Added unit tests for the new learning-to-track stuff.

dlib/test/CMakeLists.txt

@@ -64,6 +64,7 @@ set (tests
    kcentroid.cpp
    kernel_matrix.cpp
    kmeans.cpp
+   learning_to_track.cpp
    least_squares.cpp
    linear_manifold_regularizer.cpp
    lz77_buffer.cpp

dlib/test/learning_to_track.cpp

+// Copyright (C) 2014  Davis E. King (davis@dlib.net)
+// License: Boost Software License   See LICENSE.txt for the full license.
+
+
+#include <sstream>
+#include "tester.h"
+#include <dlib/svm_threaded.h>
+#include <dlib/rand.h>
+
+
+
+namespace  
+{
+    using namespace test;
+    using namespace dlib;
+    using namespace std;
+
+    logger dlog("test.learning_to_track");
+
+// ----------------------------------------------------------------------------------------
+
+    struct detection_dense
+    {
+        typedef class track_dense track_type;
+        matrix<double,0,1> measurements;
+    };
+
+
+    struct track_dense
+    {
+        typedef matrix<double,0,1> feature_vector_type;
+
+        track_dense()
+        {
+            time_since_last_association = 0;
+        }
+
+        void get_similarity_features(const detection_dense det, feature_vector_type& feats) const
+        {
+            feats = abs(last_measurements - det.measurements);
+        }
+
+        void update_track(const detection_dense det)
+        {
+            last_measurements = det.measurements;
+            time_since_last_association = 0;
+        }
+
+        void propagate_track()
+        {
+            ++time_since_last_association;
+        }
+
+        matrix<double,0,1> last_measurements;
+        unsigned long time_since_last_association;
+    };
+
+// ----------------------------------------------------------------------------------------
+
+    struct detection_sparse
+    {
+        typedef class track_sparse track_type;
+        matrix<double,0,1> measurements;
+    };
+
+
+    struct track_sparse
+    {
+        typedef std::vector<std::pair<unsigned long,double> > feature_vector_type;
+
+        track_sparse()
+        {
+            time_since_last_association = 0;
+        }
+
+        void get_similarity_features(const detection_sparse det, feature_vector_type& feats) const
+        {
+            matrix<double,0,1> temp = abs(last_measurements - det.measurements);
+            feats.clear();
+            for (long i = 0; i < temp.size(); ++i)
+                feats.push_back(make_pair(i, temp(i)));
+        }
+
+        void update_track(const detection_sparse det)
+        {
+            last_measurements = det.measurements;
+            time_since_last_association = 0;
+        }
+
+        void propagate_track()
+        {
+            ++time_since_last_association;
+        }
+
+        matrix<double,0,1> last_measurements;
+        unsigned long time_since_last_association;
+    };
+
+// ----------------------------------------------------------------------------------------
+// ----------------------------------------------------------------------------------------
+// ----------------------------------------------------------------------------------------
+
+    dlib::rand rnd;
+    const long num_objects = 4;
+    const long num_properties = 6;
+    std::vector<matrix<double,0,1> > object_properties(num_objects);
+
+    void initialize_object_properties()
+    {
+        rnd.set_seed("23ja2oirfjaf");
+        for (unsigned long i = 0; i < object_properties.size(); ++i)
+            object_properties[i] = randm(num_properties,1,rnd);
+    }
+
+    template <typename detection>
+    detection sample_detection_from_sensor(unsigned long object_id)
+    {
+        DLIB_CASSERT(object_id < num_objects, 
+            "You can't ask to sample a detection from an object that doesn't exist."); 
+        detection temp;
+        // Set the measurements equal to the object's true property values plus a little bit of
+        // noise.
+        temp.measurements = object_properties[object_id] + randm(num_properties,1,rnd)*0.1;
+        return temp;
+    }
+
+// ----------------------------------------------------------------------------------------
+
+
+    template <typename detection>
+    std::vector<std::vector<labeled_detection<detection> > > make_random_tracking_data_for_training()
+    {
+        typedef std::vector<labeled_detection<detection> > detections_at_single_time_step;
+        typedef std::vector<detections_at_single_time_step> track_history;
+
+        track_history data;
+
+        // At each time step we get a set of detections from the objects in the world.
+        // Simulate 100 time steps worth of data where there are 3 objects present. 
+        const int num_time_steps = 100;
+        for (int i = 0; i < num_time_steps; ++i)
+        {
+            detections_at_single_time_step dets(3);
+            // sample a detection from object 0
+            dets[0].det = sample_detection_from_sensor<detection>(0);
+            dets[0].label = 0;
+
+            // sample a detection from object 1
+            dets[1].det = sample_detection_from_sensor<detection>(1);
+            dets[1].label = 1;
+
+            // sample a detection from object 2
+            dets[2].det = sample_detection_from_sensor<detection>(2);
+            dets[2].label = 2;
+
+            randomize_samples(dets, rnd);
+            data.push_back(dets);
+        }
+
+        // Now let's imagine object 1 and 2 are gone but a new object, object 3 has arrived.  
+        for (int i = 0; i < num_time_steps; ++i)
+        {
+            detections_at_single_time_step dets(2);
+            // sample a detection from object 0
+            dets[0].det = sample_detection_from_sensor<detection>(0);
+            dets[0].label = 0;
+
+            // sample a detection from object 3
+            dets[1].det = sample_detection_from_sensor<detection>(3);
+            dets[1].label = 3;
+
+            randomize_samples(dets, rnd);
+            data.push_back(dets);
+        }
+
+        return data;
+    }
+
+// ----------------------------------------------------------------------------------------
+
+    template <typename detection>
+    std::vector<detection> make_random_detections(unsigned long num_dets)
+    {
+        DLIB_CASSERT(num_dets <= num_objects, 
+            "You can't ask for more detections than there are objects in our little simulation."); 
+
+        std::vector<detection> dets(num_dets);
+        for (unsigned long i = 0; i < dets.size(); ++i)
+        {
+            dets[i] = sample_detection_from_sensor<detection>(i);
+        }
+        randomize_samples(dets, rnd);
+        return dets;
+    }
+
+// ----------------------------------------------------------------------------------------
+
+    template <typename detection>
+    void test_tracking_stuff()
+    {
+        print_spinner();
+
+
+        typedef std::vector<labeled_detection<detection> > detections_at_single_time_step;
+        typedef std::vector<detections_at_single_time_step> track_history;
+        std::vector<track_history> data;
+        data.push_back(make_random_tracking_data_for_training<detection>());
+        data.push_back(make_random_tracking_data_for_training<detection>());
+        data.push_back(make_random_tracking_data_for_training<detection>());
+        data.push_back(make_random_tracking_data_for_training<detection>());
+        data.push_back(make_random_tracking_data_for_training<detection>());
+
+
+        structural_track_association_trainer trainer;
+        trainer.set_c(1000);
+        track_association_function<detection> assoc = trainer.train(data);
+
+        double test_val = test_track_association_function(assoc, data); 
+        DLIB_TEST_MSG( test_val == 1, test_val);
+        test_val = cross_validate_track_association_trainer(trainer, data, 5); 
+        DLIB_TEST_MSG ( test_val == 1, test_val);
+
+
+
+        typedef typename detection::track_type track;
+        std::vector<track> tracks;
+
+        std::vector<detection> dets = make_random_detections<detection>(3);
+        assoc(tracks, dets);
+        DLIB_TEST(tracks.size() == 3);
+
+        dets = make_random_detections<detection>(3);
+        assoc(tracks, dets);
+        DLIB_TEST(tracks.size() == 3);
+
+        dets = make_random_detections<detection>(3);
+        assoc(tracks, dets);
+        DLIB_TEST(tracks.size() == 3);
+
+        dets = make_random_detections<detection>(4);
+        assoc(tracks, dets);
+        DLIB_TEST(tracks.size() == 4);
+
+        dets = make_random_detections<detection>(3);
+        assoc(tracks, dets);
+        DLIB_TEST(tracks.size() == 4);
+        unsigned long total_miss = 0;
+        for (unsigned long i = 0; i < tracks.size(); ++i)
+            total_miss += tracks[i].time_since_last_association;
+        DLIB_TEST(total_miss == 1);
+
+        dets = make_random_detections<detection>(3);
+        assoc(tracks, dets);
+        DLIB_TEST(tracks.size() == 4);
+        total_miss = 0;
+        unsigned long num_zero = 0;
+        for (unsigned long i = 0; i < tracks.size(); ++i)
+        {
+            total_miss += tracks[i].time_since_last_association;
+            if (tracks[i].time_since_last_association == 0)
+                ++num_zero;
+        }
+        DLIB_TEST(total_miss == 2);
+        DLIB_TEST(num_zero == 3);
+
+
+
+        ostringstream sout; 
+        serialize(assoc, sout);
+
+        istringstream sin(sout.str());
+        deserialize(assoc, sin);
+        DLIB_TEST( test_track_association_function(assoc, data) == 1);
+    }
+
+
+// ----------------------------------------------------------------------------------------
+
+    class test_learning_to_track : public tester
+    {
+    public:
+        test_learning_to_track (
+        ) :
+            tester ("test_learning_to_track",
+                "Runs tests on the assignment learning code.")
+        {}
+
+        void perform_test (
+        )
+        {
+            initialize_object_properties();
+            for (int i = 0; i < 3; ++i)
+            {
+                dlog << LINFO << "run test_tracking_stuff<detection_dense>()";
+                test_tracking_stuff<detection_dense>();
+                dlog << LINFO << "run test_tracking_stuff<detection_sparse>()";
+                test_tracking_stuff<detection_sparse>();
+            }
+        }
+    } a;
+
+// ----------------------------------------------------------------------------------------
+
+}
+
+

dlib/test/makefile

@@ -79,6 +79,7 @@ SRC += is_same_object.cpp
 SRC += kcentroid.cpp
 SRC += kernel_matrix.cpp
 SRC += kmeans.cpp
+SRC += learning_to_track.cpp
 SRC += least_squares.cpp
 SRC += linear_manifold_regularizer.cpp
 SRC += lz77_buffer.cpp