_pos, 0);
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// Wait to terminate.
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box_tracker.WaitForAllOngoingTracks();
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// Check that tracking did not abort.
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EXPECT_EQ(0, box_tracker.TrackInterval(0).first);
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EXPECT_GT(box_tracker.TrackInterval(0).second, 15000);
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auto boxes_equal = [](const TimedBox& lhs, const TimedBox& rhs) {
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constexpr float kAccuracy = 0.015f;
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return (lhs.time_msec == rhs.time_msec &&
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std::abs(lhs.top - rhs.top) < kAccuracy &&
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std::abs(lhs.left - rhs.left) < kAccuracy &&
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std::abs(lhs.right - rhs.right) < kAccuracy &&
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std::abs(lhs.bottom - rhs.bottom) < kAccuracy);
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};
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for (int k = 0; k < 15000; k += 33) {
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TimedBox box;
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EXPECT_TRUE(box_tracker.GetTimedPosition(0, k, &box));
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// One groundtruth position every 3s, linear in between.
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const int rect_pos = k / 3000;
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const int dt = k - rect_pos * 3000;
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const int next_rect_pos = dt == 0 ? rect_pos : (rect_pos + 1);
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// Blend to get initial position.
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const double alpha = dt / 3000.0;
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const Vector2_d gt_pos =
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(1.0 - alpha) * positions[rect_pos] + alpha * positions[next_rect_pos];
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TimedBox gt_box;
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gt_box.time_msec = k;
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gt_box.top = gt_pos.y();
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gt_box.left = gt_pos.x();
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gt_box.right = gt_box.left + overlay_sz.x();
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gt_box.bottom = gt_box.top + overlay_sz.y();
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EXPECT_TRUE(boxes_equal(gt_box, box));
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}
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}
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} // namespace
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} // namespace mediapipe
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