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Manuel Stoiber
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feat(SRT3D): initial commit
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‎SRT3D/CMakeLists.txt‎

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cmake_minimum_required(VERSION 3.10)
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# A Sparse Region-Based 3D Object Tracking Approach for the Real World
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# =============================================================================
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project(SRT3D)
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# Options
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# =============================================================================
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option(USE_AZURE_KINECT "Use azure kinect" ON)
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# Libraries
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# =============================================================================
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if (WIN32)
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set(GLEW_STATIC true)
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set(OpenCV_STATIC true)
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set(CMAKE_MSVC_RUNTIME_LIBRARY "MultiThreaded$<$<CONFIG:Debug>:Debug>")
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endif()
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find_package(Eigen3 3.3.2 REQUIRED)
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find_package(OpenGL REQUIRED)
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find_package(GLEW REQUIRED)
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find_package(glfw3 3.1.2 REQUIRED)
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find_package(OpenCV 4.0.0 REQUIRED)
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if(USE_AZURE_KINECT)
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find_package(K4A 1.3.0 REQUIRED)
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endif()
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find_package(OpenMP)
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if(OPENMP_FOUND)
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set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${OpenMP_C_FLAGS}")
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
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set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} ${OpenMP_EXE_LINKER_FLAGS}")
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endif()
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# Compiler Settings
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# =============================================================================
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# Default settings
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set(CMAKE_CXX_STANDARD 17)
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set(CMAKE_CXX_VISIBILITY_PRESET hidden)
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include(CheckCXXCompilerFlag)
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check_cxx_compiler_flag(-march HAS_MARCH)
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check_cxx_compiler_flag(-mtune HAS_MTUNE)
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if(HAS_MARCH)
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -march=native")
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endif()
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if(HAS_MTUNE)
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -mtune=native")
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endif()
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# Debug settings
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check_cxx_compiler_flag(-ggdb HAS_GGDB)
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check_cxx_compiler_flag(-Z7 HAS_Z7)
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check_cxx_compiler_flag(-ftrapv HAS_FTRAPV)
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check_cxx_compiler_flag(-Od HAS_OD)
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if(HAS_GGDB)
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set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -ggdb")
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elseif(HAS_Z7)
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set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -Z7")
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endif()
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if(HAS_FTRAPV)
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set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -ftrapv")
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endif()
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if(HAS_OD)
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set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -Od")
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endif()
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set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -Wall")
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# Release settings
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check_cxx_compiler_flag(-Ob3 HAS_OB3)
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check_cxx_compiler_flag(-O3 HAS_O3)
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check_cxx_compiler_flag(-Ob2 HAS_OB2)
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check_cxx_compiler_flag(-O2 HAS_O2)
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if (HAS_OB3)
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set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -Ob3")
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elseif (HAS_O3)
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set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -O3")
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elseif(HAS_OB2)
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set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -Ob2")
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elseif(HAS_O2)
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set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -O2")
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endif()
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set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -DNDEBUG")
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# OS settings
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if (WIN32)
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if(OPENMP_FOUND)
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set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -openmp:experimental")
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endif()
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set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -MT")
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set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -MTd")
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endif()
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# Directories
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# =============================================================================
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# Include Directories
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include_directories("${CMAKE_SOURCE_DIR}/include")
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include_directories("${CMAKE_SOURCE_DIR}/third_party")
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# Sub Directories
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add_subdirectory(src)
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add_subdirectory(examples)

‎SRT3D/dlr_srt3d_visualization.png‎

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‎SRT3D/examples/CMakeLists.txt‎

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cmake_minimum_required(VERSION 3.10)
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add_executable(evaluate_rbot_dataset evaluate_rbot_dataset.cpp rbot_evaluator.cpp)
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target_link_libraries(evaluate_rbot_dataset PUBLIC srt3d)
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add_executable(parameter_study_rbot_dataset parameter_study_rbot_dataset.cpp rbot_evaluator.cpp)
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target_link_libraries(parameter_study_rbot_dataset PUBLIC srt3d)
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add_executable(evaluate_opt_dataset evaluate_opt_dataset.cpp opt_evaluator.cpp)
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target_link_libraries(evaluate_opt_dataset PUBLIC srt3d)
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add_executable(parameter_study_opt_dataset parameter_study_opt_dataset.cpp opt_evaluator.cpp)
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target_link_libraries(parameter_study_opt_dataset PUBLIC srt3d)
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add_executable(run_on_recorded_sequence run_on_recorded_sequence.cpp)
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target_link_libraries(run_on_recorded_sequence PUBLIC srt3d)
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if(USE_AZURE_KINECT)
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add_executable(record_camera_sequence record_camera_sequence.cpp)
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target_link_libraries(record_camera_sequence PUBLIC srt3d)
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add_executable(run_on_camera_sequence run_on_camera_sequence.cpp)
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target_link_libraries(run_on_camera_sequence PUBLIC srt3d)
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endif()

‎SRT3D/examples/evaluate_opt_dataset.cpp‎

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// SPDX-License-Identifier: MIT
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// Copyright (c) 2021 Manuel Stoiber, German Aerospace Center (DLR)
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#include "opt_evaluator.h"
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int main() {
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// Directories
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std::string dataset_directory{"/your/path/to/the/opt/dataset/"};
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// Dataset configuration
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std::vector<std::string> body_names{"soda", "chest", "ironman",
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"house", "bike", "jet"};
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std::vector<std::string> body_orientations{"b", "f", "l", "r"};
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std::vector<std::string> motion_patterns{
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"tr_1", "tr_2", "tr_3", "tr_4", "tr_5", "zo_1", "zo_2", "zo_3",
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"zo_4", "zo_5", "ir_1", "ir_2", "ir_3", "ir_4", "ir_5", "or_1",
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"or_2", "or_3", "or_4", "or_5", "fl", "ml", "fm"};
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// Tracker configuration
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float tikhonov_parameter_rotation_soda = 500000.0f;
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float function_slope = 0.5f;
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float function_amplitude = 0.42f;
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std::vector<float> area_under_curve(6);
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// Run experiments
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for (size_t i = 0; i < body_names.size(); ++i) {
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OPTEvaluator evaluator{"evaluator",
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dataset_directory,
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{body_names[i]},
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body_orientations,
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motion_patterns};
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evaluator.SetUp();
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evaluator.set_region_modality_setter([&](auto r) {
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if (body_names[i] == "soda")
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r->set_tikhonov_parameter_rotation(tikhonov_parameter_rotation_soda);
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r->set_function_slope(function_slope);
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r->set_function_amplitude(function_amplitude);
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});
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evaluator.Evaluate();
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area_under_curve[i] = evaluator.area_under_curve();
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}
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// Print results
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std::cout << std::endl << std::string(80, '-') << std::endl;
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float mean_auc = 0.0f;
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for (size_t i = 0; i < body_names.size(); ++i) {
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mean_auc += area_under_curve[i];
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std::cout << body_names[i] << ": " << area_under_curve[i] << ", ";
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}
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std::cout << std::endl;
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std::cout << "all: " << mean_auc / body_names.size() << std::endl;
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std::cout << std::string(80, '-') << std::endl;
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}

‎SRT3D/examples/evaluate_rbot_dataset.cpp‎

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// SPDX-License-Identifier: MIT
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// Copyright (c) 2021 Manuel Stoiber, German Aerospace Center (DLR)
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#include "rbot_evaluator.h"
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int main() {
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// Directories
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std::string dataset_directory{"/your/path/to/the/rbot/dataset/"};
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std::string result_directory{"/your/path/to/store/results/"};
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// Dataset configuration
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std::vector<std::string> body_names{
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"ape", "bakingsoda", "benchviseblue", "broccolisoup", "cam",
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"can", "cat", "clown", "cube", "driller",
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"duck", "eggbox", "glue", "iron", "koalacandy",
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"lamp", "phone", "squirrel"};
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std::vector<std::string> sequence_names{
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"a_regular", "b_dynamiclight", "c_noisy", "d_occlusion", "d_occlusion"};
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std::vector<bool> sequence_occlusions{false, false, false, false, true};
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// Run experiments
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RBOTEvaluator evaluator{"evaluator", dataset_directory, body_names,
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sequence_names, sequence_occlusions};
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evaluator.set_visualize_all_results(false);
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evaluator.SaveResults(result_directory);
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evaluator.SetUp();
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evaluator.Evaluate();
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// Print results
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std::cout << std::endl << std::string(80, '-') << std::endl;
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std::cout << "tracking success = " << evaluator.tracking_success()
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<< std::endl;
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std::cout << std::string(80, '-') << std::endl;
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}

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