init commit of samurai

.gitignore

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+# Byte-compiled / optimized / DLL files
+__pycache__/
+*.py[cod]
+*$py.class
+
+# C extensions
+*.so
+
+# Distribution / packaging
+.Python
+build/
+develop-eggs/
+dist/
+downloads/
+eggs/
+.eggs/
+lib64/
+parts/
+sdist/
+var/
+wheels/
+share/python-wheels/
+*.egg-info/
+.installed.cfg
+*.egg
+MANIFEST
+
+# PyInstaller
+#  Usually these files are written by a python script from a template
+#  before PyInstaller builds the exe, so as to inject date/other infos into it.
+*.manifest
+*.spec
+
+# Installer logs
+pip-log.txt
+pip-delete-this-directory.txt
+
+# Unit test / coverage reports
+htmlcov/
+.tox/
+.nox/
+.coverage
+.coverage.*
+.cache
+nosetests.xml
+coverage.xml
+*.cover
+*.py,cover
+.hypothesis/
+.pytest_cache/
+cover/
+
+# Translations
+*.mo
+*.pot
+
+# Django stuff:
+*.log
+local_settings.py
+db.sqlite3
+db.sqlite3-journal
+
+# Flask stuff:
+instance/
+.webassets-cache
+
+# Scrapy stuff:
+.scrapy
+
+# Sphinx documentation
+docs/_build/
+
+# PyBuilder
+.pybuilder/
+target/
+
+# Jupyter Notebook
+.ipynb_checkpoints
+
+# IPython
+profile_default/
+ipython_config.py
+
+# pyenv
+#   For a library or package, you might want to ignore these files since the code is
+#   intended to run in multiple environments; otherwise, check them in:
+# .python-version
+
+# pipenv
+#   According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control.
+#   However, in case of collaboration, if having platform-specific dependencies or dependencies
+#   having no cross-platform support, pipenv may install dependencies that don't work, or not
+#   install all needed dependencies.
+#Pipfile.lock
+
+# poetry
+#   Similar to Pipfile.lock, it is generally recommended to include poetry.lock in version control.
+#   This is especially recommended for binary packages to ensure reproducibility, and is more
+#   commonly ignored for libraries.
+#   https://python-poetry.org/docs/basic-usage/#commit-your-poetrylock-file-to-version-control
+#poetry.lock
+
+# pdm
+#   Similar to Pipfile.lock, it is generally recommended to include pdm.lock in version control.
+#pdm.lock
+#   pdm stores project-wide configurations in .pdm.toml, but it is recommended to not include it
+#   in version control.
+#   https://pdm.fming.dev/latest/usage/project/#working-with-version-control
+.pdm.toml
+.pdm-python
+.pdm-build/
+
+# PEP 582; used by e.g. github.com/David-OConnor/pyflow and github.com/pdm-project/pdm
+__pypackages__/
+
+# Celery stuff
+celerybeat-schedule
+celerybeat.pid
+
+# SageMath parsed files
+*.sage.py
+
+# Environments
+.env
+.venv
+env/
+venv/
+ENV/
+env.bak/
+venv.bak/
+
+# Spyder project settings
+.spyderproject
+.spyproject
+
+# Rope project settings
+.ropeproject
+
+# mkdocs documentation
+/site
+
+# mypy
+.mypy_cache/
+.dmypy.json
+dmypy.json
+
+# Pyre type checker
+.pyre/
+
+# pytype static type analyzer
+.pytype/
+
+# Cython debug symbols
+cython_debug/
+
+# evaluation results
+evaluation_results/*
+raw_results/*
+debug/*

data/.gitignore

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+# Ignore everything in this directory
+*
+# Except this file
+!.gitignore

lib/test/analysis/extract_results.py

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+import os
+import os.path as osp
+import sys
+import numpy as np
+from lib.test.utils.load_text import load_text
+import torch
+import pickle
+from tqdm import tqdm
+
+env_path = os.path.join(os.path.dirname(__file__), '../../..')
+if env_path not in sys.path:
+    sys.path.append(env_path)
+
+from lib.test.evaluation.environment import env_settings
+
+
+def calc_err_center(pred_bb, anno_bb, normalized=False):
+    pred_center = pred_bb[:, :2] + 0.5 * (pred_bb[:, 2:] - 1.0)
+    anno_center = anno_bb[:, :2] + 0.5 * (anno_bb[:, 2:] - 1.0)
+
+    if normalized:
+        pred_center = pred_center / anno_bb[:, 2:]
+        anno_center = anno_center / anno_bb[:, 2:]
+
+    err_center = ((pred_center - anno_center)**2).sum(1).sqrt()
+    return err_center
+
+
+def calc_iou_overlap(pred_bb, anno_bb):
+    tl = torch.max(pred_bb[:, :2], anno_bb[:, :2])
+    br = torch.min(pred_bb[:, :2] + pred_bb[:, 2:] - 1.0, anno_bb[:, :2] + anno_bb[:, 2:] - 1.0)
+    sz = (br - tl + 1.0).clamp(0)
+
+    # Area
+    intersection = sz.prod(dim=1)
+    union = pred_bb[:, 2:].prod(dim=1) + anno_bb[:, 2:].prod(dim=1) - intersection
+
+    return intersection / union
+
+
+def calc_seq_err_robust(pred_bb, anno_bb, dataset, target_visible=None):
+    pred_bb = pred_bb.clone()
+
+    # Check if invalid values are present
+    if torch.isnan(pred_bb).any() or (pred_bb[:, 2:] < 0.0).any():
+        raise Exception('Error: Invalid results')
+
+    if torch.isnan(anno_bb).any():
+        if dataset == 'uav':
+            pass
+        else:
+            raise Exception('Warning: NaNs in annotation')
+
+    if (pred_bb[:, 2:] == 0.0).any():
+        for i in range(1, pred_bb.shape[0]):
+            if i >= anno_bb.shape[0]:
+                continue
+            if (pred_bb[i, 2:] == 0.0).any() and not torch.isnan(anno_bb[i, :]).any():
+                pred_bb[i, :] = pred_bb[i-1, :]
+
+    if pred_bb.shape[0] != anno_bb.shape[0]:
+        if dataset == 'lasot':
+            if pred_bb.shape[0] > anno_bb.shape[0]:
+                # For monkey-17, there is a mismatch for some trackers.
+                pred_bb = pred_bb[:anno_bb.shape[0], :]
+            else:
+                raise Exception('Mis-match in tracker prediction and GT lengths')
+        else:
+            # print('Warning: Mis-match in tracker prediction and GT lengths')
+            if pred_bb.shape[0] > anno_bb.shape[0]:
+                pred_bb = pred_bb[:anno_bb.shape[0], :]
+            else:
+                pad = torch.zeros((anno_bb.shape[0] - pred_bb.shape[0], 4)).type_as(pred_bb)
+                pred_bb = torch.cat((pred_bb, pad), dim=0)
+
+    pred_bb[0, :] = anno_bb[0, :]
+
+    if target_visible is not None:
+        target_visible = target_visible.bool()
+        valid = ((anno_bb[:, 2:] > 0.0).sum(1) == 2) & target_visible
+    else:
+        valid = ((anno_bb[:, 2:] > 0.0).sum(1) == 2)
+
+    err_center = calc_err_center(pred_bb, anno_bb)
+    err_center_normalized = calc_err_center(pred_bb, anno_bb, normalized=True)
+    err_overlap = calc_iou_overlap(pred_bb, anno_bb)
+
+    # handle invalid anno cases
+    if dataset in ['uav']:
+        err_center[~valid] = -1.0
+    else:
+        err_center[~valid] = float("Inf")
+    err_center_normalized[~valid] = -1.0
+    err_overlap[~valid] = -1.0
+
+    if dataset == 'lasot':
+        err_center_normalized[~target_visible] = float("Inf")
+        err_center[~target_visible] = float("Inf")
+
+    if torch.isnan(err_overlap).any():
+        raise Exception('Nans in calculated overlap')
+    return err_overlap, err_center, err_center_normalized, valid
+
+
+def extract_results(trackers, dataset, report_name, skip_missing_seq=False, plot_bin_gap=0.05,
+                    exclude_invalid_frames=False):
+    settings = env_settings()
+    eps = 1e-16
+
+    result_plot_path = os.path.join(settings.result_plot_path, report_name)
+
+    if not os.path.exists(result_plot_path):
+        os.makedirs(result_plot_path)
+
+    threshold_set_overlap = torch.arange(0.0, 1.0 + plot_bin_gap, plot_bin_gap, dtype=torch.float64)
+    threshold_set_center = torch.arange(0, 51, dtype=torch.float64)
+    threshold_set_center_norm = torch.arange(0, 51, dtype=torch.float64) / 100.0
+
+    avg_overlap_all = torch.zeros((len(dataset), len(trackers)), dtype=torch.float64)
+    ave_success_rate_plot_overlap = torch.zeros((len(dataset), len(trackers), threshold_set_overlap.numel()),
+                                                dtype=torch.float32)
+    ave_success_rate_plot_center = torch.zeros((len(dataset), len(trackers), threshold_set_center.numel()),
+                                               dtype=torch.float32)
+    ave_success_rate_plot_center_norm = torch.zeros((len(dataset), len(trackers), threshold_set_center.numel()),
+                                                    dtype=torch.float32)
+
+    from collections import defaultdict
+    # default dict of default dict of list
+    
+
+    valid_sequence = torch.ones(len(dataset), dtype=torch.uint8)
+
+    for seq_id, seq in enumerate(tqdm(dataset)):
+        frame_success_rate_plot_overlap = defaultdict(lambda: defaultdict(list))    
+        frame_success_rate_plot_center = defaultdict(lambda: defaultdict(list))
+        frame_success_rate_plot_center_norm = defaultdict(lambda: defaultdict(list))
+        # Load anno
+        anno_bb = torch.tensor(seq.ground_truth_rect)
+        target_visible = torch.tensor(seq.target_visible, dtype=torch.uint8) if seq.target_visible is not None else None
+        for trk_id, trk in enumerate(trackers):
+            # Load results
+            base_results_path = '{}/{}'.format(trk.results_dir, seq.name)
+            results_path = '{}.txt'.format(base_results_path)
+
+            if os.path.isfile(results_path):
+                pred_bb = torch.tensor(load_text(str(results_path), delimiter=('\t', ','), dtype=np.float64))
+            else:
+                if skip_missing_seq:
+                    valid_sequence[seq_id] = 0
+                    break
+                else:
+                    raise Exception('Result not found. {}'.format(results_path))
+
+            # Calculate measures
+            err_overlap, err_center, err_center_normalized, valid_frame = calc_seq_err_robust(
+                pred_bb, anno_bb, seq.dataset, target_visible)
+
+            avg_overlap_all[seq_id, trk_id] = err_overlap[valid_frame].mean()
+
+            if exclude_invalid_frames:
+                seq_length = valid_frame.long().sum()
+            else:
+                seq_length = anno_bb.shape[0]
+
+            if seq_length <= 0:
+                raise Exception('Seq length zero')
+
+            ave_success_rate_plot_overlap[seq_id, trk_id, :] = (err_overlap.view(-1, 1) > threshold_set_overlap.view(1, -1)).sum(0).float() / seq_length
+            ave_success_rate_plot_center[seq_id, trk_id, :] = (err_center.view(-1, 1) <= threshold_set_center.view(1, -1)).sum(0).float() / seq_length
+            ave_success_rate_plot_center_norm[seq_id, trk_id, :] = (err_center_normalized.view(-1, 1) <= threshold_set_center_norm.view(1, -1)).sum(0).float() / seq_length
+
+            # for frame_id in range(seq_length):
+            #     frame_success_rate_plot_overlap[trk_id][frame_id].append((err_overlap[frame_id]).item())
+            #     frame_success_rate_plot_center[trk_id][frame_id].append((err_center[frame_id]).item())
+            #     frame_success_rate_plot_center_norm[trk_id][frame_id].append((err_center_normalized[frame_id] < 0.2).item())
+
+        # output_folder = "../cvpr2025/per_frame_success_rate"
+        # os.makedirs(output_folder, exist_ok=True)
+        # with open(osp.join(output_folder, f"{seq.name}.txt"), 'w') as f:
+        #     for frame_id in range(seq_length):
+        #         suc_score = frame_success_rate_plot_overlap[trk_id][frame_id][0]
+        #         f.write(f"{suc_score}\n")
+
+    # # plot the average success rate, center normalized for each tracker 
+    # # y axis: success rate
+    # # x axis: frame number
+    # # different color for each tracker
+    # # save the plot as a figure
+    # import matplotlib.pyplot as plt
+    # plt.figure(figsize=(10, 6))
+    # for trk_id, trk in enumerate(trackers):
+    #     list_to_plot = [np.mean(frame_success_rate_plot_overlap[trk_id][frame_id]) for frame_id in range(2000)]
+    #     # smooth the curve; window size = 10
+    #     smooth_list_to_plot = np.convolve(list_to_plot, np.ones((10,))/10, mode='valid')
+    #     # the smooth curve and non smooth curve have the same label
+    #     plt.plot(smooth_list_to_plot, label=trk.display_name, alpha=1)
+    # plt.xlabel('Frame Number')
+    # plt.ylabel('Success Rate')
+    # plt.title('Average Success Rate Over Frames')
+    # plt.legend()
+    # plt.grid(True)
+    # plt.savefig('average_success_rate_plot_overlap.png')
+    # plt.close()
+
+
+    print('\n\nComputed results over {} / {} sequences'.format(valid_sequence.long().sum().item(), valid_sequence.shape[0]))
+
+    # Prepare dictionary for saving data
+    seq_names = [s.name for s in dataset]
+    tracker_names = [{'name': t.name, 'param': t.parameter_name, 'run_id': t.run_id, 'disp_name': t.display_name}
+                     for t in trackers]
+
+    eval_data = {'sequences': seq_names, 'trackers': tracker_names,
+                 'valid_sequence': valid_sequence.tolist(),
+                 'ave_success_rate_plot_overlap': ave_success_rate_plot_overlap.tolist(),
+                 'ave_success_rate_plot_center': ave_success_rate_plot_center.tolist(),
+                 'ave_success_rate_plot_center_norm': ave_success_rate_plot_center_norm.tolist(),
+                 'avg_overlap_all': avg_overlap_all.tolist(),
+                 'threshold_set_overlap': threshold_set_overlap.tolist(),
+                 'threshold_set_center': threshold_set_center.tolist(),
+                 'threshold_set_center_norm': threshold_set_center_norm.tolist()}
+
+    with open(result_plot_path + '/eval_data.pkl', 'wb') as fh:
+        pickle.dump(eval_data, fh)
+
+    return eval_data

lib/test/analysis/plot_results.py

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+import tikzplotlib
+import matplotlib
+import matplotlib.pyplot as plt
+import numpy as np
+import os
+import os.path as osp
+import torch
+import pickle
+import json
+from lib.test.evaluation.environment import env_settings
+from lib.test.analysis.extract_results import extract_results
+
+
+def get_plot_draw_styles():
+    plot_draw_style = [
+                    #    {'color': (1.0, 0.0, 0.0), 'line_style': '-'},
+                    #    {'color': (0.0, 1.0, 0.0), 'line_style': '-'},
+                       {'color': (0.0, 1.0, 0.0), 'line_style': '-'},
+                       {'color': (0.0, 0.0, 0.0), 'line_style': '-'},
+                       {'color': (1.0, 0.0, 1.0), 'line_style': '-'},
+                       {'color': (0.0, 1.0, 1.0), 'line_style': '-'},
+                       {'color': (0.5, 0.5, 0.5), 'line_style': '-'},
+                       {'color': (136.0 / 255.0, 0.0, 21.0 / 255.0), 'line_style': '-'},
+                       {'color': (1.0, 127.0 / 255.0, 39.0 / 255.0), 'line_style': '-'},
+                       {'color': (0.0, 162.0 / 255.0, 232.0 / 255.0), 'line_style': '-'},
+                       {'color': (0.0, 0.5, 0.0), 'line_style': '-'},
+                       {'color': (1.0, 0.5, 0.2), 'line_style': '-'},
+                       {'color': (0.1, 0.4, 0.0), 'line_style': '-'},
+                       {'color': (0.6, 0.3, 0.9), 'line_style': '-'},
+                       {'color': (0.4, 0.7, 0.1), 'line_style': '-'},
+                       {'color': (0.2, 0.1, 0.7), 'line_style': '-'},
+                       {'color': (0.7, 0.6, 0.2), 'line_style': '-'}]
+
+    return plot_draw_style
+
+
+def check_eval_data_is_valid(eval_data, trackers, dataset):
+    """ Checks if the pre-computed results are valid"""
+    seq_names = [s.name for s in dataset]
+    seq_names_saved = eval_data['sequences']
+
+    tracker_names_f = [(t.name, t.parameter_name, t.run_id) for t in trackers]
+    tracker_names_f_saved = [(t['name'], t['param'], t['run_id']) for t in eval_data['trackers']]
+
+    return seq_names == seq_names_saved and tracker_names_f == tracker_names_f_saved
+
+
+def merge_multiple_runs(eval_data):
+    new_tracker_names = []
+    ave_success_rate_plot_overlap_merged = []
+    ave_success_rate_plot_center_merged = []
+    ave_success_rate_plot_center_norm_merged = []
+    avg_overlap_all_merged = []
+
+    ave_success_rate_plot_overlap = torch.tensor(eval_data['ave_success_rate_plot_overlap'])
+    ave_success_rate_plot_center = torch.tensor(eval_data['ave_success_rate_plot_center'])
+    ave_success_rate_plot_center_norm = torch.tensor(eval_data['ave_success_rate_plot_center_norm'])
+    avg_overlap_all = torch.tensor(eval_data['avg_overlap_all'])
+
+    trackers = eval_data['trackers']
+    merged = torch.zeros(len(trackers), dtype=torch.uint8)
+    for i in range(len(trackers)):
+        if merged[i]:
+            continue
+        base_tracker = trackers[i]
+        new_tracker_names.append(base_tracker)
+
+        match = [t['name'] == base_tracker['name'] and t['param'] == base_tracker['param'] for t in trackers]
+        match = torch.tensor(match)
+
+        ave_success_rate_plot_overlap_merged.append(ave_success_rate_plot_overlap[:, match, :].mean(1))
+        ave_success_rate_plot_center_merged.append(ave_success_rate_plot_center[:, match, :].mean(1))
+        ave_success_rate_plot_center_norm_merged.append(ave_success_rate_plot_center_norm[:, match, :].mean(1))
+        avg_overlap_all_merged.append(avg_overlap_all[:, match].mean(1))
+
+        merged[match] = 1
+
+    ave_success_rate_plot_overlap_merged = torch.stack(ave_success_rate_plot_overlap_merged, dim=1)
+    ave_success_rate_plot_center_merged = torch.stack(ave_success_rate_plot_center_merged, dim=1)
+    ave_success_rate_plot_center_norm_merged = torch.stack(ave_success_rate_plot_center_norm_merged, dim=1)
+    avg_overlap_all_merged = torch.stack(avg_overlap_all_merged, dim=1)
+
+    eval_data['trackers'] = new_tracker_names
+    eval_data['ave_success_rate_plot_overlap'] = ave_success_rate_plot_overlap_merged.tolist()
+    eval_data['ave_success_rate_plot_center'] = ave_success_rate_plot_center_merged.tolist()
+    eval_data['ave_success_rate_plot_center_norm'] = ave_success_rate_plot_center_norm_merged.tolist()
+    eval_data['avg_overlap_all'] = avg_overlap_all_merged.tolist()
+
+    return eval_data
+
+
+def get_tracker_display_name(tracker):
+    if tracker['disp_name'] is None:
+        if tracker['run_id'] is None:
+            disp_name = '{}_{}'.format(tracker['name'], tracker['param'])
+        else:
+            disp_name = '{}_{}_{:03d}'.format(tracker['name'], tracker['param'],
+                                              tracker['run_id'])
+    else:
+        disp_name = tracker['disp_name']
+
+    return  disp_name
+
+
+def plot_draw_save(y, x, scores, trackers, plot_draw_styles, result_plot_path, plot_opts):
+    plt.rcParams['text.usetex']=True
+    plt.rcParams["font.family"] = "Times New Roman"
+    # Plot settings
+    font_size = plot_opts.get('font_size', 25)
+    font_size_axis = plot_opts.get('font_size_axis', 20)
+    line_width = plot_opts.get('line_width', 2)
+    font_size_legend = plot_opts.get('font_size_legend', 15)
+
+    plot_type = plot_opts['plot_type']
+    legend_loc = plot_opts['legend_loc']
+    if 'attr' in plot_opts:
+        attr = plot_opts['attr']
+    else:
+        attr = None
+
+    xlabel = plot_opts['xlabel']
+    ylabel = plot_opts['ylabel']
+    ylabel = "%s"%(ylabel.replace('%','\%'))
+    xlim = plot_opts['xlim']
+    ylim = plot_opts['ylim']
+
+    title = r"\textbf{%s}" %(plot_opts['title'])
+    print
+
+    matplotlib.rcParams.update({'font.size': font_size})
+    matplotlib.rcParams.update({'axes.titlesize': font_size_axis})
+    matplotlib.rcParams.update({'axes.titleweight': 'black'})
+    matplotlib.rcParams.update({'axes.labelsize': font_size_axis})
+
+    fig, ax = plt.subplots()
+
+    index_sort = scores.argsort(descending=False)
+
+    plotted_lines = []
+    legend_text = []
+
+    for id, id_sort in enumerate(index_sort):
+        if trackers[id_sort]['disp_name'].startswith('SAMURAI'):
+            alpha = 1.0
+            line_style = '-'
+            if trackers[id_sort]['disp_name'] == 'SAMURAI-L':
+                color = (1.0, 0.0, 0.0)
+            elif trackers[id_sort]['disp_name'] == 'SAMURAI-B':
+                color = (0.0, 0.0, 1.0)
+        elif trackers[id_sort]['disp_name'].startswith('SAM2.1'):
+            alpha = 0.8
+            line_style = '--'
+            if trackers[id_sort]['disp_name'] == 'SAM2.1-L':
+                color = (1.0, 0.0, 0.0)
+            elif trackers[id_sort]['disp_name'] == 'SAM2.1-B':
+                color = (0.0, 0.0, 1.0)
+        else:
+            alpha = 0.5
+            color = plot_draw_styles[index_sort.numel() - id - 1]['color']
+            line_style = ":"
+        line = ax.plot(x.tolist(), y[id_sort, :].tolist(),
+                       linewidth=line_width,
+                       color=color,
+                       linestyle=line_style,
+                       alpha=alpha)
+
+        plotted_lines.append(line[0])
+
+        tracker = trackers[id_sort]
+        disp_name = get_tracker_display_name(tracker)
+
+        legend_text.append('{} [{:.1f}]'.format(disp_name, scores[id_sort]))
+
+    try:
+        # add bold to top method
+        # for i in range(1,2):
+        #     legend_text[-i] = r'\textbf{%s}'%(legend_text[-i])
+
+        for id, id_sort in enumerate(index_sort):
+            if trackers[id_sort]['disp_name'].startswith('SAMTrack'):
+                legend_text[id] = r'\textbf{%s}'%(legend_text[id])
+
+        ax.legend(plotted_lines[::-1], legend_text[::-1], loc=legend_loc, fancybox=False, edgecolor='black',
+                  fontsize=font_size_legend, framealpha=1.0)
+    except:
+        pass
+
+    ax.set(xlabel=xlabel,
+           ylabel=ylabel,
+           xlim=xlim, ylim=ylim,
+           title=title)
+
+    ax.grid(True, linestyle='-.')
+    fig.tight_layout()
+
+    def tikzplotlib_fix_ncols(obj):
+        """
+        workaround for matplotlib 3.6 renamed legend's _ncol to _ncols, which breaks tikzplotlib
+        """
+        if hasattr(obj, "_ncols"):
+            obj._ncol = obj._ncols
+        for child in obj.get_children():
+            tikzplotlib_fix_ncols(child)
+        
+    tikzplotlib_fix_ncols(fig)
+
+    # tikzplotlib.save('{}/{}_plot.tex'.format(result_plot_path, plot_type))
+    if attr is not None:
+        fig.savefig('{}/{}_{}_plot.pdf'.format(result_plot_path, plot_type, attr), dpi=300, format='pdf', transparent=True)
+    else:
+        fig.savefig('{}/{}_plot.pdf'.format(result_plot_path, plot_type), dpi=300, format='pdf', transparent=True)
+    plt.draw()
+
+
+def check_and_load_precomputed_results(trackers, dataset, report_name, force_evaluation=False, **kwargs):
+    # Load data
+    settings = env_settings()
+
+    # Load pre-computed results
+    result_plot_path = os.path.join(settings.result_plot_path, report_name)
+    eval_data_path = os.path.join(result_plot_path, 'eval_data.pkl')
+
+    if os.path.isfile(eval_data_path) and not force_evaluation:
+        with open(eval_data_path, 'rb') as fh:
+            eval_data = pickle.load(fh)
+    else:
+        # print('Pre-computed evaluation data not found. Computing results!')
+        eval_data = extract_results(trackers, dataset, report_name, **kwargs)
+
+    if not check_eval_data_is_valid(eval_data, trackers, dataset):
+        # print('Pre-computed evaluation data invalid. Re-computing results!')
+        eval_data = extract_results(trackers, dataset, report_name, **kwargs)
+        # pass
+    else:
+        # Update display names
+        tracker_names = [{'name': t.name, 'param': t.parameter_name, 'run_id': t.run_id, 'disp_name': t.display_name}
+                         for t in trackers]
+        eval_data['trackers'] = tracker_names
+    with open(eval_data_path, 'wb') as fh:
+        pickle.dump(eval_data, fh)
+    return eval_data
+
+
+def get_auc_curve(ave_success_rate_plot_overlap, valid_sequence):
+    ave_success_rate_plot_overlap = ave_success_rate_plot_overlap[valid_sequence, :, :]
+    auc_curve = ave_success_rate_plot_overlap.mean(0) * 100.0
+    auc = auc_curve.mean(-1)
+
+    return auc_curve, auc
+
+
+def get_prec_curve(ave_success_rate_plot_center, valid_sequence):
+    ave_success_rate_plot_center = ave_success_rate_plot_center[valid_sequence, :, :]
+    prec_curve = ave_success_rate_plot_center.mean(0) * 100.0
+    prec_score = prec_curve[:, 20]
+
+    return prec_curve, prec_score
+
+def plot_per_attribute_results(trackers, dataset, report_name, merge_results=False,
+                                plot_types=('success'), **kwargs):
+    # Load data
+    settings = env_settings()
+
+    plot_draw_styles = get_plot_draw_styles()
+
+    # Load pre-computed results
+    result_plot_path = os.path.join(settings.result_plot_path, report_name)
+    eval_data = check_and_load_precomputed_results(trackers, dataset, report_name, **kwargs)
+
+    tracker_names = eval_data['trackers']
+    valid_sequence = torch.tensor(eval_data['valid_sequence'], dtype=torch.bool)
+
+    attr_folder = 'data/LaSOT/att'
+
+    attr_list = ['Illumination Variation', 'Partial Occlusion', 'Deformation', 'Motion Blur', 'Camera Motion', 'Rotation', 'Background Clutter', 'Viewpoint Change', 'Scale Variation', 'Full Occlusion', 'Fast Motion', 'Out-of-View', 'Low Resolution', 'Aspect Ration Change']
+    attr_list = ['IV', 'POC', 'DEF', 'MB', 'CM', 'ROT', 'BC', 'VC', 'SV', 'FOC', 'FM', 'OV', 'LR', 'ARC']
+
+    # Iterate over the sequence and construct a valid_sequence for each attribute
+    valid_sequence_attr = {}
+    for attr in attr_list:
+        valid_sequence_attr[attr] = torch.zeros(valid_sequence.shape[0], dtype=torch.bool)
+    for seq_id, seq_obj in enumerate(dataset):
+        seq_name = seq_obj.name
+        attr_txt = osp.join(attr_folder, f'{seq_name}.txt')
+        if osp.exists(attr_txt):
+            # read the attribute file into a list of True and False
+            # the attribute file looks like this: 0,0,0,0,0,1,0,1,1,0,0,0,0,0
+            attr_anno = np.loadtxt(attr_txt, dtype=int, delimiter=',')
+            # broadcast the valid_sequence to the attribute list
+            for attr_id, attr in enumerate(attr_list):
+                valid_sequence_attr[attr][seq_id] = attr_anno[attr_id]
+        else:
+            raise Exception(f'Attribute file not found for sequence {seq_name}')
+
+    tracker_names = eval_data['trackers']
+
+    if report_name == 'LaSOT-ext':
+        ylim_success = (0, 95)
+        ylim_precision = (0, 85)
+        ylim_norm_precision = (0, 85)
+        report_name = "LaSOT_{ext}"
+    else:
+        ylim_success = (0, 95)
+        ylim_precision = (0, 100)
+        ylim_norm_precision = (0, 88)
+    
+    threshold_set_overlap = torch.tensor(eval_data['threshold_set_overlap'])
+    ave_success_rate_plot_overlap = torch.tensor(eval_data['ave_success_rate_plot_overlap'])
+    ave_success_rate_plot_center = torch.tensor(eval_data['ave_success_rate_plot_center'])
+    ave_success_rate_plot_center_norm = torch.tensor(eval_data['ave_success_rate_plot_center_norm'])
+    for attr in attr_list:
+        scores = {}
+
+        print(f'{attr}: {valid_sequence_attr[attr].sum().item()}')
+        valid_sequence_attr[attr] = valid_sequence_attr[attr] & valid_sequence
+        
+        auc_curve, auc = get_auc_curve(ave_success_rate_plot_overlap, valid_sequence_attr[attr])
+        scores['AUC'] = auc
+
+        prec_curve, prec_score = get_prec_curve(ave_success_rate_plot_center, valid_sequence_attr[attr])
+        scores['Precision'] = prec_score
+
+        norm_prec_curve, norm_prec_score = get_prec_curve(ave_success_rate_plot_center_norm, valid_sequence_attr[attr])
+        scores['Norm Precision'] = norm_prec_score
+
+        tracker_disp_names = [get_tracker_display_name(trk) for trk in tracker_names]
+        report_text = generate_formatted_report(tracker_disp_names, scores, table_name=attr)
+        print(report_text)
+
+        success_plot_opts = {'plot_type': 'success', 'legend_loc': 'lower left', 'xlabel': 'Overlap threshold', 'attr': attr,
+                             'ylabel': 'Overlap Precision [%]', 'xlim': (0, 1.0), 'ylim': ylim_success, 'title': f'Success\ of\ {attr}\ ({report_name})'}
+        plot_draw_save(auc_curve, threshold_set_overlap, auc, tracker_names, plot_draw_styles, result_plot_path, success_plot_opts)
+
+    
+
+
+def plot_results(trackers, dataset, report_name, merge_results=False,
+                 plot_types=('success'), force_evaluation=False, **kwargs):
+    """
+    Plot results for the given trackers
+
+    args:
+        trackers - List of trackers to evaluate
+        dataset - List of sequences to evaluate
+        report_name - Name of the folder in env_settings.perm_mat_path where the computed results and plots are saved
+        merge_results - If True, multiple random runs for a non-deterministic trackers are averaged
+        plot_types - List of scores to display. Can contain 'success',
+                    'prec' (precision), and 'norm_prec' (normalized precision)
+    """
+    # Load data
+    settings = env_settings()
+
+    plot_draw_styles = get_plot_draw_styles()
+
+    # Load pre-computed results
+    result_plot_path = os.path.join(settings.result_plot_path, report_name)
+    eval_data = check_and_load_precomputed_results(trackers, dataset, report_name, force_evaluation, **kwargs)
+
+    # Merge results from multiple runs
+    if merge_results:
+        eval_data = merge_multiple_runs(eval_data)
+
+    tracker_names = eval_data['trackers']
+
+    valid_sequence = torch.tensor(eval_data['valid_sequence'], dtype=torch.bool)
+
+    print('\nPlotting results over {} / {} sequences'.format(valid_sequence.long().sum().item(), valid_sequence.shape[0]))
+
+    print('\nGenerating plots for: {}'.format(report_name))
+
+    print(report_name)
+    if report_name == 'LaSOT':
+        ylim_success = (0, 95)
+        ylim_precision = (0, 95)
+        ylim_norm_precision = (0, 95)
+    elif report_name == 'LaSOT-ext':
+        ylim_success = (0, 85)
+        ylim_precision = (0, 85)
+        ylim_norm_precision = (0, 85)
+    else:
+        ylim_success = (0, 85)
+        ylim_precision = (0, 85)
+        ylim_norm_precision = (0, 85)
+
+    # ********************************  Success Plot **************************************
+    if 'success' in plot_types:
+        ave_success_rate_plot_overlap = torch.tensor(eval_data['ave_success_rate_plot_overlap'])
+
+        # Index out valid sequences
+        auc_curve, auc = get_auc_curve(ave_success_rate_plot_overlap, valid_sequence)
+        threshold_set_overlap = torch.tensor(eval_data['threshold_set_overlap'])
+
+        success_plot_opts = {'plot_type': 'success', 'legend_loc': 'lower left', 'xlabel': 'Overlap threshold',
+                             'ylabel': 'Overlap Precision [%]', 'xlim': (0, 1.0), 'ylim': ylim_success, 'title': f'Success\ ({report_name})'}
+        plot_draw_save(auc_curve, threshold_set_overlap, auc, tracker_names, plot_draw_styles, result_plot_path, success_plot_opts)
+
+    # ********************************  Precision Plot **************************************
+    if 'prec' in plot_types:
+        ave_success_rate_plot_center = torch.tensor(eval_data['ave_success_rate_plot_center'])
+
+        # Index out valid sequences
+        prec_curve, prec_score = get_prec_curve(ave_success_rate_plot_center, valid_sequence)
+        threshold_set_center = torch.tensor(eval_data['threshold_set_center'])
+
+        precision_plot_opts = {'plot_type': 'precision', 'legend_loc': 'lower right',
+                               'xlabel': 'Location error threshold [pixels]', 'ylabel': 'Distance Precision [%]',
+                               'xlim': (0, 50), 'ylim': ylim_precision, 'title': f'Precision\ ({report_name})'}
+        plot_draw_save(prec_curve, threshold_set_center, prec_score, tracker_names, plot_draw_styles, result_plot_path,
+                       precision_plot_opts)
+
+    # ********************************  Norm Precision Plot **************************************
+    if 'norm_prec' in plot_types:
+        ave_success_rate_plot_center_norm = torch.tensor(eval_data['ave_success_rate_plot_center_norm'])
+
+        # Index out valid sequences
+        prec_curve, prec_score = get_prec_curve(ave_success_rate_plot_center_norm, valid_sequence)
+        threshold_set_center_norm = torch.tensor(eval_data['threshold_set_center_norm'])
+
+        norm_precision_plot_opts = {'plot_type': 'norm_precision', 'legend_loc': 'lower right',
+                                    'xlabel': 'Location error threshold', 'ylabel': 'Distance Precision [%]',
+                                    'xlim': (0, 0.5), 'ylim': ylim_norm_precision, 'title': f'Normalized\ Precision\ ({report_name})'}
+        plot_draw_save(prec_curve, threshold_set_center_norm, prec_score, tracker_names, plot_draw_styles, result_plot_path,
+                       norm_precision_plot_opts)
+
+    plt.show()
+
+
+def generate_formatted_report(row_labels, scores, table_name=''):
+    name_width = max([len(d) for d in row_labels] + [len(table_name)]) + 5
+    min_score_width = 10
+
+    report_text = '\n{label: <{width}} |'.format(label=table_name, width=name_width)
+
+    score_widths = [max(min_score_width, len(k) + 3) for k in scores.keys()]
+
+    for s, s_w in zip(scores.keys(), score_widths):
+        report_text = '{prev} {s: <{width}} |'.format(prev=report_text, s=s, width=s_w)
+
+    report_text = '{prev}\n'.format(prev=report_text)
+
+    for trk_id, d_name in enumerate(row_labels):
+        # display name
+        report_text = '{prev}{tracker: <{width}} |'.format(prev=report_text, tracker=d_name,
+                                                           width=name_width)
+        for (score_type, score_value), s_w in zip(scores.items(), score_widths):
+            report_text = '{prev} {score: <{width}} |'.format(prev=report_text,
+                                                              score='{:0.2f}'.format(score_value[trk_id].item()),
+                                                              width=s_w)
+        report_text = '{prev}\n'.format(prev=report_text)
+
+    return report_text
+
+def print_per_attribute_results(trackers, dataset, report_name, merge_results=False,
+                                plot_types=('success'), **kwargs):
+    # Load pre-computed results
+    eval_data = check_and_load_precomputed_results(trackers, dataset, report_name, **kwargs)
+
+    tracker_names = eval_data['trackers']
+    valid_sequence = torch.tensor(eval_data['valid_sequence'], dtype=torch.bool)
+
+    attr_folder = 'data/LaSOT/att'
+
+    attr_list = ['Illumination Variation', 'Partial Occlusion', 'Deformation', 'Motion Blur', 'Camera Motion', 'Rotation', 'Background Clutter', 'Viewpoint Change', 'Scale Variation', 'Full Occlusion', 'Fast Motion', 'Out-of-View', 'Low Resolution', 'Aspect Ration Change']
+    attr_list = ['IV', 'POC', 'DEF', 'MB', 'CM', 'ROT', 'BC', 'VC', 'SV', 'FOC', 'FM', 'OV', 'LR', 'ARC']
+
+    # Iterate over the sequence and construct a valid_sequence for each attribute
+    valid_sequence_attr = {}
+    for attr in attr_list:
+        valid_sequence_attr[attr] = torch.zeros(valid_sequence.shape[0], dtype=torch.bool)
+    for seq_id, seq_obj in enumerate(dataset):
+        seq_name = seq_obj.name
+        attr_txt = osp.join(attr_folder, f'{seq_name}.txt')
+        if osp.exists(attr_txt):
+            # read the attribute file into a list of True and False
+            # the attribute file looks like this: 0,0,0,0,0,1,0,1,1,0,0,0,0,0
+            attr_anno = np.loadtxt(attr_txt, dtype=int, delimiter=',')
+            # broadcast the valid_sequence to the attribute list
+            for attr_id, attr in enumerate(attr_list):
+                valid_sequence_attr[attr][seq_id] = attr_anno[attr_id]
+        else:
+            raise Exception(f'Attribute file not found for sequence {seq_name}')
+
+    tracker_names = eval_data['trackers']
+    
+    threshold_set_overlap = torch.tensor(eval_data['threshold_set_overlap'])
+    ave_success_rate_plot_overlap = torch.tensor(eval_data['ave_success_rate_plot_overlap'])
+    ave_success_rate_plot_center = torch.tensor(eval_data['ave_success_rate_plot_center'])
+    ave_success_rate_plot_center_norm = torch.tensor(eval_data['ave_success_rate_plot_center_norm'])
+    for attr in attr_list:
+        scores = {}
+
+        print(f'{attr}: {valid_sequence_attr[attr].sum().item()}')
+        valid_sequence_attr[attr] = valid_sequence_attr[attr] & valid_sequence
+        
+        auc_curve, auc = get_auc_curve(ave_success_rate_plot_overlap, valid_sequence_attr[attr])
+        scores['AUC'] = auc
+
+        prec_curve, prec_score = get_prec_curve(ave_success_rate_plot_center, valid_sequence_attr[attr])
+        scores['Precision'] = prec_score
+
+        norm_prec_curve, norm_prec_score = get_prec_curve(ave_success_rate_plot_center_norm, valid_sequence_attr[attr])
+        scores['Norm Precision'] = norm_prec_score
+
+        tracker_disp_names = [get_tracker_display_name(trk) for trk in tracker_names]
+        report_text = generate_formatted_report(tracker_disp_names, scores, table_name=attr)
+        print(report_text)
+
+
+def print_results(trackers, dataset, report_name, merge_results=False,
+                  plot_types=('success'), **kwargs):
+    """ Print the results for the given trackers in a formatted table
+    args:
+        trackers - List of trackers to evaluate
+        dataset - List of sequences to evaluate
+        report_name - Name of the folder in env_settings.perm_mat_path where the computed results and plots are saved
+        merge_results - If True, multiple random runs for a non-deterministic trackers are averaged
+        plot_types - List of scores to display. Can contain 'success' (prints AUC, OP50, and OP75 scores),
+                    'prec' (prints precision score), and 'norm_prec' (prints normalized precision score)
+    """
+    # Load pre-computed results
+    eval_data = check_and_load_precomputed_results(trackers, dataset, report_name, **kwargs)
+
+    # Merge results from multiple runs
+    if merge_results:
+        eval_data = merge_multiple_runs(eval_data)
+
+    tracker_names = eval_data['trackers']
+    valid_sequence = torch.tensor(eval_data['valid_sequence'], dtype=torch.bool)
+
+    print('\nReporting results over {} / {} sequences'.format(valid_sequence.long().sum().item(), valid_sequence.shape[0]))
+
+    scores = {}
+
+    # ********************************  Success Plot **************************************
+    if 'success' in plot_types:
+        threshold_set_overlap = torch.tensor(eval_data['threshold_set_overlap'])
+        ave_success_rate_plot_overlap = torch.tensor(eval_data['ave_success_rate_plot_overlap'])
+
+        # Index out valid sequences
+        auc_curve, auc = get_auc_curve(ave_success_rate_plot_overlap, valid_sequence)
+        scores['AUC'] = auc
+        scores['OP50'] = auc_curve[:, threshold_set_overlap == 0.50]
+        scores['OP75'] = auc_curve[:, threshold_set_overlap == 0.75]
+
+    # ********************************  Precision Plot **************************************
+    if 'prec' in plot_types:
+        ave_success_rate_plot_center = torch.tensor(eval_data['ave_success_rate_plot_center'])
+
+        # Index out valid sequences
+        prec_curve, prec_score = get_prec_curve(ave_success_rate_plot_center, valid_sequence)
+        scores['Precision'] = prec_score
+
+    # ********************************  Norm Precision Plot *********************************
+    if 'norm_prec' in plot_types:
+        ave_success_rate_plot_center_norm = torch.tensor(eval_data['ave_success_rate_plot_center_norm'])
+
+        # Index out valid sequences
+        norm_prec_curve, norm_prec_score = get_prec_curve(ave_success_rate_plot_center_norm, valid_sequence)
+        scores['Norm Precision'] = norm_prec_score
+
+    # Print
+    tracker_disp_names = [get_tracker_display_name(trk) for trk in tracker_names]
+    report_text = generate_formatted_report(tracker_disp_names, scores, table_name=report_name)
+    print(report_text)
+
+
+def plot_got_success(trackers, report_name):
+    """ Plot success plot for GOT-10k dataset using the json reports.
+    Save the json reports from http://got-10k.aitestunion.com/leaderboard in the directory set to
+    env_settings.got_reports_path
+
+    The tracker name in the experiment file should be set to the name of the report file for that tracker,
+    e.g. DiMP50_report_2019_09_02_15_44_25 if the report is name DiMP50_report_2019_09_02_15_44_25.json
+
+    args:
+        trackers - List of trackers to evaluate
+        report_name - Name of the folder in env_settings.perm_mat_path where the computed results and plots are saved
+    """
+    # Load data
+    settings = env_settings()
+    plot_draw_styles = get_plot_draw_styles()
+
+    result_plot_path = os.path.join(settings.result_plot_path, report_name)
+
+    auc_curve = torch.zeros((len(trackers), 101))
+    scores = torch.zeros(len(trackers))
+
+    # Load results
+    tracker_names = []
+    for trk_id, trk in enumerate(trackers):
+        json_path = '{}/{}.json'.format(settings.got_reports_path, trk.name)
+
+        if os.path.isfile(json_path):
+            with open(json_path, 'r') as f:
+                eval_data = json.load(f)
+        else:
+            raise Exception('Report not found {}'.format(json_path))
+
+        if len(eval_data.keys()) > 1:
+            raise Exception
+
+        # First field is the tracker name. Index it out
+        eval_data = eval_data[list(eval_data.keys())[0]]
+        if 'succ_curve' in eval_data.keys():
+            curve = eval_data['succ_curve']
+            ao = eval_data['ao']
+        elif 'overall' in eval_data.keys() and 'succ_curve' in eval_data['overall'].keys():
+            curve = eval_data['overall']['succ_curve']
+            ao = eval_data['overall']['ao']
+        else:
+            raise Exception('Invalid JSON file {}'.format(json_path))
+
+        auc_curve[trk_id, :] = torch.tensor(curve) * 100.0
+        scores[trk_id] = ao * 100.0
+
+        tracker_names.append({'name': trk.name, 'param': trk.parameter_name, 'run_id': trk.run_id,
+                              'disp_name': trk.display_name})
+
+    threshold_set_overlap = torch.arange(0.0, 1.01, 0.01, dtype=torch.float64)
+
+    success_plot_opts = {'plot_type': 'success', 'legend_loc': 'lower left', 'xlabel': 'Overlap threshold',
+                         'ylabel': 'Overlap Precision [%]', 'xlim': (0, 1.0), 'ylim': (0, 100), 'title': 'Success plot'}
+    plot_draw_save(auc_curve, threshold_set_overlap, scores, tracker_names, plot_draw_styles, result_plot_path,
+                   success_plot_opts)
+    plt.show()
+
+
+def print_per_sequence_results(trackers, dataset, report_name, merge_results=False,
+                               filter_criteria=None, **kwargs):
+    """ Print per-sequence results for the given trackers. Additionally, the sequences to list can be filtered using
+    the filter criteria.
+
+    args:
+        trackers - List of trackers to evaluate
+        dataset - List of sequences to evaluate
+        report_name - Name of the folder in env_settings.perm_mat_path where the computed results and plots are saved
+        merge_results - If True, multiple random runs for a non-deterministic trackers are averaged
+        filter_criteria - Filter sequence results which are reported. Following modes are supported
+                        None: No filtering. Display results for all sequences in dataset
+                        'ao_min': Only display sequences for which the minimum average overlap (AO) score over the
+                                  trackers is less than a threshold filter_criteria['threshold']. This mode can
+                                  be used to select sequences where at least one tracker performs poorly.
+                        'ao_max': Only display sequences for which the maximum average overlap (AO) score over the
+                                  trackers is less than a threshold filter_criteria['threshold']. This mode can
+                                  be used to select sequences all tracker performs poorly.
+                        'delta_ao': Only display sequences for which the performance of different trackers vary by at
+                                    least filter_criteria['threshold'] in average overlap (AO) score. This mode can
+                                    be used to select sequences where the behaviour of the trackers greatly differ
+                                    between each other.
+    """
+    # Load pre-computed results
+    eval_data = check_and_load_precomputed_results(trackers, dataset, report_name, **kwargs)
+
+    # Merge results from multiple runs
+    if merge_results:
+        eval_data = merge_multiple_runs(eval_data)
+
+    tracker_names = eval_data['trackers']
+    valid_sequence = torch.tensor(eval_data['valid_sequence'], dtype=torch.bool)
+    sequence_names = eval_data['sequences']
+    avg_overlap_all = torch.tensor(eval_data['avg_overlap_all']) * 100.0
+
+    # Filter sequences
+    if filter_criteria is not None:
+        if filter_criteria['mode'] == 'ao_min':
+            min_ao = avg_overlap_all.min(dim=1)[0]
+            valid_sequence = valid_sequence & (min_ao < filter_criteria['threshold'])
+        elif filter_criteria['mode'] == 'ao_max':
+            max_ao = avg_overlap_all.max(dim=1)[0]
+            valid_sequence = valid_sequence & (max_ao < filter_criteria['threshold'])
+        elif filter_criteria['mode'] == 'delta_ao':
+            min_ao = avg_overlap_all.min(dim=1)[0]
+            max_ao = avg_overlap_all.max(dim=1)[0]
+            valid_sequence = valid_sequence & ((max_ao - min_ao) > filter_criteria['threshold'])
+        else:
+            raise Exception
+
+    avg_overlap_all = avg_overlap_all[valid_sequence, :]
+    sequence_names = [s + ' (ID={})'.format(i) for i, (s, v) in enumerate(zip(sequence_names, valid_sequence.tolist())) if v]
+
+    tracker_disp_names = [get_tracker_display_name(trk) for trk in tracker_names]
+
+    scores_per_tracker = {k: avg_overlap_all[:, i] for i, k in enumerate(tracker_disp_names)}
+    report_text = generate_formatted_report(sequence_names, scores_per_tracker)
+
+    print(report_text)
+
+
+def print_results_per_video(trackers, dataset, report_name, merge_results=False,
+                  plot_types=('success'), per_video=False, **kwargs):
+    """ Print the results for the given trackers in a formatted table
+    args:
+        trackers - List of trackers to evaluate
+        dataset - List of sequences to evaluate
+        report_name - Name of the folder in env_settings.perm_mat_path where the computed results and plots are saved
+        merge_results - If True, multiple random runs for a non-deterministic trackers are averaged
+        plot_types - List of scores to display. Can contain 'success' (prints AUC, OP50, and OP75 scores),
+                    'prec' (prints precision score), and 'norm_prec' (prints normalized precision score)
+    """
+    # Load pre-computed results
+    eval_data = check_and_load_precomputed_results(trackers, dataset, report_name, **kwargs)
+
+    # Merge results from multiple runs
+    if merge_results:
+        eval_data = merge_multiple_runs(eval_data)
+
+    seq_lens = len(eval_data['sequences'])
+    eval_datas = [{} for _ in range(seq_lens)]
+    if per_video:
+        for key, value in eval_data.items():
+            if len(value) == seq_lens:
+                for i in range(seq_lens):
+                    eval_datas[i][key] = [value[i]]
+            else:
+                for i in range(seq_lens):
+                    eval_datas[i][key] = value
+
+    tracker_names = eval_data['trackers']
+    valid_sequence = torch.tensor(eval_data['valid_sequence'], dtype=torch.bool)
+
+    print('\nReporting results over {} / {} sequences'.format(valid_sequence.long().sum().item(), valid_sequence.shape[0]))
+
+    scores = {}
+
+    # ********************************  Success Plot **************************************
+    if 'success' in plot_types:
+        threshold_set_overlap = torch.tensor(eval_data['threshold_set_overlap'])
+        ave_success_rate_plot_overlap = torch.tensor(eval_data['ave_success_rate_plot_overlap'])
+
+        # Index out valid sequences
+        auc_curve, auc = get_auc_curve(ave_success_rate_plot_overlap, valid_sequence)
+        scores['AUC'] = auc
+        scores['OP50'] = auc_curve[:, threshold_set_overlap == 0.50]
+        scores['OP75'] = auc_curve[:, threshold_set_overlap == 0.75]
+
+    # ********************************  Precision Plot **************************************
+    if 'prec' in plot_types:
+        ave_success_rate_plot_center = torch.tensor(eval_data['ave_success_rate_plot_center'])
+
+        # Index out valid sequences
+        prec_curve, prec_score = get_prec_curve(ave_success_rate_plot_center, valid_sequence)
+        scores['Precision'] = prec_score
+
+    # ********************************  Norm Precision Plot *********************************
+    if 'norm_prec' in plot_types:
+        ave_success_rate_plot_center_norm = torch.tensor(eval_data['ave_success_rate_plot_center_norm'])
+
+        # Index out valid sequences
+        norm_prec_curve, norm_prec_score = get_prec_curve(ave_success_rate_plot_center_norm, valid_sequence)
+        scores['Norm Precision'] = norm_prec_score
+
+    # Print
+    tracker_disp_names = [get_tracker_display_name(trk) for trk in tracker_names]
+    report_text = generate_formatted_report(tracker_disp_names, scores, table_name=report_name)
+    print(report_text)
+
+    if per_video:
+        for i in range(seq_lens):
+            eval_data = eval_datas[i]
+
+            print('\n{} sequences'.format(eval_data['sequences'][0]))
+
+            scores = {}
+            valid_sequence = torch.tensor(eval_data['valid_sequence'], dtype=torch.bool)
+
+            # ********************************  Success Plot **************************************
+            if 'success' in plot_types:
+                threshold_set_overlap = torch.tensor(eval_data['threshold_set_overlap'])
+                ave_success_rate_plot_overlap = torch.tensor(eval_data['ave_success_rate_plot_overlap'])
+
+                # Index out valid sequences
+                auc_curve, auc = get_auc_curve(ave_success_rate_plot_overlap, valid_sequence)
+                scores['AUC'] = auc
+                scores['OP50'] = auc_curve[:, threshold_set_overlap == 0.50]
+                scores['OP75'] = auc_curve[:, threshold_set_overlap == 0.75]
+
+            # ********************************  Precision Plot **************************************
+            if 'prec' in plot_types:
+                ave_success_rate_plot_center = torch.tensor(eval_data['ave_success_rate_plot_center'])
+
+                # Index out valid sequences
+                prec_curve, prec_score = get_prec_curve(ave_success_rate_plot_center, valid_sequence)
+                scores['Precision'] = prec_score
+
+            # ********************************  Norm Precision Plot *********************************
+            if 'norm_prec' in plot_types:
+                ave_success_rate_plot_center_norm = torch.tensor(eval_data['ave_success_rate_plot_center_norm'])
+
+                # Index out valid sequences
+                norm_prec_curve, norm_prec_score = get_prec_curve(ave_success_rate_plot_center_norm, valid_sequence)
+                scores['Norm Precision'] = norm_prec_score
+
+            # Print
+            tracker_disp_names = [get_tracker_display_name(trk) for trk in tracker_names]
+            report_text = generate_formatted_report(tracker_disp_names, scores, table_name=report_name)
+            print(report_text)

lib/test/evaluation/__init__.py

@@ -0,0 +1,4 @@
+from .data import Sequence
+from .tracker import Tracker, trackerlist
+from .datasets import get_dataset
+from .environment import create_default_local_file_ITP_test

lib/test/evaluation/data.py

@@ -0,0 +1,169 @@
+import numpy as np
+from lib.test.evaluation.environment import env_settings
+from lib.train.data.image_loader import imread_indexed
+from collections import OrderedDict
+
+
+class BaseDataset:
+    """Base class for all datasets."""
+    def __init__(self):
+        self.env_settings = env_settings()
+
+    def __len__(self):
+        """Overload this function in your dataset. This should return number of sequences in the dataset."""
+        raise NotImplementedError
+
+    def get_sequence_list(self):
+        """Overload this in your dataset. Should return the list of sequences in the dataset."""
+        raise NotImplementedError
+
+
+class Sequence:
+    """Class for the sequence in an evaluation."""
+    def __init__(self, name, frames, dataset, ground_truth_rect, ground_truth_seg=None, init_data=None,
+                 object_class=None, target_visible=None, object_ids=None, multiobj_mode=False):
+        self.name = name
+        self.frames = frames
+        self.dataset = dataset
+        self.ground_truth_rect = ground_truth_rect
+        self.ground_truth_seg = ground_truth_seg
+        self.object_class = object_class
+        self.target_visible = target_visible
+        self.object_ids = object_ids
+        self.multiobj_mode = multiobj_mode
+        self.init_data = self._construct_init_data(init_data)
+        self._ensure_start_frame()
+
+    def _ensure_start_frame(self):
+        # Ensure start frame is 0
+        start_frame = min(list(self.init_data.keys()))
+        if start_frame > 0:
+            self.frames = self.frames[start_frame:]
+            if self.ground_truth_rect is not None:
+                if isinstance(self.ground_truth_rect, (dict, OrderedDict)):
+                    for obj_id, gt in self.ground_truth_rect.items():
+                        self.ground_truth_rect[obj_id] = gt[start_frame:,:]
+                else:
+                    self.ground_truth_rect = self.ground_truth_rect[start_frame:,:]
+            if self.ground_truth_seg is not None:
+                self.ground_truth_seg = self.ground_truth_seg[start_frame:]
+                assert len(self.frames) == len(self.ground_truth_seg)
+
+            if self.target_visible is not None:
+                self.target_visible = self.target_visible[start_frame:]
+            self.init_data = {frame-start_frame: val for frame, val in self.init_data.items()}
+
+    def _construct_init_data(self, init_data):
+        if init_data is not None:
+            if not self.multiobj_mode:
+                assert self.object_ids is None or len(self.object_ids) == 1
+                for frame, init_val in init_data.items():
+                    if 'bbox' in init_val and isinstance(init_val['bbox'], (dict, OrderedDict)):
+                        init_val['bbox'] = init_val['bbox'][self.object_ids[0]]
+            # convert to list
+            for frame, init_val in init_data.items():
+                if 'bbox' in init_val:
+                    if isinstance(init_val['bbox'], (dict, OrderedDict)):
+                        init_val['bbox'] = OrderedDict({obj_id: list(init) for obj_id, init in init_val['bbox'].items()})
+                    else:
+                        init_val['bbox'] = list(init_val['bbox'])
+        else:
+            init_data = {0: dict()}     # Assume start from frame 0
+
+            if self.object_ids is not None:
+                init_data[0]['object_ids'] = self.object_ids
+
+            if self.ground_truth_rect is not None:
+                if self.multiobj_mode:
+                    assert isinstance(self.ground_truth_rect, (dict, OrderedDict))
+                    init_data[0]['bbox'] = OrderedDict({obj_id: list(gt[0,:]) for obj_id, gt in self.ground_truth_rect.items()})
+                else:
+                    assert self.object_ids is None or len(self.object_ids) == 1
+                    if isinstance(self.ground_truth_rect, (dict, OrderedDict)):
+                        init_data[0]['bbox'] = list(self.ground_truth_rect[self.object_ids[0]][0, :])
+                    else:
+                        init_data[0]['bbox'] = list(self.ground_truth_rect[0,:])
+
+            if self.ground_truth_seg is not None:
+                init_data[0]['mask'] = self.ground_truth_seg[0]
+
+        return init_data
+
+    def init_info(self):
+        info = self.frame_info(frame_num=0)
+        return info
+
+    def frame_info(self, frame_num):
+        info = self.object_init_data(frame_num=frame_num)
+        return info
+
+    def init_bbox(self, frame_num=0):
+        return self.object_init_data(frame_num=frame_num).get('init_bbox')
+
+    def init_mask(self, frame_num=0):
+        return self.object_init_data(frame_num=frame_num).get('init_mask')
+
+    def get_info(self, keys, frame_num=None):
+        info = dict()
+        for k in keys:
+            val = self.get(k, frame_num=frame_num)
+            if val is not None:
+                info[k] = val
+        return info
+
+    def object_init_data(self, frame_num=None) -> dict:
+        if frame_num is None:
+            frame_num = 0
+        if frame_num not in self.init_data:
+            return dict()
+
+        init_data = dict()
+        for key, val in self.init_data[frame_num].items():
+            if val is None:
+                continue
+            init_data['init_'+key] = val
+
+        if 'init_mask' in init_data and init_data['init_mask'] is not None:
+            anno = imread_indexed(init_data['init_mask'])
+            if not self.multiobj_mode and self.object_ids is not None:
+                assert len(self.object_ids) == 1
+                anno = (anno == int(self.object_ids[0])).astype(np.uint8)
+            init_data['init_mask'] = anno
+
+        if self.object_ids is not None:
+            init_data['object_ids'] = self.object_ids
+            init_data['sequence_object_ids'] = self.object_ids
+
+        return init_data
+
+    def target_class(self, frame_num=None):
+        return self.object_class
+
+    def get(self, name, frame_num=None):
+        return getattr(self, name)(frame_num)
+
+    def __repr__(self):
+        return "{self.__class__.__name__} {self.name}, length={len} frames".format(self=self, len=len(self.frames))
+
+
+
+class SequenceList(list):
+    """List of sequences. Supports the addition operator to concatenate sequence lists."""
+    def __getitem__(self, item):
+        if isinstance(item, str):
+            for seq in self:
+                if seq.name == item:
+                    return seq
+            raise IndexError('Sequence name not in the dataset.')
+        elif isinstance(item, int):
+            return super(SequenceList, self).__getitem__(item)
+        elif isinstance(item, (tuple, list)):
+            return SequenceList([super(SequenceList, self).__getitem__(i) for i in item])
+        else:
+            return SequenceList(super(SequenceList, self).__getitem__(item))
+
+    def __add__(self, other):
+        return SequenceList(super(SequenceList, self).__add__(other))
+
+    def copy(self):
+        return SequenceList(super(SequenceList, self).copy())

lib/test/evaluation/datasets.py

@@ -0,0 +1,48 @@
+from collections import namedtuple
+import importlib
+from lib.test.evaluation.data import SequenceList
+
+DatasetInfo = namedtuple('DatasetInfo', ['module', 'class_name', 'kwargs'])
+
+pt = "lib.test.evaluation.%sdataset"  # Useful abbreviations to reduce the clutter
+
+dataset_dict = dict(
+    otb=DatasetInfo(module=pt % "otb", class_name="OTBDataset", kwargs=dict()),
+    nfs=DatasetInfo(module=pt % "nfs", class_name="NFSDataset", kwargs=dict()),
+    uav=DatasetInfo(module=pt % "uav", class_name="UAVDataset", kwargs=dict()),
+    tc128=DatasetInfo(module=pt % "tc128", class_name="TC128Dataset", kwargs=dict()),
+    tc128ce=DatasetInfo(module=pt % "tc128ce", class_name="TC128CEDataset", kwargs=dict()),
+    trackingnet=DatasetInfo(module=pt % "trackingnet", class_name="TrackingNetDataset", kwargs=dict()),
+    got10k_test=DatasetInfo(module=pt % "got10k", class_name="GOT10KDataset", kwargs=dict(split='test')),
+    got10k_val=DatasetInfo(module=pt % "got10k", class_name="GOT10KDataset", kwargs=dict(split='val')),
+    got10k_ltrval=DatasetInfo(module=pt % "got10k", class_name="GOT10KDataset", kwargs=dict(split='ltrval')),
+    lasot=DatasetInfo(module=pt % "lasot", class_name="LaSOTDataset", kwargs=dict()),
+    lasot_lmdb=DatasetInfo(module=pt % "lasot_lmdb", class_name="LaSOTlmdbDataset", kwargs=dict()),
+
+    vot18=DatasetInfo(module=pt % "vot", class_name="VOTDataset", kwargs=dict()),
+    vot22=DatasetInfo(module=pt % "vot", class_name="VOTDataset", kwargs=dict(year=22)),
+    itb=DatasetInfo(module=pt % "itb", class_name="ITBDataset", kwargs=dict()),
+    tnl2k=DatasetInfo(module=pt % "tnl2k", class_name="TNL2kDataset", kwargs=dict()),
+    lasot_extension_subset=DatasetInfo(module=pt % "lasotextensionsubset", class_name="LaSOTExtensionSubsetDataset",
+                                       kwargs=dict()),
+)
+
+
+def load_dataset(name: str):
+    """ Import and load a single dataset."""
+    name = name.lower()
+    dset_info = dataset_dict.get(name)
+    if dset_info is None:
+        raise ValueError('Unknown dataset \'%s\'' % name)
+
+    m = importlib.import_module(dset_info.module)
+    dataset = getattr(m, dset_info.class_name)(**dset_info.kwargs)  # Call the constructor
+    return dataset.get_sequence_list()
+
+
+def get_dataset(*args):
+    """ Get a single or set of datasets."""
+    dset = SequenceList()
+    for name in args:
+        dset.extend(load_dataset(name))
+    return dset

lib/test/evaluation/environment.py

@@ -0,0 +1,124 @@
+import importlib
+import os
+
+
+class EnvSettings:
+    def __init__(self):
+        test_path = os.path.abspath(os.path.join(os.path.dirname(__file__), '..'))
+
+        self.results_path = '{}/results/'.format(test_path)
+        self.segmentation_path = '{}/segmentation_results/'.format(test_path)
+        self.network_path = '{}/networks/'.format(test_path)
+        self.result_plot_path = '{}/result_plots/'.format(test_path)
+        self.otb_path = ''
+        self.nfs_path = ''
+        self.uav_path = ''
+        self.tpl_path = ''
+        self.vot_path = ''
+        self.got10k_path = ''
+        self.lasot_path = ''
+        self.trackingnet_path = ''
+        self.davis_dir = ''
+        self.youtubevos_dir = ''
+
+        self.got_packed_results_path = ''
+        self.got_reports_path = ''
+        self.tn_packed_results_path = ''
+
+
+def create_default_local_file():
+    comment = {'results_path': 'Where to store tracking results',
+               'network_path': 'Where tracking networks are stored.'}
+
+    path = os.path.join(os.path.dirname(__file__), 'local.py')
+    with open(path, 'w') as f:
+        settings = EnvSettings()
+
+        f.write('from test.evaluation.environment import EnvSettings\n\n')
+        f.write('def local_env_settings():\n')
+        f.write('    settings = EnvSettings()\n\n')
+        f.write('    # Set your local paths here.\n\n')
+
+        for attr in dir(settings):
+            comment_str = None
+            if attr in comment:
+                comment_str = comment[attr]
+            attr_val = getattr(settings, attr)
+            if not attr.startswith('__') and not callable(attr_val):
+                if comment_str is None:
+                    f.write('    settings.{} = \'{}\'\n'.format(attr, attr_val))
+                else:
+                    f.write('    settings.{} = \'{}\'    # {}\n'.format(attr, attr_val, comment_str))
+        f.write('\n    return settings\n\n')
+
+
+class EnvSettings_ITP:
+    def __init__(self, workspace_dir, data_dir, save_dir):
+        self.prj_dir = workspace_dir
+        self.save_dir = save_dir
+        self.results_path = os.path.join(save_dir, 'test/tracking_results')
+        self.segmentation_path = os.path.join(save_dir, 'test/segmentation_results')
+        self.network_path = os.path.join(save_dir, 'test/networks')
+        self.result_plot_path = os.path.join(save_dir, 'test/result_plots')
+        self.otb_path = os.path.join(data_dir, 'otb')
+        self.nfs_path = os.path.join(data_dir, 'nfs')
+        self.uav_path = os.path.join(data_dir, 'uav')
+        self.tc128_path = os.path.join(data_dir, 'TC128')
+        self.tpl_path = ''
+        self.vot_path = os.path.join(data_dir, 'VOT2019')
+        self.got10k_path = os.path.join(data_dir, 'got10k')
+        self.got10k_lmdb_path = os.path.join(data_dir, 'got10k_lmdb')
+        self.lasot_path = os.path.join(data_dir, 'lasot')
+        self.lasot_lmdb_path = os.path.join(data_dir, 'lasot_lmdb')
+        self.trackingnet_path = os.path.join(data_dir, 'trackingnet')
+        self.vot18_path = os.path.join(data_dir, 'vot2018')
+        self.vot22_path = os.path.join(data_dir, 'vot2022')
+        self.itb_path = os.path.join(data_dir, 'itb')
+        self.tnl2k_path = os.path.join(data_dir, 'tnl2k')
+        self.lasot_extension_subset_path_path = os.path.join(data_dir, 'lasot_extension_subset')
+        self.davis_dir = ''
+        self.youtubevos_dir = ''
+
+        self.got_packed_results_path = ''
+        self.got_reports_path = ''
+        self.tn_packed_results_path = ''
+
+
+def create_default_local_file_ITP_test(workspace_dir, data_dir, save_dir):
+    comment = {'results_path': 'Where to store tracking results',
+               'network_path': 'Where tracking networks are stored.'}
+
+    path = os.path.join(os.path.dirname(__file__), 'local.py')
+    with open(path, 'w') as f:
+        settings = EnvSettings_ITP(workspace_dir, data_dir, save_dir)
+
+        f.write('from lib.test.evaluation.environment import EnvSettings\n\n')
+        f.write('def local_env_settings():\n')
+        f.write('    settings = EnvSettings()\n\n')
+        f.write('    # Set your local paths here.\n\n')
+
+        for attr in dir(settings):
+            comment_str = None
+            if attr in comment:
+                comment_str = comment[attr]
+            attr_val = getattr(settings, attr)
+            if not attr.startswith('__') and not callable(attr_val):
+                if comment_str is None:
+                    f.write('    settings.{} = \'{}\'\n'.format(attr, attr_val))
+                else:
+                    f.write('    settings.{} = \'{}\'    # {}\n'.format(attr, attr_val, comment_str))
+        f.write('\n    return settings\n\n')
+
+
+def env_settings():
+    env_module_name = 'lib.test.evaluation.local'
+    try:
+        env_module = importlib.import_module(env_module_name)
+        return env_module.local_env_settings()
+    except:
+        env_file = os.path.join(os.path.dirname(__file__), 'local.py')
+
+        # Create a default file
+        create_default_local_file()
+        raise RuntimeError('YOU HAVE NOT SETUP YOUR local.py!!!\n Go to "{}" and set all the paths you need. '
+                           'Then try to run again.'.format(env_file))

lib/test/evaluation/got10kdataset.py

@@ -0,0 +1,56 @@
+import numpy as np
+from lib.test.evaluation.data import Sequence, BaseDataset, SequenceList
+from lib.test.utils.load_text import load_text
+import os
+
+
+class GOT10KDataset(BaseDataset):
+    """ GOT-10k dataset.
+
+    Publication:
+        GOT-10k: A Large High-Diversity Benchmark for Generic Object Tracking in the Wild
+        Lianghua Huang, Xin Zhao, and Kaiqi Huang
+        arXiv:1810.11981, 2018
+        https://arxiv.org/pdf/1810.11981.pdf
+
+    Download dataset from http://got-10k.aitestunion.com/downloads
+    """
+    def __init__(self, split):
+        super().__init__()
+        # Split can be test, val, or ltrval (a validation split consisting of videos from the official train set)
+        if split == 'test' or split == 'val':
+            self.base_path = os.path.join(self.env_settings.got10k_path, split)
+        else:
+            self.base_path = os.path.join(self.env_settings.got10k_path, 'train')
+
+        self.sequence_list = self._get_sequence_list(split)
+        self.split = split
+
+    def get_sequence_list(self):
+        return SequenceList([self._construct_sequence(s) for s in self.sequence_list])
+
+    def _construct_sequence(self, sequence_name):
+        anno_path = '{}/{}/groundtruth.txt'.format(self.base_path, sequence_name)
+
+        ground_truth_rect = load_text(str(anno_path), delimiter=',', dtype=np.float64)
+
+        frames_path = '{}/{}'.format(self.base_path, sequence_name)
+        frame_list = [frame for frame in os.listdir(frames_path) if frame.endswith(".jpg")]
+        frame_list.sort(key=lambda f: int(f[:-4]))
+        frames_list = [os.path.join(frames_path, frame) for frame in frame_list]
+
+        return Sequence(sequence_name, frames_list, 'got10k', ground_truth_rect.reshape(-1, 4))
+
+    def __len__(self):
+        return len(self.sequence_list)
+
+    def _get_sequence_list(self, split):
+        with open('{}/list.txt'.format(self.base_path)) as f:
+            sequence_list = f.read().splitlines()
+
+        if split == 'ltrval':
+            with open('{}/got10k_val_split.txt'.format(self.env_settings.dataspec_path)) as f:
+                seq_ids = f.read().splitlines()
+
+            sequence_list = [sequence_list[int(x)] for x in seq_ids]
+        return sequence_list

lib/test/evaluation/itbdataset.py

@@ -0,0 +1,75 @@
+import numpy as np
+from lib.test.evaluation.data import Sequence, BaseDataset, SequenceList
+from lib.test.utils.load_text import load_text
+import os
+
+
+class ITBDataset(BaseDataset):
+    """ NUS-PRO dataset
+    """
+
+    def __init__(self):
+        super().__init__()
+        self.base_path = self.env_settings.itb_path
+        self.sequence_info_list = self._get_sequence_info_list(self.base_path)
+
+    def get_sequence_list(self):
+        return SequenceList([self._construct_sequence(s) for s in self.sequence_info_list])
+
+    def _construct_sequence(self, sequence_info):
+        sequence_path = sequence_info['path']
+        nz = sequence_info['nz']
+        ext = sequence_info['ext']
+        start_frame = sequence_info['startFrame']
+        end_frame = sequence_info['endFrame']
+
+        init_omit = 0
+        if 'initOmit' in sequence_info:
+            init_omit = sequence_info['initOmit']
+
+        frames = ['{base_path}/{sequence_path}/{frame:0{nz}}.{ext}'.format(base_path=self.base_path,
+                                                                           sequence_path=sequence_path, frame=frame_num,
+                                                                           nz=nz, ext=ext) for frame_num in
+                  range(start_frame + init_omit, end_frame + 1)]
+
+        anno_path = '{}/{}'.format(self.base_path, sequence_info['anno_path'])
+
+        # NOTE: NUS has some weird annos which panda cannot handle
+        ground_truth_rect = load_text(str(anno_path), delimiter=(',', None), dtype=np.float64, backend='numpy')
+        return Sequence(sequence_info['name'], frames, 'otb', ground_truth_rect[init_omit:, :],
+                        object_class=sequence_info['object_class'])
+
+    def __len__(self):
+        return len(self.sequence_info_list)
+
+    def get_fileNames(self, rootdir):
+        fs = []
+        fs_all = []
+        for root, dirs, files in os.walk(rootdir, topdown=True):
+            files.sort()
+            files.sort(key=len)
+            if files is not None:
+                for name in files:
+                    _, ending = os.path.splitext(name)
+                    if ending == ".jpg":
+                        _, root_ = os.path.split(root)
+                        fs.append(os.path.join(root_, name))
+                        fs_all.append(os.path.join(root, name))
+
+        return fs_all, fs
+
+    def _get_sequence_info_list(self, base_path):
+        sequence_info_list = []
+        for scene in os.listdir(base_path):
+            if '.' in scene:
+                continue
+            videos = os.listdir(os.path.join(base_path, scene))
+            for video in videos:
+                _, fs = self.get_fileNames(os.path.join(base_path, scene, video))
+                video_tmp = {"name": video, "path": scene + '/' + video, "startFrame": 1, "endFrame": len(fs),
+                             "nz": len(fs[0].split('/')[-1].split('.')[0]), "ext": "jpg",
+                             "anno_path": scene + '/' + video + "/groundtruth.txt",
+                             "object_class": "unknown"}
+                sequence_info_list.append(video_tmp)
+
+        return sequence_info_list  # sequence_info_list_50 #

lib/test/evaluation/lasot_lmdbdataset.py

@@ -0,0 +1,345 @@
+from lib.test.evaluation.data import Sequence, BaseDataset, SequenceList
+from lib.utils.lmdb_utils import *
+
+'''2021.1.27 LaSOT dataset using lmdb data'''
+
+
+class LaSOTlmdbDataset(BaseDataset):
+    """
+    LaSOT test set consisting of 280 videos (see Protocol-II in the LaSOT paper)
+
+    Publication:
+        LaSOT: A High-quality Benchmark for Large-scale Single Object Tracking
+        Heng Fan, Liting Lin, Fan Yang, Peng Chu, Ge Deng, Sijia Yu, Hexin Bai, Yong Xu, Chunyuan Liao and Haibin Ling
+        CVPR, 2019
+        https://arxiv.org/pdf/1809.07845.pdf
+
+    Download the dataset from https://cis.temple.edu/lasot/download.html
+    """
+    def __init__(self):
+        super().__init__()
+        self.base_path = self.env_settings.lasot_lmdb_path
+        self.sequence_list = self._get_sequence_list()
+        self.clean_list = self.clean_seq_list()
+
+    def clean_seq_list(self):
+        clean_lst = []
+        for i in range(len(self.sequence_list)):
+            cls, _ = self.sequence_list[i].split('-')
+            clean_lst.append(cls)
+        return clean_lst
+
+    def get_sequence_list(self):
+        return SequenceList([self._construct_sequence(s) for s in self.sequence_list])
+
+    def _construct_sequence(self, sequence_name):
+        class_name = sequence_name.split('-')[0]
+        anno_path = str('{}/{}/groundtruth.txt'.format(class_name, sequence_name))
+        # decode the groundtruth
+        gt_str_list = decode_str(self.base_path, anno_path).split('\n')[:-1]  # the last line is empty
+        gt_list = [list(map(float, line.split(','))) for line in gt_str_list]
+        ground_truth_rect = np.array(gt_list).astype(np.float64)
+        # decode occlusion file
+        occlusion_label_path = str('{}/{}/full_occlusion.txt'.format(class_name, sequence_name))
+        occ_list = list(map(int, decode_str(self.base_path, occlusion_label_path).split(',')))
+        full_occlusion = np.array(occ_list).astype(np.float64)
+        # decode out of view file
+        out_of_view_label_path = str('{}/{}/out_of_view.txt'.format(class_name, sequence_name))
+        out_of_view_list = list(map(int, decode_str(self.base_path, out_of_view_label_path).split(',')))
+        out_of_view = np.array(out_of_view_list).astype(np.float64)
+
+        target_visible = np.logical_and(full_occlusion == 0, out_of_view == 0)
+
+        frames_path = '{}/{}/img'.format(class_name, sequence_name)
+
+        frames_list = [[self.base_path, '{}/{:08d}.jpg'.format(frames_path, frame_number)] for frame_number in range(1, ground_truth_rect.shape[0] + 1)]
+
+        target_class = class_name
+        return Sequence(sequence_name, frames_list, 'lasot', ground_truth_rect.reshape(-1, 4),
+                        object_class=target_class, target_visible=target_visible)
+
+    def __len__(self):
+        return len(self.sequence_list)
+
+    def _get_sequence_list(self):
+        sequence_list = ['airplane-1',
+                         'airplane-9',
+                         'airplane-13',
+                         'airplane-15',
+                         'basketball-1',
+                         'basketball-6',
+                         'basketball-7',
+                         'basketball-11',
+                         'bear-2',
+                         'bear-4',
+                         'bear-6',
+                         'bear-17',
+                         'bicycle-2',
+                         'bicycle-7',
+                         'bicycle-9',
+                         'bicycle-18',
+                         'bird-2',
+                         'bird-3',
+                         'bird-15',
+                         'bird-17',
+                         'boat-3',
+                         'boat-4',
+                         'boat-12',
+                         'boat-17',
+                         'book-3',
+                         'book-10',
+                         'book-11',
+                         'book-19',
+                         'bottle-1',
+                         'bottle-12',
+                         'bottle-14',
+                         'bottle-18',
+                         'bus-2',
+                         'bus-5',
+                         'bus-17',
+                         'bus-19',
+                         'car-2',
+                         'car-6',
+                         'car-9',
+                         'car-17',
+                         'cat-1',
+                         'cat-3',
+                         'cat-18',
+                         'cat-20',
+                         'cattle-2',
+                         'cattle-7',
+                         'cattle-12',
+                         'cattle-13',
+                         'spider-14',
+                         'spider-16',
+                         'spider-18',
+                         'spider-20',
+                         'coin-3',
+                         'coin-6',
+                         'coin-7',
+                         'coin-18',
+                         'crab-3',
+                         'crab-6',
+                         'crab-12',
+                         'crab-18',
+                         'surfboard-12',
+                         'surfboard-4',
+                         'surfboard-5',
+                         'surfboard-8',
+                         'cup-1',
+                         'cup-4',
+                         'cup-7',
+                         'cup-17',
+                         'deer-4',
+                         'deer-8',
+                         'deer-10',
+                         'deer-14',
+                         'dog-1',
+                         'dog-7',
+                         'dog-15',
+                         'dog-19',
+                         'guitar-3',
+                         'guitar-8',
+                         'guitar-10',
+                         'guitar-16',
+                         'person-1',
+                         'person-5',
+                         'person-10',
+                         'person-12',
+                         'pig-2',
+                         'pig-10',
+                         'pig-13',
+                         'pig-18',
+                         'rubicCube-1',
+                         'rubicCube-6',
+                         'rubicCube-14',
+                         'rubicCube-19',
+                         'swing-10',
+                         'swing-14',
+                         'swing-17',
+                         'swing-20',
+                         'drone-13',
+                         'drone-15',
+                         'drone-2',
+                         'drone-7',
+                         'pool-12',
+                         'pool-15',
+                         'pool-3',
+                         'pool-7',
+                         'rabbit-10',
+                         'rabbit-13',
+                         'rabbit-17',
+                         'rabbit-19',
+                         'racing-10',
+                         'racing-15',
+                         'racing-16',
+                         'racing-20',
+                         'robot-1',
+                         'robot-19',
+                         'robot-5',
+                         'robot-8',
+                         'sepia-13',
+                         'sepia-16',
+                         'sepia-6',
+                         'sepia-8',
+                         'sheep-3',
+                         'sheep-5',
+                         'sheep-7',
+                         'sheep-9',
+                         'skateboard-16',
+                         'skateboard-19',
+                         'skateboard-3',
+                         'skateboard-8',
+                         'tank-14',
+                         'tank-16',
+                         'tank-6',
+                         'tank-9',
+                         'tiger-12',
+                         'tiger-18',
+                         'tiger-4',
+                         'tiger-6',
+                         'train-1',
+                         'train-11',
+                         'train-20',
+                         'train-7',
+                         'truck-16',
+                         'truck-3',
+                         'truck-6',
+                         'truck-7',
+                         'turtle-16',
+                         'turtle-5',
+                         'turtle-8',
+                         'turtle-9',
+                         'umbrella-17',
+                         'umbrella-19',
+                         'umbrella-2',
+                         'umbrella-9',
+                         'yoyo-15',
+                         'yoyo-17',
+                         'yoyo-19',
+                         'yoyo-7',
+                         'zebra-10',
+                         'zebra-14',
+                         'zebra-16',
+                         'zebra-17',
+                         'elephant-1',
+                         'elephant-12',
+                         'elephant-16',
+                         'elephant-18',
+                         'goldfish-3',
+                         'goldfish-7',
+                         'goldfish-8',
+                         'goldfish-10',
+                         'hat-1',
+                         'hat-2',
+                         'hat-5',
+                         'hat-18',
+                         'kite-4',
+                         'kite-6',
+                         'kite-10',
+                         'kite-15',
+                         'motorcycle-1',
+                         'motorcycle-3',
+                         'motorcycle-9',
+                         'motorcycle-18',
+                         'mouse-1',
+                         'mouse-8',
+                         'mouse-9',
+                         'mouse-17',
+                         'flag-3',
+                         'flag-9',
+                         'flag-5',
+                         'flag-2',
+                         'frog-3',
+                         'frog-4',
+                         'frog-20',
+                         'frog-9',
+                         'gametarget-1',
+                         'gametarget-2',
+                         'gametarget-7',
+                         'gametarget-13',
+                         'hand-2',
+                         'hand-3',
+                         'hand-9',
+                         'hand-16',
+                         'helmet-5',
+                         'helmet-11',
+                         'helmet-19',
+                         'helmet-13',
+                         'licenseplate-6',
+                         'licenseplate-12',
+                         'licenseplate-13',
+                         'licenseplate-15',
+                         'electricfan-1',
+                         'electricfan-10',
+                         'electricfan-18',
+                         'electricfan-20',
+                         'chameleon-3',
+                         'chameleon-6',
+                         'chameleon-11',
+                         'chameleon-20',
+                         'crocodile-3',
+                         'crocodile-4',
+                         'crocodile-10',
+                         'crocodile-14',
+                         'gecko-1',
+                         'gecko-5',
+                         'gecko-16',
+                         'gecko-19',
+                         'fox-2',
+                         'fox-3',
+                         'fox-5',
+                         'fox-20',
+                         'giraffe-2',
+                         'giraffe-10',
+                         'giraffe-13',
+                         'giraffe-15',
+                         'gorilla-4',
+                         'gorilla-6',
+                         'gorilla-9',
+                         'gorilla-13',
+                         'hippo-1',
+                         'hippo-7',
+                         'hippo-9',
+                         'hippo-20',
+                         'horse-1',
+                         'horse-4',
+                         'horse-12',
+                         'horse-15',
+                         'kangaroo-2',
+                         'kangaroo-5',
+                         'kangaroo-11',
+                         'kangaroo-14',
+                         'leopard-1',
+                         'leopard-7',
+                         'leopard-16',
+                         'leopard-20',
+                         'lion-1',
+                         'lion-5',
+                         'lion-12',
+                         'lion-20',
+                         'lizard-1',
+                         'lizard-3',
+                         'lizard-6',
+                         'lizard-13',
+                         'microphone-2',
+                         'microphone-6',
+                         'microphone-14',
+                         'microphone-16',
+                         'monkey-3',
+                         'monkey-4',
+                         'monkey-9',
+                         'monkey-17',
+                         'shark-2',
+                         'shark-3',
+                         'shark-5',
+                         'shark-6',
+                         'squirrel-8',
+                         'squirrel-11',
+                         'squirrel-13',
+                         'squirrel-19',
+                         'volleyball-1',
+                         'volleyball-13',
+                         'volleyball-18',
+                         'volleyball-19']
+        return sequence_list

lib/test/evaluation/lasotdataset.py

@@ -0,0 +1,342 @@
+import numpy as np
+from lib.test.evaluation.data import Sequence, BaseDataset, SequenceList
+from lib.test.utils.load_text import load_text
+
+
+class LaSOTDataset(BaseDataset):
+    """
+    LaSOT test set consisting of 280 videos (see Protocol-II in the LaSOT paper)
+
+    Publication:
+        LaSOT: A High-quality Benchmark for Large-scale Single Object Tracking
+        Heng Fan, Liting Lin, Fan Yang, Peng Chu, Ge Deng, Sijia Yu, Hexin Bai, Yong Xu, Chunyuan Liao and Haibin Ling
+        CVPR, 2019
+        https://arxiv.org/pdf/1809.07845.pdf
+
+    Download the dataset from https://cis.temple.edu/lasot/download.html
+    """
+    def __init__(self):
+        super().__init__()
+        self.base_path = self.env_settings.lasot_path
+        self.sequence_list = self._get_sequence_list()
+        self.clean_list = self.clean_seq_list()
+
+    def clean_seq_list(self):
+        clean_lst = []
+        for i in range(len(self.sequence_list)):
+            cls, _ = self.sequence_list[i].split('-')
+            clean_lst.append(cls)
+        return  clean_lst
+
+    def get_sequence_list(self):
+        return SequenceList([self._construct_sequence(s) for s in self.sequence_list])
+
+    def _construct_sequence(self, sequence_name):
+        class_name = sequence_name.split('-')[0]
+        anno_path = '{}/{}/{}/groundtruth.txt'.format(self.base_path, class_name, sequence_name)
+
+        ground_truth_rect = load_text(str(anno_path), delimiter=',', dtype=np.float64)
+
+        occlusion_label_path = '{}/{}/{}/full_occlusion.txt'.format(self.base_path, class_name, sequence_name)
+
+        # NOTE: pandas backed seems super super slow for loading occlusion/oov masks
+        full_occlusion = load_text(str(occlusion_label_path), delimiter=',', dtype=np.float64, backend='numpy')
+
+        out_of_view_label_path = '{}/{}/{}/out_of_view.txt'.format(self.base_path, class_name, sequence_name)
+        out_of_view = load_text(str(out_of_view_label_path), delimiter=',', dtype=np.float64, backend='numpy')
+
+        target_visible = np.logical_and(full_occlusion == 0, out_of_view == 0)
+
+        frames_path = '{}/{}/{}/img'.format(self.base_path, class_name, sequence_name)
+
+        frames_list = ['{}/{:08d}.jpg'.format(frames_path, frame_number) for frame_number in range(1, ground_truth_rect.shape[0] + 1)]
+
+        target_class = class_name
+        return Sequence(sequence_name, frames_list, 'lasot', ground_truth_rect.reshape(-1, 4),
+                        object_class=target_class, target_visible=target_visible)
+
+    def __len__(self):
+        return len(self.sequence_list)
+
+    def _get_sequence_list(self):
+        sequence_list = ['airplane-1',
+                         'airplane-9',
+                         'airplane-13',
+                         'airplane-15',
+                         'basketball-1',
+                         'basketball-6',
+                         'basketball-7',
+                         'basketball-11',
+                         'bear-2',
+                         'bear-4',
+                         'bear-6',
+                         'bear-17',
+                         'bicycle-2',
+                         'bicycle-7',
+                         'bicycle-9',
+                         'bicycle-18',
+                         'bird-2',
+                         'bird-3',
+                         'bird-15',
+                         'bird-17',
+                         'boat-3',
+                         'boat-4',
+                         'boat-12',
+                         'boat-17',
+                         'book-3',
+                         'book-10',
+                         'book-11',
+                         'book-19',
+                         'bottle-1',
+                         'bottle-12',
+                         'bottle-14',
+                         'bottle-18',
+                         'bus-2',
+                         'bus-5',
+                         'bus-17',
+                         'bus-19',
+                         'car-2',
+                         'car-6',
+                         'car-9',
+                         'car-17',
+                         'cat-1',
+                         'cat-3',
+                         'cat-18',
+                         'cat-20',
+                         'cattle-2',
+                         'cattle-7',
+                         'cattle-12',
+                         'cattle-13',
+                         'spider-14',
+                         'spider-16',
+                         'spider-18',
+                         'spider-20',
+                         'coin-3',
+                         'coin-6',
+                         'coin-7',
+                         'coin-18',
+                         'crab-3',
+                         'crab-6',
+                         'crab-12',
+                         'crab-18',
+                         'surfboard-12',
+                         'surfboard-4',
+                         'surfboard-5',
+                         'surfboard-8',
+                         'cup-1',
+                         'cup-4',
+                         'cup-7',
+                         'cup-17',
+                         'deer-4',
+                         'deer-8',
+                         'deer-10',
+                         'deer-14',
+                         'dog-1',
+                         'dog-7',
+                         'dog-15',
+                         'dog-19',
+                         'guitar-3',
+                         'guitar-8',
+                         'guitar-10',
+                         'guitar-16',
+                         'person-1',
+                         'person-5',
+                         'person-10',
+                         'person-12',
+                         'pig-2',
+                         'pig-10',
+                         'pig-13',
+                         'pig-18',
+                         'rubicCube-1',
+                         'rubicCube-6',
+                         'rubicCube-14',
+                         'rubicCube-19',
+                         'swing-10',
+                         'swing-14',
+                         'swing-17',
+                         'swing-20',
+                         'drone-13',
+                         'drone-15',
+                         'drone-2',
+                         'drone-7',
+                         'pool-12',
+                         'pool-15',
+                         'pool-3',
+                         'pool-7',
+                         'rabbit-10',
+                         'rabbit-13',
+                         'rabbit-17',
+                         'rabbit-19',
+                         'racing-10',
+                         'racing-15',
+                         'racing-16',
+                         'racing-20',
+                         'robot-1',
+                         'robot-19',
+                         'robot-5',
+                         'robot-8',
+                         'sepia-13',
+                         'sepia-16',
+                         'sepia-6',
+                         'sepia-8',
+                         'sheep-3',
+                         'sheep-5',
+                         'sheep-7',
+                         'sheep-9',
+                         'skateboard-16',
+                         'skateboard-19',
+                         'skateboard-3',
+                         'skateboard-8',
+                         'tank-14',
+                         'tank-16',
+                         'tank-6',
+                         'tank-9',
+                         'tiger-12',
+                         'tiger-18',
+                         'tiger-4',
+                         'tiger-6',
+                         'train-1',
+                         'train-11',
+                         'train-20',
+                         'train-7',
+                         'truck-16',
+                         'truck-3',
+                         'truck-6',
+                         'truck-7',
+                         'turtle-16',
+                         'turtle-5',
+                         'turtle-8',
+                         'turtle-9',
+                         'umbrella-17',
+                         'umbrella-19',
+                         'umbrella-2',
+                         'umbrella-9',
+                         'yoyo-15',
+                         'yoyo-17',
+                         'yoyo-19',
+                         'yoyo-7',
+                         'zebra-10',
+                         'zebra-14',
+                         'zebra-16',
+                         'zebra-17',
+                         'elephant-1',
+                         'elephant-12',
+                         'elephant-16',
+                         'elephant-18',
+                         'goldfish-3',
+                         'goldfish-7',
+                         'goldfish-8',
+                         'goldfish-10',
+                         'hat-1',
+                         'hat-2',
+                         'hat-5',
+                         'hat-18',
+                         'kite-4',
+                         'kite-6',
+                         'kite-10',
+                         'kite-15',
+                         'motorcycle-1',
+                         'motorcycle-3',
+                         'motorcycle-9',
+                         'motorcycle-18',
+                         'mouse-1',
+                         'mouse-8',
+                         'mouse-9',
+                         'mouse-17',
+                         'flag-3',
+                         'flag-9',
+                         'flag-5',
+                         'flag-2',
+                         'frog-3',
+                         'frog-4',
+                         'frog-20',
+                         'frog-9',
+                         'gametarget-1',
+                         'gametarget-2',
+                         'gametarget-7',
+                         'gametarget-13',
+                         'hand-2',
+                         'hand-3',
+                         'hand-9',
+                         'hand-16',
+                         'helmet-5',
+                         'helmet-11',
+                         'helmet-19',
+                         'helmet-13',
+                         'licenseplate-6',
+                         'licenseplate-12',
+                         'licenseplate-13',
+                         'licenseplate-15',
+                         'electricfan-1',
+                         'electricfan-10',
+                         'electricfan-18',
+                         'electricfan-20',
+                         'chameleon-3',
+                         'chameleon-6',
+                         'chameleon-11',
+                         'chameleon-20',
+                         'crocodile-3',
+                         'crocodile-4',
+                         'crocodile-10',
+                         'crocodile-14',
+                         'gecko-1',
+                         'gecko-5',
+                         'gecko-16',
+                         'gecko-19',
+                         'fox-2',
+                         'fox-3',
+                         'fox-5',
+                         'fox-20',
+                         'giraffe-2',
+                         'giraffe-10',
+                         'giraffe-13',
+                         'giraffe-15',
+                         'gorilla-4',
+                         'gorilla-6',
+                         'gorilla-9',
+                         'gorilla-13',
+                         'hippo-1',
+                         'hippo-7',
+                         'hippo-9',
+                         'hippo-20',
+                         'horse-1',
+                         'horse-4',
+                         'horse-12',
+                         'horse-15',
+                         'kangaroo-2',
+                         'kangaroo-5',
+                         'kangaroo-11',
+                         'kangaroo-14',
+                         'leopard-1',
+                         'leopard-7',
+                         'leopard-16',
+                         'leopard-20',
+                         'lion-1',
+                         'lion-5',
+                         'lion-12',
+                         'lion-20',
+                         'lizard-1',
+                         'lizard-3',
+                         'lizard-6',
+                         'lizard-13',
+                         'microphone-2',
+                         'microphone-6',
+                         'microphone-14',
+                         'microphone-16',
+                         'monkey-3',
+                         'monkey-4',
+                         'monkey-9',
+                         'monkey-17',
+                         'shark-2',
+                         'shark-3',
+                         'shark-5',
+                         'shark-6',
+                         'squirrel-8',
+                         'squirrel-11',
+                         'squirrel-13',
+                         'squirrel-19',
+                         'volleyball-1',
+                         'volleyball-13',
+                         'volleyball-18',
+                         'volleyball-19']
+        return sequence_list

lib/test/evaluation/lasotextensionsubsetdataset.py

@@ -0,0 +1,211 @@
+import numpy as np
+from lib.test.evaluation.data import Sequence, BaseDataset, SequenceList
+from lib.test.utils.load_text import load_text
+
+
+class LaSOTExtensionSubsetDataset(BaseDataset):
+    """
+    LaSOT test set consisting of 280 videos (see Protocol-II in the LaSOT paper)
+    Publication:
+        LaSOT: A High-quality Large-scale Single Object Tracking Benchmark
+        Heng Fan, Hexin Bai, Liting Lin, Fan Yang, Peng Chu, Ge Deng, Sijia Yu, Harshit, Mingzhen Huang, Juehuan Liu,
+        Yong Xu, Chunyuan Liao, Lin Yuan, Haibin Ling
+        IJCV, 2020
+        https://arxiv.org/pdf/2009.03465.pdf
+    Download the dataset from http://vision.cs.stonybrook.edu/~lasot/download.html
+    """
+    def __init__(self):
+        super().__init__()
+        self.base_path = self.env_settings.lasot_extension_subset_path
+        self.sequence_list = self._get_sequence_list()
+        self.clean_list = self.clean_seq_list()
+
+    def clean_seq_list(self):
+        clean_lst = []
+        for i in range(len(self.sequence_list)):
+            cls, _ = self.sequence_list[i].split('-')
+            clean_lst.append(cls)
+        return  clean_lst
+
+    def get_sequence_list(self):
+        return SequenceList([self._construct_sequence(s) for s in self.sequence_list])
+
+    def _construct_sequence(self, sequence_name):
+        class_name = sequence_name.split('-')[0]
+        anno_path = '{}/{}/{}/groundtruth.txt'.format(self.base_path, class_name, sequence_name)
+
+        ground_truth_rect = load_text(str(anno_path), delimiter=',', dtype=np.float64)
+
+        occlusion_label_path = '{}/{}/{}/full_occlusion.txt'.format(self.base_path, class_name, sequence_name)
+
+        # NOTE: pandas backed seems super super slow for loading occlusion/oov masks
+        full_occlusion = load_text(str(occlusion_label_path), delimiter=',', dtype=np.float64, backend='numpy')
+
+        out_of_view_label_path = '{}/{}/{}/out_of_view.txt'.format(self.base_path, class_name, sequence_name)
+        out_of_view = load_text(str(out_of_view_label_path), delimiter=',', dtype=np.float64, backend='numpy')
+
+        target_visible = np.logical_and(full_occlusion == 0, out_of_view == 0)
+
+        frames_path = '{}/{}/{}/img'.format(self.base_path, class_name, sequence_name)
+
+        frames_list = ['{}/{:08d}.jpg'.format(frames_path, frame_number) for frame_number in range(1, ground_truth_rect.shape[0] + 1)]
+
+        target_class = class_name
+        return Sequence(sequence_name, frames_list, 'lasot_extension_subset', ground_truth_rect.reshape(-1, 4),
+                        object_class=target_class, target_visible=target_visible)
+
+    def __len__(self):
+        return len(self.sequence_list)
+
+    def _get_sequence_list(self):
+        sequence_list = ['atv-1',
+                         'atv-2',
+                         'atv-3',
+                         'atv-4',
+                         'atv-5',
+                         'atv-6',
+                         'atv-7',
+                         'atv-8',
+                         'atv-9',
+                         'atv-10',
+                         'badminton-1',
+                         'badminton-2',
+                         'badminton-3',
+                         'badminton-4',
+                         'badminton-5',
+                         'badminton-6',
+                         'badminton-7',
+                         'badminton-8',
+                         'badminton-9',
+                         'badminton-10',
+                         'cosplay-1',
+                         'cosplay-10',
+                         'cosplay-2',
+                         'cosplay-3',
+                         'cosplay-4',
+                         'cosplay-5',
+                         'cosplay-6',
+                         'cosplay-7',
+                         'cosplay-8',
+                         'cosplay-9',
+                         'dancingshoe-1',
+                         'dancingshoe-2',
+                         'dancingshoe-3',
+                         'dancingshoe-4',
+                         'dancingshoe-5',
+                         'dancingshoe-6',
+                         'dancingshoe-7',
+                         'dancingshoe-8',
+                         'dancingshoe-9',
+                         'dancingshoe-10',
+                         'footbag-1',
+                         'footbag-2',
+                         'footbag-3',
+                         'footbag-4',
+                         'footbag-5',
+                         'footbag-6',
+                         'footbag-7',
+                         'footbag-8',
+                         'footbag-9',
+                         'footbag-10',
+                         'frisbee-1',
+                         'frisbee-2',
+                         'frisbee-3',
+                         'frisbee-4',
+                         'frisbee-5',
+                         'frisbee-6',
+                         'frisbee-7',
+                         'frisbee-8',
+                         'frisbee-9',
+                         'frisbee-10',
+                         'jianzi-1',
+                         'jianzi-2',
+                         'jianzi-3',
+                         'jianzi-4',
+                         'jianzi-5',
+                         'jianzi-6',
+                         'jianzi-7',
+                         'jianzi-8',
+                         'jianzi-9',
+                         'jianzi-10',
+                         'lantern-1',
+                         'lantern-2',
+                         'lantern-3',
+                         'lantern-4',
+                         'lantern-5',
+                         'lantern-6',
+                         'lantern-7',
+                         'lantern-8',
+                         'lantern-9',
+                         'lantern-10',
+                         'misc-1',
+                         'misc-2',
+                         'misc-3',
+                         'misc-4',
+                         'misc-5',
+                         'misc-6',
+                         'misc-7',
+                         'misc-8',
+                         'misc-9',
+                         'misc-10',
+                         'opossum-1',
+                         'opossum-2',
+                         'opossum-3',
+                         'opossum-4',
+                         'opossum-5',
+                         'opossum-6',
+                         'opossum-7',
+                         'opossum-8',
+                         'opossum-9',
+                         'opossum-10',
+                         'paddle-1',
+                         'paddle-2',
+                         'paddle-3',
+                         'paddle-4',
+                         'paddle-5',
+                         'paddle-6',
+                         'paddle-7',
+                         'paddle-8',
+                         'paddle-9',
+                         'paddle-10',
+                         'raccoon-1',
+                         'raccoon-2',
+                         'raccoon-3',
+                         'raccoon-4',
+                         'raccoon-5',
+                         'raccoon-6',
+                         'raccoon-7',
+                         'raccoon-8',
+                         'raccoon-9',
+                         'raccoon-10',
+                         'rhino-1',
+                         'rhino-2',
+                         'rhino-3',
+                         'rhino-4',
+                         'rhino-5',
+                         'rhino-6',
+                         'rhino-7',
+                         'rhino-8',
+                         'rhino-9',
+                         'rhino-10',
+                         'skatingshoe-1',
+                         'skatingshoe-2',
+                         'skatingshoe-3',
+                         'skatingshoe-4',
+                         'skatingshoe-5',
+                         'skatingshoe-6',
+                         'skatingshoe-7',
+                         'skatingshoe-8',
+                         'skatingshoe-9',
+                         'skatingshoe-10',
+                         'wingsuit-1',
+                         'wingsuit-2',
+                         'wingsuit-3',
+                         'wingsuit-4',
+                         'wingsuit-5',
+                         'wingsuit-6',
+                         'wingsuit-7',
+                         'wingsuit-8',
+                         'wingsuit-9',
+                         'wingsuit-10']
+        return sequence_list

lib/test/evaluation/local.py

@@ -0,0 +1,38 @@
+from lib.test.evaluation.environment import EnvSettings
+
+def local_env_settings():
+    settings = EnvSettings()
+
+    # Set your local paths here.
+
+    settings.lasot_path = '/home/cycyang/code/vot-sam/data/LaSOT'
+    settings.lasot_extension_subset_path = '/home/cycyang/code/vot-sam/data/LaSOT-ext'
+    settings.nfs_path = '/home/cycyang/code/vot-sam/data/NFS'
+    settings.otb_path = '/home/cycyang/code/vot-sam/data/otb'
+    settings.uav_path = '//home/cycyang/code/vot-sam/data/uav'
+    settings.results_path = '/home/cycyang/code/vot-sam/raw_results'
+    settings.result_plot_path = '/home/cycyang/code/vot-sam/evaluation_results'
+    settings.save_dir = '/home/cycyang/code/vot-sam/evaluation_results'
+
+    settings.davis_dir = ''
+    settings.got10k_lmdb_path = '/home/baiyifan/code/OSTrack/data/got10k_lmdb'
+    settings.got10k_path = '/home/baiyifan/GOT-10k'
+    settings.got_packed_results_path = ''
+    settings.got_reports_path = ''
+    settings.itb_path = '/home/baiyifan/code/OSTrack/data/itb'
+    settings.lasot_lmdb_path = '/home/baiyifan/code/OSTrack/data/lasot_lmdb'
+    settings.network_path =  '/ssddata/baiyifan/artrack_256_full_re/'   # Where tracking networks are stored.
+    settings.prj_dir = '/home/baiyifan/code/2d_autoregressive/bins_mask'
+    settings.segmentation_path = '/data1/os/test/segmentation_results'
+    settings.tc128_path = '/home/baiyifan/code/OSTrack/data/TC128'
+    settings.tn_packed_results_path = ''
+    settings.tnl2k_path = '/home/baiyifan/code/OSTrack/data/tnl2k'
+    settings.tpl_path = ''
+    settings.trackingnet_path = '/ssddata/TrackingNet/all_zip'
+    settings.vot18_path = '/home/baiyifan/code/OSTrack/data/vot2018'
+    settings.vot22_path = '/home/baiyifan/code/OSTrack/data/vot2022'
+    settings.vot_path = '/home/baiyifan/code/OSTrack/data/VOT2019'
+    settings.youtubevos_dir = ''
+
+    return settings
+

lib/test/evaluation/nfsdataset.py

@@ -0,0 +1,153 @@
+import numpy as np
+from lib.test.evaluation.data import Sequence, BaseDataset, SequenceList
+from lib.test.utils.load_text import load_text
+
+
+class NFSDataset(BaseDataset):
+    """ NFS dataset.
+    Publication:
+        Need for Speed: A Benchmark for Higher Frame Rate Object Tracking
+        H. Kiani Galoogahi, A. Fagg, C. Huang, D. Ramanan, and S.Lucey
+        ICCV, 2017
+        http://openaccess.thecvf.com/content_ICCV_2017/papers/Galoogahi_Need_for_Speed_ICCV_2017_paper.pdf
+    Download the dataset from http://ci2cv.net/nfs/index.html
+    """
+    def __init__(self):
+        super().__init__()
+        self.base_path = self.env_settings.nfs_path
+        self.sequence_info_list = self._get_sequence_info_list()
+
+    def get_sequence_list(self):
+        return SequenceList([self._construct_sequence(s) for s in self.sequence_info_list])
+
+    def _construct_sequence(self, sequence_info):
+        sequence_path = sequence_info['path']
+        nz = sequence_info['nz']
+        ext = sequence_info['ext']
+        start_frame = sequence_info['startFrame']
+        end_frame = sequence_info['endFrame']
+
+        init_omit = 0
+        if 'initOmit' in sequence_info:
+            init_omit = sequence_info['initOmit']
+
+        frames = ['{base_path}/{sequence_path}/{frame:0{nz}}.{ext}'.format(base_path=self.base_path, 
+        sequence_path=sequence_path, frame=frame_num, nz=nz, ext=ext) for frame_num in range(start_frame+init_omit, end_frame+1)]
+
+        # anno_path = '{}/{}'.format(self.base_path, sequence_info['anno_path'])
+        anno_path = f"{self.base_path}/{sequence_info['name'][4:]}/30/groundtruth.txt"
+
+        # ground_truth_rect = load_text(str(anno_path), delimiter='\t', dtype=np.float64)
+        ground_truth_rect = load_text(str(anno_path), delimiter=',', dtype=np.float64)
+
+        return Sequence(sequence_info['name'][4:], frames, 'nfs', ground_truth_rect[init_omit:,:],
+                        object_class=sequence_info['object_class'])
+
+    def __len__(self):
+        return len(self.sequence_info_list)
+
+    def _get_sequence_info_list(self):
+        sequence_info_list = [
+            {"name": "nfs_Gymnastics", "path": "sequences/Gymnastics", "startFrame": 1, "endFrame": 368, "nz": 5, "ext": "jpg", "anno_path": "anno/nfs_Gymnastics.txt", "object_class": "person", 'occlusion': False},
+            {"name": "nfs_MachLoop_jet", "path": "sequences/MachLoop_jet", "startFrame": 1, "endFrame": 99, "nz": 5, "ext": "jpg", "anno_path": "anno/nfs_MachLoop_jet.txt", "object_class": "aircraft", 'occlusion': False},
+            {"name": "nfs_Skiing_red", "path": "sequences/Skiing_red", "startFrame": 1, "endFrame": 69, "nz": 5, "ext": "jpg", "anno_path": "anno/nfs_Skiing_red.txt", "object_class": "person", 'occlusion': False},
+            {"name": "nfs_Skydiving", "path": "sequences/Skydiving", "startFrame": 1, "endFrame": 196, "nz": 5, "ext": "jpg", "anno_path": "anno/nfs_Skydiving.txt", "object_class": "person", 'occlusion': True},
+            {"name": "nfs_airboard_1", "path": "sequences/airboard_1", "startFrame": 1, "endFrame": 425, "nz": 5, "ext": "jpg", "anno_path": "anno/nfs_airboard_1.txt", "object_class": "ball", 'occlusion': False},
+            {"name": "nfs_airplane_landing", "path": "sequences/airplane_landing", "startFrame": 1, "endFrame": 81, "nz": 5, "ext": "jpg", "anno_path": "anno/nfs_airplane_landing.txt", "object_class": "aircraft", 'occlusion': False},
+            {"name": "nfs_airtable_3", "path": "sequences/airtable_3", "startFrame": 1, "endFrame": 482, "nz": 5, "ext": "jpg", "anno_path": "anno/nfs_airtable_3.txt", "object_class": "ball", 'occlusion': False},
+            {"name": "nfs_basketball_1", "path": "sequences/basketball_1", "startFrame": 1, "endFrame": 282, "nz": 5, "ext": "jpg", "anno_path": "anno/nfs_basketball_1.txt", "object_class": "ball", 'occlusion': False},
+            {"name": "nfs_basketball_2", "path": "sequences/basketball_2", "startFrame": 1, "endFrame": 102, "nz": 5, "ext": "jpg", "anno_path": "anno/nfs_basketball_2.txt", "object_class": "ball", 'occlusion': False},
+            {"name": "nfs_basketball_3", "path": "sequences/basketball_3", "startFrame": 1, "endFrame": 421, "nz": 5, "ext": "jpg", "anno_path": "anno/nfs_basketball_3.txt", "object_class": "ball", 'occlusion': False},
+            {"name": "nfs_basketball_6", "path": "sequences/basketball_6", "startFrame": 1, "endFrame": 224, "nz": 5, "ext": "jpg", "anno_path": "anno/nfs_basketball_6.txt", "object_class": "ball", 'occlusion': False},
+            {"name": "nfs_basketball_7", "path": "sequences/basketball_7", "startFrame": 1, "endFrame": 240, "nz": 5, "ext": "jpg", "anno_path": "anno/nfs_basketball_7.txt", "object_class": "person", 'occlusion': True},
+            {"name": "nfs_basketball_player", "path": "sequences/basketball_player", "startFrame": 1, "endFrame": 369, "nz": 5, "ext": "jpg", "anno_path": "anno/nfs_basketball_player.txt", "object_class": "person", 'occlusion': True},
+            {"name": "nfs_basketball_player_2", "path": "sequences/basketball_player_2", "startFrame": 1, "endFrame": 437, "nz": 5, "ext": "jpg", "anno_path": "anno/nfs_basketball_player_2.txt", "object_class": "person", 'occlusion': False},
+            {"name": "nfs_beach_flipback_person", "path": "sequences/beach_flipback_person", "startFrame": 1, "endFrame": 61, "nz": 5, "ext": "jpg", "anno_path": "anno/nfs_beach_flipback_person.txt", "object_class": "person head", 'occlusion': False},
+            {"name": "nfs_bee", "path": "sequences/bee", "startFrame": 1, "endFrame": 45, "nz": 5, "ext": "jpg", "anno_path": "anno/nfs_bee.txt", "object_class": "insect", 'occlusion': False},
+            {"name": "nfs_biker_acrobat", "path": "sequences/biker_acrobat", "startFrame": 1, "endFrame": 128, "nz": 5, "ext": "jpg", "anno_path": "anno/nfs_biker_acrobat.txt", "object_class": "bicycle", 'occlusion': False},
+            {"name": "nfs_biker_all_1", "path": "sequences/biker_all_1", "startFrame": 1, "endFrame": 113, "nz": 5, "ext": "jpg", "anno_path": "anno/nfs_biker_all_1.txt", "object_class": "person", 'occlusion': False},
+            {"name": "nfs_biker_head_2", "path": "sequences/biker_head_2", "startFrame": 1, "endFrame": 132, "nz": 5, "ext": "jpg", "anno_path": "anno/nfs_biker_head_2.txt", "object_class": "person head", 'occlusion': False},
+            {"name": "nfs_biker_head_3", "path": "sequences/biker_head_3", "startFrame": 1, "endFrame": 254, "nz": 5, "ext": "jpg", "anno_path": "anno/nfs_biker_head_3.txt", "object_class": "person head", 'occlusion': False},
+            {"name": "nfs_biker_upper_body", "path": "sequences/biker_upper_body", "startFrame": 1, "endFrame": 194, "nz": 5, "ext": "jpg", "anno_path": "anno/nfs_biker_upper_body.txt", "object_class": "person", 'occlusion': False},
+            {"name": "nfs_biker_whole_body", "path": "sequences/biker_whole_body", "startFrame": 1, "endFrame": 572, "nz": 5, "ext": "jpg", "anno_path": "anno/nfs_biker_whole_body.txt", "object_class": "person", 'occlusion': True},
+            {"name": "nfs_billiard_2", "path": "sequences/billiard_2", "startFrame": 1, "endFrame": 604, "nz": 5, "ext": "jpg", "anno_path": "anno/nfs_billiard_2.txt", "object_class": "ball", 'occlusion': False},
+            {"name": "nfs_billiard_3", "path": "sequences/billiard_3", "startFrame": 1, "endFrame": 698, "nz": 5, "ext": "jpg", "anno_path": "anno/nfs_billiard_3.txt", "object_class": "ball", 'occlusion': False},
+            {"name": "nfs_billiard_6", "path": "sequences/billiard_6", "startFrame": 1, "endFrame": 771, "nz": 5, "ext": "jpg", "anno_path": "anno/nfs_billiard_6.txt", "object_class": "ball", 'occlusion': False},
+            {"name": "nfs_billiard_7", "path": "sequences/billiard_7", "startFrame": 1, "endFrame": 724, "nz": 5, "ext": "jpg", "anno_path": "anno/nfs_billiard_7.txt", "object_class": "ball", 'occlusion': False},
+            {"name": "nfs_billiard_8", "path": "sequences/billiard_8", "startFrame": 1, "endFrame": 778, "nz": 5, "ext": "jpg", "anno_path": "anno/nfs_billiard_8.txt", "object_class": "ball", 'occlusion': False},
+            {"name": "nfs_bird_2", "path": "sequences/bird_2", "startFrame": 1, "endFrame": 476, "nz": 5, "ext": "jpg", "anno_path": "anno/nfs_bird_2.txt", "object_class": "bird", 'occlusion': False},
+            {"name": "nfs_book", "path": "sequences/book", "startFrame": 1, "endFrame": 288, "nz": 5, "ext": "jpg", "anno_path": "anno/nfs_book.txt", "object_class": "other", 'occlusion': False},
+            {"name": "nfs_bottle", "path": "sequences/bottle", "startFrame": 1, "endFrame": 2103, "nz": 5, "ext": "jpg", "anno_path": "anno/nfs_bottle.txt", "object_class": "other", 'occlusion': False},
+            {"name": "nfs_bowling_1", "path": "sequences/bowling_1", "startFrame": 1, "endFrame": 303, "nz": 5, "ext": "jpg", "anno_path": "anno/nfs_bowling_1.txt", "object_class": "ball", 'occlusion': True},
+            {"name": "nfs_bowling_2", "path": "sequences/bowling_2", "startFrame": 1, "endFrame": 710, "nz": 5, "ext": "jpg", "anno_path": "anno/nfs_bowling_2.txt", "object_class": "ball", 'occlusion': True},
+            {"name": "nfs_bowling_3", "path": "sequences/bowling_3", "startFrame": 1, "endFrame": 271, "nz": 5, "ext": "jpg", "anno_path": "anno/nfs_bowling_3.txt", "object_class": "ball", 'occlusion': True},
+            {"name": "nfs_bowling_6", "path": "sequences/bowling_6", "startFrame": 1, "endFrame": 260, "nz": 5, "ext": "jpg", "anno_path": "anno/nfs_bowling_6.txt", "object_class": "ball", 'occlusion': False},
+            {"name": "nfs_bowling_ball", "path": "sequences/bowling_ball", "startFrame": 1, "endFrame": 275, "nz": 5, "ext": "jpg", "anno_path": "anno/nfs_bowling_ball.txt", "object_class": "ball", 'occlusion': True},
+            {"name": "nfs_bunny", "path": "sequences/bunny", "startFrame": 1, "endFrame": 705, "nz": 5, "ext": "jpg", "anno_path": "anno/nfs_bunny.txt", "object_class": "mammal", 'occlusion': False},
+            {"name": "nfs_car", "path": "sequences/car", "startFrame": 1, "endFrame": 2020, "nz": 5, "ext": "jpg", "anno_path": "anno/nfs_car.txt", "object_class": "car", 'occlusion': True},
+            {"name": "nfs_car_camaro", "path": "sequences/car_camaro", "startFrame": 1, "endFrame": 36, "nz": 5, "ext": "jpg", "anno_path": "anno/nfs_car_camaro.txt", "object_class": "car", 'occlusion': False},
+            {"name": "nfs_car_drifting", "path": "sequences/car_drifting", "startFrame": 1, "endFrame": 173, "nz": 5, "ext": "jpg", "anno_path": "anno/nfs_car_drifting.txt", "object_class": "car", 'occlusion': False},
+            {"name": "nfs_car_jumping", "path": "sequences/car_jumping", "startFrame": 1, "endFrame": 22, "nz": 5, "ext": "jpg", "anno_path": "anno/nfs_car_jumping.txt", "object_class": "car", 'occlusion': False},
+            {"name": "nfs_car_rc_rolling", "path": "sequences/car_rc_rolling", "startFrame": 1, "endFrame": 62, "nz": 5, "ext": "jpg", "anno_path": "anno/nfs_car_rc_rolling.txt", "object_class": "car", 'occlusion': False},
+            {"name": "nfs_car_rc_rotating", "path": "sequences/car_rc_rotating", "startFrame": 1, "endFrame": 80, "nz": 5, "ext": "jpg", "anno_path": "anno/nfs_car_rc_rotating.txt", "object_class": "car", 'occlusion': False},
+            {"name": "nfs_car_side", "path": "sequences/car_side", "startFrame": 1, "endFrame": 108, "nz": 5, "ext": "jpg", "anno_path": "anno/nfs_car_side.txt", "object_class": "car", 'occlusion': False},
+            {"name": "nfs_car_white", "path": "sequences/car_white", "startFrame": 1, "endFrame": 2063, "nz": 5, "ext": "jpg", "anno_path": "anno/nfs_car_white.txt", "object_class": "car", 'occlusion': False},
+            {"name": "nfs_cheetah", "path": "sequences/cheetah", "startFrame": 1, "endFrame": 167, "nz": 5, "ext": "jpg", "anno_path": "anno/nfs_cheetah.txt", "object_class": "mammal", 'occlusion': True},
+            {"name": "nfs_cup", "path": "sequences/cup", "startFrame": 1, "endFrame": 1281, "nz": 5, "ext": "jpg", "anno_path": "anno/nfs_cup.txt", "object_class": "other", 'occlusion': False},
+            {"name": "nfs_cup_2", "path": "sequences/cup_2", "startFrame": 1, "endFrame": 182, "nz": 5, "ext": "jpg", "anno_path": "anno/nfs_cup_2.txt", "object_class": "other", 'occlusion': False},
+            {"name": "nfs_dog", "path": "sequences/dog", "startFrame": 1, "endFrame": 1030, "nz": 5, "ext": "jpg", "anno_path": "anno/nfs_dog.txt", "object_class": "dog", 'occlusion': True},
+            {"name": "nfs_dog_1", "path": "sequences/dog_1", "startFrame": 1, "endFrame": 168, "nz": 5, "ext": "jpg", "anno_path": "anno/nfs_dog_1.txt", "object_class": "dog", 'occlusion': False},
+            # {"name": "nfs_dog_2", "path": "sequences/dog_2", "startFrame": 1, "endFrame": 594, "nz": 5, "ext": "jpg", "anno_path": "anno/nfs_dog_2.txt", "object_class": "dog", 'occlusion': True},
+            {"name": "nfs_dog_3", "path": "sequences/dog_3", "startFrame": 1, "endFrame": 200, "nz": 5, "ext": "jpg", "anno_path": "anno/nfs_dog_3.txt", "object_class": "dog", 'occlusion': False},
+            {"name": "nfs_dogs", "path": "sequences/dogs", "startFrame": 1, "endFrame": 198, "nz": 5, "ext": "jpg", "anno_path": "anno/nfs_dogs.txt", "object_class": "dog", 'occlusion': True},
+            {"name": "nfs_dollar", "path": "sequences/dollar", "startFrame": 1, "endFrame": 1426, "nz": 5, "ext": "jpg", "anno_path": "anno/nfs_dollar.txt", "object_class": "other", 'occlusion': False},
+            {"name": "nfs_drone", "path": "sequences/drone", "startFrame": 1, "endFrame": 70, "nz": 5, "ext": "jpg", "anno_path": "anno/nfs_drone.txt", "object_class": "aircraft", 'occlusion': False},
+            {"name": "nfs_ducks_lake", "path": "sequences/ducks_lake", "startFrame": 1, "endFrame": 107, "nz": 5, "ext": "jpg", "anno_path": "anno/nfs_ducks_lake.txt", "object_class": "bird", 'occlusion': False},
+            {"name": "nfs_exit", "path": "sequences/exit", "startFrame": 1, "endFrame": 359, "nz": 5, "ext": "jpg", "anno_path": "anno/nfs_exit.txt", "object_class": "other", 'occlusion': False},
+            {"name": "nfs_first", "path": "sequences/first", "startFrame": 1, "endFrame": 435, "nz": 5, "ext": "jpg", "anno_path": "anno/nfs_first.txt", "object_class": "other", 'occlusion': False},
+            {"name": "nfs_flower", "path": "sequences/flower", "startFrame": 1, "endFrame": 448, "nz": 5, "ext": "jpg", "anno_path": "anno/nfs_flower.txt", "object_class": "other", 'occlusion': False},
+            {"name": "nfs_footbal_skill", "path": "sequences/footbal_skill", "startFrame": 1, "endFrame": 131, "nz": 5, "ext": "jpg", "anno_path": "anno/nfs_footbal_skill.txt", "object_class": "ball", 'occlusion': True},
+            {"name": "nfs_helicopter", "path": "sequences/helicopter", "startFrame": 1, "endFrame": 310, "nz": 5, "ext": "jpg", "anno_path": "anno/nfs_helicopter.txt", "object_class": "aircraft", 'occlusion': False},
+            {"name": "nfs_horse_jumping", "path": "sequences/horse_jumping", "startFrame": 1, "endFrame": 117, "nz": 5, "ext": "jpg", "anno_path": "anno/nfs_horse_jumping.txt", "object_class": "horse", 'occlusion': True},
+            {"name": "nfs_horse_running", "path": "sequences/horse_running", "startFrame": 1, "endFrame": 139, "nz": 5, "ext": "jpg", "anno_path": "anno/nfs_horse_running.txt", "object_class": "horse", 'occlusion': False},
+            {"name": "nfs_iceskating_6", "path": "sequences/iceskating_6", "startFrame": 1, "endFrame": 603, "nz": 5, "ext": "jpg", "anno_path": "anno/nfs_iceskating_6.txt", "object_class": "person", 'occlusion': False},
+            {"name": "nfs_jellyfish_5", "path": "sequences/jellyfish_5", "startFrame": 1, "endFrame": 746, "nz": 5, "ext": "jpg", "anno_path": "anno/nfs_jellyfish_5.txt", "object_class": "invertebrate", 'occlusion': False},
+            {"name": "nfs_kid_swing", "path": "sequences/kid_swing", "startFrame": 1, "endFrame": 169, "nz": 5, "ext": "jpg", "anno_path": "anno/nfs_kid_swing.txt", "object_class": "person", 'occlusion': False},
+            {"name": "nfs_motorcross", "path": "sequences/motorcross", "startFrame": 1, "endFrame": 39, "nz": 5, "ext": "jpg", "anno_path": "anno/nfs_motorcross.txt", "object_class": "vehicle", 'occlusion': True},
+            {"name": "nfs_motorcross_kawasaki", "path": "sequences/motorcross_kawasaki", "startFrame": 1, "endFrame": 65, "nz": 5, "ext": "jpg", "anno_path": "anno/nfs_motorcross_kawasaki.txt", "object_class": "vehicle", 'occlusion': False},
+            {"name": "nfs_parkour", "path": "sequences/parkour", "startFrame": 1, "endFrame": 58, "nz": 5, "ext": "jpg", "anno_path": "anno/nfs_parkour.txt", "object_class": "person head", 'occlusion': False},
+            {"name": "nfs_person_scooter", "path": "sequences/person_scooter", "startFrame": 1, "endFrame": 413, "nz": 5, "ext": "jpg", "anno_path": "anno/nfs_person_scooter.txt", "object_class": "person", 'occlusion': True},
+            {"name": "nfs_pingpong_2", "path": "sequences/pingpong_2", "startFrame": 1, "endFrame": 1277, "nz": 5, "ext": "jpg", "anno_path": "anno/nfs_pingpong_2.txt", "object_class": "ball", 'occlusion': False},
+            {"name": "nfs_pingpong_7", "path": "sequences/pingpong_7", "startFrame": 1, "endFrame": 1290, "nz": 5, "ext": "jpg", "anno_path": "anno/nfs_pingpong_7.txt", "object_class": "ball", 'occlusion': False},
+            {"name": "nfs_pingpong_8", "path": "sequences/pingpong_8", "startFrame": 1, "endFrame": 296, "nz": 5, "ext": "jpg", "anno_path": "anno/nfs_pingpong_8.txt", "object_class": "ball", 'occlusion': False},
+            {"name": "nfs_purse", "path": "sequences/purse", "startFrame": 1, "endFrame": 968, "nz": 5, "ext": "jpg", "anno_path": "anno/nfs_purse.txt", "object_class": "other", 'occlusion': False},
+            {"name": "nfs_rubber", "path": "sequences/rubber", "startFrame": 1, "endFrame": 1328, "nz": 5, "ext": "jpg", "anno_path": "anno/nfs_rubber.txt", "object_class": "other", 'occlusion': False},
+            {"name": "nfs_running", "path": "sequences/running", "startFrame": 1, "endFrame": 677, "nz": 5, "ext": "jpg", "anno_path": "anno/nfs_running.txt", "object_class": "person", 'occlusion': False},
+            {"name": "nfs_running_100_m", "path": "sequences/running_100_m", "startFrame": 1, "endFrame": 313, "nz": 5, "ext": "jpg", "anno_path": "anno/nfs_running_100_m.txt", "object_class": "person", 'occlusion': True},
+            {"name": "nfs_running_100_m_2", "path": "sequences/running_100_m_2", "startFrame": 1, "endFrame": 337, "nz": 5, "ext": "jpg", "anno_path": "anno/nfs_running_100_m_2.txt", "object_class": "person", 'occlusion': True},
+            {"name": "nfs_running_2", "path": "sequences/running_2", "startFrame": 1, "endFrame": 363, "nz": 5, "ext": "jpg", "anno_path": "anno/nfs_running_2.txt", "object_class": "person", 'occlusion': False},
+            {"name": "nfs_shuffleboard_1", "path": "sequences/shuffleboard_1", "startFrame": 1, "endFrame": 42, "nz": 5, "ext": "jpg", "anno_path": "anno/nfs_shuffleboard_1.txt", "object_class": "other", 'occlusion': False},
+            {"name": "nfs_shuffleboard_2", "path": "sequences/shuffleboard_2", "startFrame": 1, "endFrame": 41, "nz": 5, "ext": "jpg", "anno_path": "anno/nfs_shuffleboard_2.txt", "object_class": "other", 'occlusion': False},
+            {"name": "nfs_shuffleboard_4", "path": "sequences/shuffleboard_4", "startFrame": 1, "endFrame": 62, "nz": 5, "ext": "jpg", "anno_path": "anno/nfs_shuffleboard_4.txt", "object_class": "other", 'occlusion': False},
+            {"name": "nfs_shuffleboard_5", "path": "sequences/shuffleboard_5", "startFrame": 1, "endFrame": 32, "nz": 5, "ext": "jpg", "anno_path": "anno/nfs_shuffleboard_5.txt", "object_class": "other", 'occlusion': False},
+            {"name": "nfs_shuffleboard_6", "path": "sequences/shuffleboard_6", "startFrame": 1, "endFrame": 52, "nz": 5, "ext": "jpg", "anno_path": "anno/nfs_shuffleboard_6.txt", "object_class": "other", 'occlusion': False},
+            {"name": "nfs_shuffletable_2", "path": "sequences/shuffletable_2", "startFrame": 1, "endFrame": 372, "nz": 5, "ext": "jpg", "anno_path": "anno/nfs_shuffletable_2.txt", "object_class": "other", 'occlusion': False},
+            {"name": "nfs_shuffletable_3", "path": "sequences/shuffletable_3", "startFrame": 1, "endFrame": 368, "nz": 5, "ext": "jpg", "anno_path": "anno/nfs_shuffletable_3.txt", "object_class": "other", 'occlusion': False},
+            {"name": "nfs_shuffletable_4", "path": "sequences/shuffletable_4", "startFrame": 1, "endFrame": 101, "nz": 5, "ext": "jpg", "anno_path": "anno/nfs_shuffletable_4.txt", "object_class": "other", 'occlusion': False},
+            {"name": "nfs_ski_long", "path": "sequences/ski_long", "startFrame": 1, "endFrame": 274, "nz": 5, "ext": "jpg", "anno_path": "anno/nfs_ski_long.txt", "object_class": "person", 'occlusion': False},
+            {"name": "nfs_soccer_ball", "path": "sequences/soccer_ball", "startFrame": 1, "endFrame": 163, "nz": 5, "ext": "jpg", "anno_path": "anno/nfs_soccer_ball.txt", "object_class": "ball", 'occlusion': False},
+            {"name": "nfs_soccer_ball_2", "path": "sequences/soccer_ball_2", "startFrame": 1, "endFrame": 1934, "nz": 5, "ext": "jpg", "anno_path": "anno/nfs_soccer_ball_2.txt", "object_class": "ball", 'occlusion': False},
+            {"name": "nfs_soccer_ball_3", "path": "sequences/soccer_ball_3", "startFrame": 1, "endFrame": 1381, "nz": 5, "ext": "jpg", "anno_path": "anno/nfs_soccer_ball_3.txt", "object_class": "ball", 'occlusion': False},
+            {"name": "nfs_soccer_player_2", "path": "sequences/soccer_player_2", "startFrame": 1, "endFrame": 475, "nz": 5, "ext": "jpg", "anno_path": "anno/nfs_soccer_player_2.txt", "object_class": "person", 'occlusion': False},
+            {"name": "nfs_soccer_player_3", "path": "sequences/soccer_player_3", "startFrame": 1, "endFrame": 319, "nz": 5, "ext": "jpg", "anno_path": "anno/nfs_soccer_player_3.txt", "object_class": "person", 'occlusion': True},
+            {"name": "nfs_stop_sign", "path": "sequences/stop_sign", "startFrame": 1, "endFrame": 302, "nz": 5, "ext": "jpg", "anno_path": "anno/nfs_stop_sign.txt", "object_class": "other", 'occlusion': False},
+            {"name": "nfs_suv", "path": "sequences/suv", "startFrame": 1, "endFrame": 2584, "nz": 5, "ext": "jpg", "anno_path": "anno/nfs_suv.txt", "object_class": "car", 'occlusion': False},
+            {"name": "nfs_tiger", "path": "sequences/tiger", "startFrame": 1, "endFrame": 1556, "nz": 5, "ext": "jpg", "anno_path": "anno/nfs_tiger.txt", "object_class": "mammal", 'occlusion': False},
+            {"name": "nfs_walking", "path": "sequences/walking", "startFrame": 1, "endFrame": 555, "nz": 5, "ext": "jpg", "anno_path": "anno/nfs_walking.txt", "object_class": "person", 'occlusion': False},
+            {"name": "nfs_walking_3", "path": "sequences/walking_3", "startFrame": 1, "endFrame": 1427, "nz": 5, "ext": "jpg", "anno_path": "anno/nfs_walking_3.txt", "object_class": "person", 'occlusion': False},
+            {"name": "nfs_water_ski_2", "path": "sequences/water_ski_2", "startFrame": 1, "endFrame": 47, "nz": 5, "ext": "jpg", "anno_path": "anno/nfs_water_ski_2.txt", "object_class": "person", 'occlusion': False},
+            {"name": "nfs_yoyo", "path": "sequences/yoyo", "startFrame": 1, "endFrame": 67, "nz": 5, "ext": "jpg", "anno_path": "anno/nfs_yoyo.txt", "object_class": "other", 'occlusion': False},
+            {"name": "nfs_zebra_fish", "path": "sequences/zebra_fish", "startFrame": 1, "endFrame": 671, "nz": 5, "ext": "jpg", "anno_path": "anno/nfs_zebra_fish.txt", "object_class": "fish", 'occlusion': False},
+        ]
+
+        return sequence_info_list

lib/test/evaluation/otbdataset.py

@@ -0,0 +1,259 @@
+import numpy as np
+from lib.test.evaluation.data import Sequence, BaseDataset, SequenceList
+from lib.test.utils.load_text import load_text
+
+
+class OTBDataset(BaseDataset):
+    """ OTB-2015 dataset
+    Publication:
+        Object Tracking Benchmark
+        Wu, Yi, Jongwoo Lim, and Ming-hsuan Yan
+        TPAMI, 2015
+        http://faculty.ucmerced.edu/mhyang/papers/pami15_tracking_benchmark.pdf
+    Download the dataset from http://cvlab.hanyang.ac.kr/tracker_benchmark/index.html
+    """
+    def __init__(self):
+        super().__init__()
+        self.base_path = self.env_settings.otb_path
+        self.sequence_info_list = self._get_sequence_info_list()
+
+    def get_sequence_list(self):
+        return SequenceList([self._construct_sequence(s) for s in self.sequence_info_list])
+
+    def _construct_sequence(self, sequence_info):
+        sequence_path = sequence_info['path']
+        nz = sequence_info['nz']
+        ext = sequence_info['ext']
+        start_frame = sequence_info['startFrame']
+        end_frame = sequence_info['endFrame']
+
+        init_omit = 0
+        if 'initOmit' in sequence_info:
+            init_omit = sequence_info['initOmit']
+
+        frames = ['{base_path}/{sequence_path}/{frame:0{nz}}.{ext}'.format(base_path=self.base_path, 
+        sequence_path=sequence_path, frame=frame_num, nz=nz, ext=ext) for frame_num in range(start_frame+init_omit, end_frame+1)]
+
+        # anno_path = '{}/{}'.format(self.base_path, sequence_info['anno_path'])
+        anno_path = '{}/{}/groundtruth.txt'.format(self.base_path, sequence_info['name'])
+
+        # NOTE: OTB has some weird annos which panda cannot handle
+        ground_truth_rect = load_text(str(anno_path), delimiter=(',', None), dtype=np.float64, backend='numpy')
+
+        return Sequence(sequence_info['name'], frames, 'otb', ground_truth_rect[init_omit:,:],
+                        object_class=sequence_info['object_class'])
+
+    def __len__(self):
+        return len(self.sequence_info_list)
+
+    def _get_sequence_info_list(self):
+        sequence_info_list = [
+            {"name": "Basketball", "path": "Basketball/img", "startFrame": 1, "endFrame": 725, "nz": 4, "ext": "jpg", "anno_path": "Basketball/groundtruth_rect.txt",
+             "object_class": "person"},
+            {"name": "Biker", "path": "Biker/img", "startFrame": 1, "endFrame": 142, "nz": 4, "ext": "jpg", "anno_path": "Biker/groundtruth_rect.txt",
+             "object_class": "person head"},
+            {"name": "Bird1", "path": "Bird1/img", "startFrame": 1, "endFrame": 408, "nz": 4, "ext": "jpg", "anno_path": "Bird1/groundtruth_rect.txt",
+             "object_class": "bird"},
+            {"name": "Bird2", "path": "Bird2/img", "startFrame": 1, "endFrame": 99, "nz": 4, "ext": "jpg", "anno_path": "Bird2/groundtruth_rect.txt",
+             "object_class": "bird"},
+            {"name": "BlurBody", "path": "BlurBody/img", "startFrame": 1, "endFrame": 334, "nz": 4, "ext": "jpg", "anno_path": "BlurBody/groundtruth_rect.txt",
+             "object_class": "person"},
+            {"name": "BlurCar1", "path": "BlurCar1/img", "startFrame": 247, "endFrame": 988, "nz": 4, "ext": "jpg", "anno_path": "BlurCar1/groundtruth_rect.txt",
+             "object_class": "car"},
+            {"name": "BlurCar2", "path": "BlurCar2/img", "startFrame": 1, "endFrame": 585, "nz": 4, "ext": "jpg", "anno_path": "BlurCar2/groundtruth_rect.txt",
+             "object_class": "car"},
+            {"name": "BlurCar3", "path": "BlurCar3/img", "startFrame": 3, "endFrame": 359, "nz": 4, "ext": "jpg", "anno_path": "BlurCar3/groundtruth_rect.txt",
+             "object_class": "car"},
+            {"name": "BlurCar4", "path": "BlurCar4/img", "startFrame": 18, "endFrame": 397, "nz": 4, "ext": "jpg", "anno_path": "BlurCar4/groundtruth_rect.txt",
+             "object_class": "car"},
+            {"name": "BlurFace", "path": "BlurFace/img", "startFrame": 1, "endFrame": 493, "nz": 4, "ext": "jpg", "anno_path": "BlurFace/groundtruth_rect.txt",
+             "object_class": "face"},
+            {"name": "BlurOwl", "path": "BlurOwl/img", "startFrame": 1, "endFrame": 631, "nz": 4, "ext": "jpg", "anno_path": "BlurOwl/groundtruth_rect.txt",
+             "object_class": "other"},
+            {"name": "Board", "path": "Board/img", "startFrame": 1, "endFrame": 698, "nz": 5, "ext": "jpg", "anno_path": "Board/groundtruth_rect.txt",
+             "object_class": "other"},
+            {"name": "Bolt", "path": "Bolt/img", "startFrame": 1, "endFrame": 350, "nz": 4, "ext": "jpg", "anno_path": "Bolt/groundtruth_rect.txt",
+             "object_class": "person"},
+            {"name": "Bolt2", "path": "Bolt2/img", "startFrame": 1, "endFrame": 293, "nz": 4, "ext": "jpg", "anno_path": "Bolt2/groundtruth_rect.txt",
+             "object_class": "person"},
+            {"name": "Box", "path": "Box/img", "startFrame": 1, "endFrame": 1161, "nz": 4, "ext": "jpg", "anno_path": "Box/groundtruth_rect.txt",
+             "object_class": "other"},
+            {"name": "Boy", "path": "Boy/img", "startFrame": 1, "endFrame": 602, "nz": 4, "ext": "jpg", "anno_path": "Boy/groundtruth_rect.txt",
+             "object_class": "face"},
+            {"name": "Car1", "path": "Car1/img", "startFrame": 1, "endFrame": 1020, "nz": 4, "ext": "jpg", "anno_path": "Car1/groundtruth_rect.txt",
+             "object_class": "car"},
+            {"name": "Car2", "path": "Car2/img", "startFrame": 1, "endFrame": 913, "nz": 4, "ext": "jpg", "anno_path": "Car2/groundtruth_rect.txt",
+             "object_class": "car"},
+            {"name": "Car24", "path": "Car24/img", "startFrame": 1, "endFrame": 3059, "nz": 4, "ext": "jpg", "anno_path": "Car24/groundtruth_rect.txt",
+             "object_class": "car"},
+            {"name": "Car4", "path": "Car4/img", "startFrame": 1, "endFrame": 659, "nz": 4, "ext": "jpg", "anno_path": "Car4/groundtruth_rect.txt",
+             "object_class": "car"},
+            {"name": "CarDark", "path": "CarDark/img", "startFrame": 1, "endFrame": 393, "nz": 4, "ext": "jpg", "anno_path": "CarDark/groundtruth_rect.txt",
+             "object_class": "car"},
+            {"name": "CarScale", "path": "CarScale/img", "startFrame": 1, "endFrame": 252, "nz": 4, "ext": "jpg", "anno_path": "CarScale/groundtruth_rect.txt",
+             "object_class": "car"},
+            {"name": "ClifBar", "path": "ClifBar/img", "startFrame": 1, "endFrame": 472, "nz": 4, "ext": "jpg", "anno_path": "ClifBar/groundtruth_rect.txt",
+             "object_class": "other"},
+            {"name": "Coke", "path": "Coke/img", "startFrame": 1, "endFrame": 291, "nz": 4, "ext": "jpg", "anno_path": "Coke/groundtruth_rect.txt",
+             "object_class": "other"},
+            {"name": "Couple", "path": "Couple/img", "startFrame": 1, "endFrame": 140, "nz": 4, "ext": "jpg", "anno_path": "Couple/groundtruth_rect.txt",
+             "object_class": "person"},
+            {"name": "Coupon", "path": "Coupon/img", "startFrame": 1, "endFrame": 327, "nz": 4, "ext": "jpg", "anno_path": "Coupon/groundtruth_rect.txt",
+             "object_class": "other"},
+            {"name": "Crossing", "path": "Crossing/img", "startFrame": 1, "endFrame": 120, "nz": 4, "ext": "jpg", "anno_path": "Crossing/groundtruth_rect.txt",
+             "object_class": "person"},
+            {"name": "Crowds", "path": "Crowds/img", "startFrame": 1, "endFrame": 347, "nz": 4, "ext": "jpg", "anno_path": "Crowds/groundtruth_rect.txt",
+             "object_class": "person"},
+            {"name": "Dancer", "path": "Dancer/img", "startFrame": 1, "endFrame": 225, "nz": 4, "ext": "jpg", "anno_path": "Dancer/groundtruth_rect.txt",
+             "object_class": "person"},
+            {"name": "Dancer2", "path": "Dancer2/img", "startFrame": 1, "endFrame": 150, "nz": 4, "ext": "jpg", "anno_path": "Dancer2/groundtruth_rect.txt",
+             "object_class": "person"},
+            {"name": "David", "path": "David/img", "startFrame": 300, "endFrame": 770, "nz": 4, "ext": "jpg", "anno_path": "David/groundtruth_rect.txt",
+             "object_class": "face"},
+            {"name": "David2", "path": "David2/img", "startFrame": 1, "endFrame": 537, "nz": 4, "ext": "jpg", "anno_path": "David2/groundtruth_rect.txt",
+             "object_class": "face"},
+            {"name": "David3", "path": "David3/img", "startFrame": 1, "endFrame": 252, "nz": 4, "ext": "jpg", "anno_path": "David3/groundtruth_rect.txt",
+             "object_class": "person"},
+            {"name": "Deer", "path": "Deer/img", "startFrame": 1, "endFrame": 71, "nz": 4, "ext": "jpg", "anno_path": "Deer/groundtruth_rect.txt",
+             "object_class": "mammal"},
+            {"name": "Diving", "path": "Diving/img", "startFrame": 1, "endFrame": 215, "nz": 4, "ext": "jpg", "anno_path": "Diving/groundtruth_rect.txt",
+             "object_class": "person"},
+            {"name": "Dog", "path": "Dog/img", "startFrame": 1, "endFrame": 127, "nz": 4, "ext": "jpg", "anno_path": "Dog/groundtruth_rect.txt",
+             "object_class": "dog"},
+            {"name": "Dog1", "path": "Dog1/img", "startFrame": 1, "endFrame": 1350, "nz": 4, "ext": "jpg", "anno_path": "Dog1/groundtruth_rect.txt",
+             "object_class": "dog"},
+            {"name": "Doll", "path": "Doll/img", "startFrame": 1, "endFrame": 3872, "nz": 4, "ext": "jpg", "anno_path": "Doll/groundtruth_rect.txt",
+             "object_class": "other"},
+            {"name": "DragonBaby", "path": "DragonBaby/img", "startFrame": 1, "endFrame": 113, "nz": 4, "ext": "jpg", "anno_path": "DragonBaby/groundtruth_rect.txt",
+             "object_class": "face"},
+            {"name": "Dudek", "path": "Dudek/img", "startFrame": 1, "endFrame": 1145, "nz": 4, "ext": "jpg", "anno_path": "Dudek/groundtruth_rect.txt",
+             "object_class": "face"},
+            {"name": "FaceOcc1", "path": "FaceOcc1/img", "startFrame": 1, "endFrame": 892, "nz": 4, "ext": "jpg", "anno_path": "FaceOcc1/groundtruth_rect.txt",
+             "object_class": "face"},
+            {"name": "FaceOcc2", "path": "FaceOcc2/img", "startFrame": 1, "endFrame": 812, "nz": 4, "ext": "jpg", "anno_path": "FaceOcc2/groundtruth_rect.txt",
+             "object_class": "face"},
+            {"name": "Fish", "path": "Fish/img", "startFrame": 1, "endFrame": 476, "nz": 4, "ext": "jpg", "anno_path": "Fish/groundtruth_rect.txt",
+             "object_class": "other"},
+            {"name": "FleetFace", "path": "FleetFace/img", "startFrame": 1, "endFrame": 707, "nz": 4, "ext": "jpg", "anno_path": "FleetFace/groundtruth_rect.txt",
+             "object_class": "face"},
+            {"name": "Football", "path": "Football/img", "startFrame": 1, "endFrame": 362, "nz": 4, "ext": "jpg", "anno_path": "Football/groundtruth_rect.txt",
+             "object_class": "person head"},
+            {"name": "Football1", "path": "Football1/img", "startFrame": 1, "endFrame": 74, "nz": 4, "ext": "jpg", "anno_path": "Football1/groundtruth_rect.txt",
+             "object_class": "face"},
+            {"name": "Freeman1", "path": "Freeman1/img", "startFrame": 1, "endFrame": 326, "nz": 4, "ext": "jpg", "anno_path": "Freeman1/groundtruth_rect.txt",
+             "object_class": "face"},
+            {"name": "Freeman3", "path": "Freeman3/img", "startFrame": 1, "endFrame": 460, "nz": 4, "ext": "jpg", "anno_path": "Freeman3/groundtruth_rect.txt",
+             "object_class": "face"},
+            {"name": "Freeman4", "path": "Freeman4/img", "startFrame": 1, "endFrame": 283, "nz": 4, "ext": "jpg", "anno_path": "Freeman4/groundtruth_rect.txt",
+             "object_class": "face"},
+            {"name": "Girl", "path": "Girl/img", "startFrame": 1, "endFrame": 500, "nz": 4, "ext": "jpg", "anno_path": "Girl/groundtruth_rect.txt",
+             "object_class": "face"},
+            {"name": "Girl2", "path": "Girl2/img", "startFrame": 1, "endFrame": 1500, "nz": 4, "ext": "jpg", "anno_path": "Girl2/groundtruth_rect.txt",
+             "object_class": "person"},
+            {"name": "Gym", "path": "Gym/img", "startFrame": 1, "endFrame": 767, "nz": 4, "ext": "jpg", "anno_path": "Gym/groundtruth_rect.txt",
+             "object_class": "person"},
+            {"name": "Human2", "path": "Human2/img", "startFrame": 1, "endFrame": 1128, "nz": 4, "ext": "jpg", "anno_path": "Human2/groundtruth_rect.txt",
+             "object_class": "person"},
+            {"name": "Human3", "path": "Human3/img", "startFrame": 1, "endFrame": 1698, "nz": 4, "ext": "jpg", "anno_path": "Human3/groundtruth_rect.txt",
+             "object_class": "person"},
+            {"name": "Human4_2", "path": "Human4/img", "startFrame": 1, "endFrame": 667, "nz": 4, "ext": "jpg", "anno_path": "Human4/groundtruth_rect.2.txt",
+             "object_class": "person"},
+            {"name": "Human4", "path": "Human4/img", "startFrame": 1, "endFrame": 667, "nz": 4, "ext": "jpg", "anno_path": "Human4/groundtruth_rect.2.txt",
+             "object_class": "person"},
+            {"name": "Human5", "path": "Human5/img", "startFrame": 1, "endFrame": 713, "nz": 4, "ext": "jpg", "anno_path": "Human5/groundtruth_rect.txt",
+             "object_class": "person"},
+            {"name": "Human6", "path": "Human6/img", "startFrame": 1, "endFrame": 792, "nz": 4, "ext": "jpg", "anno_path": "Human6/groundtruth_rect.txt",
+             "object_class": "person"},
+            {"name": "Human7", "path": "Human7/img", "startFrame": 1, "endFrame": 250, "nz": 4, "ext": "jpg", "anno_path": "Human7/groundtruth_rect.txt",
+             "object_class": "person"},
+            {"name": "Human8", "path": "Human8/img", "startFrame": 1, "endFrame": 128, "nz": 4, "ext": "jpg", "anno_path": "Human8/groundtruth_rect.txt",
+             "object_class": "person"},
+            {"name": "Human9", "path": "Human9/img", "startFrame": 1, "endFrame": 305, "nz": 4, "ext": "jpg", "anno_path": "Human9/groundtruth_rect.txt",
+             "object_class": "person"},
+            {"name": "Ironman", "path": "Ironman/img", "startFrame": 1, "endFrame": 166, "nz": 4, "ext": "jpg", "anno_path": "Ironman/groundtruth_rect.txt",
+             "object_class": "person head"},
+            {"name": "Jogging", "path": "Jogging/img", "startFrame": 1, "endFrame": 307, "nz": 4, "ext": "jpg", "anno_path": "Jogging/groundtruth_rect.1.txt",
+             "object_class": "person"},
+            # {"name": "Jogging_1", "path": "Jogging/img", "startFrame": 1, "endFrame": 307, "nz": 4, "ext": "jpg", "anno_path": "Jogging/groundtruth_rect.1.txt",
+            #  "object_class": "person"},
+            # {"name": "Jogging_2", "path": "Jogging/img", "startFrame": 1, "endFrame": 307, "nz": 4, "ext": "jpg", "anno_path": "Jogging/groundtruth_rect.2.txt",
+            #  "object_class": "person"},
+            {"name": "Jump", "path": "Jump/img", "startFrame": 1, "endFrame": 122, "nz": 4, "ext": "jpg", "anno_path": "Jump/groundtruth_rect.txt",
+             "object_class": "person"},
+            {"name": "Jumping", "path": "Jumping/img", "startFrame": 1, "endFrame": 313, "nz": 4, "ext": "jpg", "anno_path": "Jumping/groundtruth_rect.txt",
+             "object_class": "face"},
+            {"name": "KiteSurf", "path": "KiteSurf/img", "startFrame": 1, "endFrame": 84, "nz": 4, "ext": "jpg", "anno_path": "KiteSurf/groundtruth_rect.txt",
+             "object_class": "face"},
+            {"name": "Lemming", "path": "Lemming/img", "startFrame": 1, "endFrame": 1336, "nz": 4, "ext": "jpg", "anno_path": "Lemming/groundtruth_rect.txt",
+             "object_class": "other"},
+            {"name": "Liquor", "path": "Liquor/img", "startFrame": 1, "endFrame": 1741, "nz": 4, "ext": "jpg", "anno_path": "Liquor/groundtruth_rect.txt",
+             "object_class": "other"},
+            {"name": "Man", "path": "Man/img", "startFrame": 1, "endFrame": 134, "nz": 4, "ext": "jpg", "anno_path": "Man/groundtruth_rect.txt",
+             "object_class": "face"},
+            {"name": "Matrix", "path": "Matrix/img", "startFrame": 1, "endFrame": 100, "nz": 4, "ext": "jpg", "anno_path": "Matrix/groundtruth_rect.txt",
+             "object_class": "person head"},
+            {"name": "Mhyang", "path": "Mhyang/img", "startFrame": 1, "endFrame": 1490, "nz": 4, "ext": "jpg", "anno_path": "Mhyang/groundtruth_rect.txt",
+             "object_class": "face"},
+            {"name": "MotorRolling", "path": "MotorRolling/img", "startFrame": 1, "endFrame": 164, "nz": 4, "ext": "jpg", "anno_path": "MotorRolling/groundtruth_rect.txt",
+             "object_class": "vehicle"},
+            {"name": "MountainBike", "path": "MountainBike/img", "startFrame": 1, "endFrame": 228, "nz": 4, "ext": "jpg", "anno_path": "MountainBike/groundtruth_rect.txt",
+             "object_class": "bicycle"},
+            {"name": "Panda", "path": "Panda/img", "startFrame": 1, "endFrame": 1000, "nz": 4, "ext": "jpg", "anno_path": "Panda/groundtruth_rect.txt",
+             "object_class": "mammal"},
+            {"name": "RedTeam", "path": "RedTeam/img", "startFrame": 1, "endFrame": 1918, "nz": 4, "ext": "jpg", "anno_path": "RedTeam/groundtruth_rect.txt",
+             "object_class": "vehicle"},
+            {"name": "Rubik", "path": "Rubik/img", "startFrame": 1, "endFrame": 1997, "nz": 4, "ext": "jpg", "anno_path": "Rubik/groundtruth_rect.txt",
+             "object_class": "other"},
+            {"name": "Shaking", "path": "Shaking/img", "startFrame": 1, "endFrame": 365, "nz": 4, "ext": "jpg", "anno_path": "Shaking/groundtruth_rect.txt",
+             "object_class": "face"},
+            {"name": "Singer1", "path": "Singer1/img", "startFrame": 1, "endFrame": 351, "nz": 4, "ext": "jpg", "anno_path": "Singer1/groundtruth_rect.txt",
+             "object_class": "person"},
+            {"name": "Singer2", "path": "Singer2/img", "startFrame": 1, "endFrame": 366, "nz": 4, "ext": "jpg", "anno_path": "Singer2/groundtruth_rect.txt",
+             "object_class": "person"},
+            {"name": "Skater", "path": "Skater/img", "startFrame": 1, "endFrame": 160, "nz": 4, "ext": "jpg", "anno_path": "Skater/groundtruth_rect.txt",
+             "object_class": "person"},
+            {"name": "Skater2", "path": "Skater2/img", "startFrame": 1, "endFrame": 435, "nz": 4, "ext": "jpg", "anno_path": "Skater2/groundtruth_rect.txt",
+             "object_class": "person"},
+            {"name": "Skating1", "path": "Skating1/img", "startFrame": 1, "endFrame": 400, "nz": 4, "ext": "jpg", "anno_path": "Skating1/groundtruth_rect.txt",
+             "object_class": "person"},
+            {"name": "Skating2", "path": "Skating2/img", "startFrame": 1, "endFrame": 473, "nz": 4, "ext": "jpg", "anno_path": "Skating2/groundtruth_rect.1.txt",
+             "object_class": "person"},
+            {"name": "Skating2_1", "path": "Skating2/img", "startFrame": 1, "endFrame": 473, "nz": 4, "ext": "jpg", "anno_path": "Skating2/groundtruth_rect.1.txt",
+             "object_class": "person"},
+            {"name": "Skating2_2", "path": "Skating2/img", "startFrame": 1, "endFrame": 473, "nz": 4, "ext": "jpg", "anno_path": "Skating2/groundtruth_rect.2.txt",
+             "object_class": "person"},
+            {"name": "Skiing", "path": "Skiing/img", "startFrame": 1, "endFrame": 81, "nz": 4, "ext": "jpg", "anno_path": "Skiing/groundtruth_rect.txt",
+             "object_class": "person"},
+            {"name": "Soccer", "path": "Soccer/img", "startFrame": 1, "endFrame": 392, "nz": 4, "ext": "jpg", "anno_path": "Soccer/groundtruth_rect.txt",
+             "object_class": "face"},
+            {"name": "Subway", "path": "Subway/img", "startFrame": 1, "endFrame": 175, "nz": 4, "ext": "jpg", "anno_path": "Subway/groundtruth_rect.txt",
+             "object_class": "person"},
+            {"name": "Surfer", "path": "Surfer/img", "startFrame": 1, "endFrame": 376, "nz": 4, "ext": "jpg", "anno_path": "Surfer/groundtruth_rect.txt",
+             "object_class": "person head"},
+            {"name": "Suv", "path": "Suv/img", "startFrame": 1, "endFrame": 945, "nz": 4, "ext": "jpg", "anno_path": "Suv/groundtruth_rect.txt",
+             "object_class": "car"},
+            {"name": "Sylvester", "path": "Sylvester/img", "startFrame": 1, "endFrame": 1345, "nz": 4, "ext": "jpg", "anno_path": "Sylvester/groundtruth_rect.txt",
+             "object_class": "other"},
+            {"name": "Tiger1", "path": "Tiger1/img", "startFrame": 1, "endFrame": 354, "nz": 4, "ext": "jpg", "anno_path": "Tiger1/groundtruth_rect.txt", "initOmit": 5,
+             "object_class": "other"},
+            {"name": "Tiger2", "path": "Tiger2/img", "startFrame": 1, "endFrame": 365, "nz": 4, "ext": "jpg", "anno_path": "Tiger2/groundtruth_rect.txt",
+             "object_class": "other"},
+            {"name": "Toy", "path": "Toy/img", "startFrame": 1, "endFrame": 271, "nz": 4, "ext": "jpg", "anno_path": "Toy/groundtruth_rect.txt",
+             "object_class": "other"},
+            {"name": "Trans", "path": "Trans/img", "startFrame": 1, "endFrame": 124, "nz": 4, "ext": "jpg", "anno_path": "Trans/groundtruth_rect.txt",
+             "object_class": "other"},
+            {"name": "Trellis", "path": "Trellis/img", "startFrame": 1, "endFrame": 569, "nz": 4, "ext": "jpg", "anno_path": "Trellis/groundtruth_rect.txt",
+             "object_class": "face"},
+            {"name": "Twinnings", "path": "Twinnings/img", "startFrame": 1, "endFrame": 472, "nz": 4, "ext": "jpg", "anno_path": "Twinnings/groundtruth_rect.txt",
+             "object_class": "other"},
+            {"name": "Vase", "path": "Vase/img", "startFrame": 1, "endFrame": 271, "nz": 4, "ext": "jpg", "anno_path": "Vase/groundtruth_rect.txt",
+             "object_class": "other"},
+            {"name": "Walking", "path": "Walking/img", "startFrame": 1, "endFrame": 412, "nz": 4, "ext": "jpg", "anno_path": "Walking/groundtruth_rect.txt",
+             "object_class": "person"},
+            {"name": "Walking2", "path": "Walking2/img", "startFrame": 1, "endFrame": 500, "nz": 4, "ext": "jpg", "anno_path": "Walking2/groundtruth_rect.txt",
+             "object_class": "person"},
+            {"name": "Woman", "path": "Woman/img", "startFrame": 1, "endFrame": 597, "nz": 4, "ext": "jpg", "anno_path": "Woman/groundtruth_rect.txt",
+             "object_class": "person"}
+        ]
+    
+        return sequence_info_list

lib/test/evaluation/running.py

@@ -0,0 +1,183 @@
+import numpy as np
+import multiprocessing
+import os
+import sys
+from itertools import product
+from collections import OrderedDict
+from lib.test.evaluation import Sequence, Tracker
+import torch
+
+
+def _save_tracker_output(seq: Sequence, tracker: Tracker, output: dict):
+    """Saves the output of the tracker."""
+
+    if not os.path.exists(tracker.results_dir):
+        print("create tracking result dir:", tracker.results_dir)
+        os.makedirs(tracker.results_dir)
+    if seq.dataset in ['trackingnet', 'got10k']:
+        if not os.path.exists(os.path.join(tracker.results_dir, seq.dataset)):
+            os.makedirs(os.path.join(tracker.results_dir, seq.dataset))
+    '''2021.1.5 create new folder for these two datasets'''
+    if seq.dataset in ['trackingnet', 'got10k']:
+        base_results_path = os.path.join(tracker.results_dir, seq.dataset, seq.name)
+    else:
+        base_results_path = os.path.join(tracker.results_dir, seq.name)
+
+    def save_bb(file, data):
+        tracked_bb = np.array(data).astype(int)
+        np.savetxt(file, tracked_bb, delimiter='\t', fmt='%d')
+
+    def save_time(file, data):
+        exec_times = np.array(data).astype(float)
+        np.savetxt(file, exec_times, delimiter='\t', fmt='%f')
+
+    def save_score(file, data):
+        scores = np.array(data).astype(float)
+        np.savetxt(file, scores, delimiter='\t', fmt='%.2f')
+
+    def _convert_dict(input_dict):
+        data_dict = {}
+        for elem in input_dict:
+            for k, v in elem.items():
+                if k in data_dict.keys():
+                    data_dict[k].append(v)
+                else:
+                    data_dict[k] = [v, ]
+        return data_dict
+
+    for key, data in output.items():
+        # If data is empty
+        if not data:
+            continue
+
+        if key == 'target_bbox':
+            if isinstance(data[0], (dict, OrderedDict)):
+                data_dict = _convert_dict(data)
+
+                for obj_id, d in data_dict.items():
+                    bbox_file = '{}_{}.txt'.format(base_results_path, obj_id)
+                    save_bb(bbox_file, d)
+            else:
+                # Single-object mode
+                bbox_file = '{}.txt'.format(base_results_path)
+                save_bb(bbox_file, data)
+
+        if key == 'all_boxes':
+            if isinstance(data[0], (dict, OrderedDict)):
+                data_dict = _convert_dict(data)
+
+                for obj_id, d in data_dict.items():
+                    bbox_file = '{}_{}_all_boxes.txt'.format(base_results_path, obj_id)
+                    save_bb(bbox_file, d)
+            else:
+                # Single-object mode
+                bbox_file = '{}_all_boxes.txt'.format(base_results_path)
+                save_bb(bbox_file, data)
+
+        if key == 'all_scores':
+            if isinstance(data[0], (dict, OrderedDict)):
+                data_dict = _convert_dict(data)
+
+                for obj_id, d in data_dict.items():
+                    bbox_file = '{}_{}_all_scores.txt'.format(base_results_path, obj_id)
+                    save_score(bbox_file, d)
+            else:
+                # Single-object mode
+                print("saving scores...")
+                bbox_file = '{}_all_scores.txt'.format(base_results_path)
+                save_score(bbox_file, data)
+
+        elif key == 'time':
+            if isinstance(data[0], dict):
+                data_dict = _convert_dict(data)
+
+                for obj_id, d in data_dict.items():
+                    timings_file = '{}_{}_time.txt'.format(base_results_path, obj_id)
+                    save_time(timings_file, d)
+            else:
+                timings_file = '{}_time.txt'.format(base_results_path)
+                save_time(timings_file, data)
+
+
+def run_sequence(seq: Sequence, tracker: Tracker, debug=False, num_gpu=8):
+    """Runs a tracker on a sequence."""
+    '''2021.1.2 Add multiple gpu support'''
+    try:
+        worker_name = multiprocessing.current_process().name
+        worker_id = int(worker_name[worker_name.find('-') + 1:]) - 1
+        gpu_id = worker_id % num_gpu
+        torch.cuda.set_device(gpu_id)
+    except:
+        pass
+
+    def _results_exist():
+        if seq.object_ids is None:
+            if seq.dataset in ['trackingnet', 'got10k']:
+                base_results_path = os.path.join(tracker.results_dir, seq.dataset, seq.name)
+                bbox_file = '{}.txt'.format(base_results_path)
+            else:
+                bbox_file = '{}/{}.txt'.format(tracker.results_dir, seq.name)
+            return os.path.isfile(bbox_file)
+        else:
+            bbox_files = ['{}/{}_{}.txt'.format(tracker.results_dir, seq.name, obj_id) for obj_id in seq.object_ids]
+            missing = [not os.path.isfile(f) for f in bbox_files]
+            return sum(missing) == 0
+
+    if _results_exist() and not debug:
+        print('FPS: {}'.format(-1))
+        return
+
+    print('Tracker: {} {} {} ,  Sequence: {}'.format(tracker.name, tracker.parameter_name, tracker.run_id, seq.name))
+
+    if debug:
+        output = tracker.run_sequence(seq, debug=debug)
+    else:
+        try:
+            output = tracker.run_sequence(seq, debug=debug)
+        except Exception as e:
+            print(e)
+            return
+
+    sys.stdout.flush()
+
+    if isinstance(output['time'][0], (dict, OrderedDict)):
+        exec_time = sum([sum(times.values()) for times in output['time']])
+        num_frames = len(output['time'])
+    else:
+        exec_time = sum(output['time'])
+        num_frames = len(output['time'])
+
+    print('FPS: {}'.format(num_frames / exec_time))
+
+    if not debug:
+        _save_tracker_output(seq, tracker, output)
+
+
+def run_dataset(dataset, trackers, debug=False, threads=0, num_gpus=8):
+    """Runs a list of trackers on a dataset.
+    args:
+        dataset: List of Sequence instances, forming a dataset.
+        trackers: List of Tracker instances.
+        debug: Debug level.
+        threads: Number of threads to use (default 0).
+    """
+    multiprocessing.set_start_method('spawn', force=True)
+
+    print('Evaluating {:4d} trackers on {:5d} sequences'.format(len(trackers), len(dataset)))
+
+    multiprocessing.set_start_method('spawn', force=True)
+
+    if threads == 0:
+        mode = 'sequential'
+    else:
+        mode = 'parallel'
+
+    if mode == 'sequential':
+        for seq in dataset:
+            for tracker_info in trackers:
+                run_sequence(seq, tracker_info, debug=debug)
+    elif mode == 'parallel':
+        param_list = [(seq, tracker_info, debug, num_gpus) for seq, tracker_info in product(dataset, trackers)]
+        with multiprocessing.Pool(processes=threads) as pool:
+            pool.starmap(run_sequence, param_list)
+    print('Done')

lib/test/evaluation/tc128cedataset.py

@@ -0,0 +1,46 @@
+import numpy as np
+from lib.test.evaluation.data import Sequence, BaseDataset, SequenceList
+import os
+import glob
+import six
+
+
+class TC128CEDataset(BaseDataset):
+    """
+    TC-128 Dataset (78 newly added sequences)
+    modified from the implementation in got10k-toolkit (https://github.com/got-10k/toolkit)
+    """
+    def __init__(self):
+        super().__init__()
+        self.base_path = self.env_settings.tc128_path
+        self.anno_files = sorted(glob.glob(
+            os.path.join(self.base_path, '*/*_gt.txt')))
+        """filter the newly added sequences (_ce)"""
+        self.anno_files = [s for s in self.anno_files if "_ce" in s]
+        self.seq_dirs = [os.path.dirname(f) for f in self.anno_files]
+        self.seq_names = [os.path.basename(d) for d in self.seq_dirs]
+        # valid frame range for each sequence
+        self.range_files = [glob.glob(os.path.join(d, '*_frames.txt'))[0] for d in self.seq_dirs]
+
+    def get_sequence_list(self):
+        return SequenceList([self._construct_sequence(s) for s in self.seq_names])
+
+    def _construct_sequence(self, sequence_name):
+        if isinstance(sequence_name, six.string_types):
+            if not sequence_name in self.seq_names:
+                raise Exception('Sequence {} not found.'.format(sequence_name))
+            index = self.seq_names.index(sequence_name)
+        # load valid frame range
+        frames = np.loadtxt(self.range_files[index], dtype=int, delimiter=',')
+        img_files = [os.path.join(self.seq_dirs[index], 'img/%04d.jpg' % f) for f in range(frames[0], frames[1] + 1)]
+
+        # load annotations
+        anno = np.loadtxt(self.anno_files[index], delimiter=',')
+        assert len(img_files) == len(anno)
+        assert anno.shape[1] == 4
+
+        # return img_files, anno
+        return Sequence(sequence_name, img_files, 'tc128', anno.reshape(-1, 4))
+
+    def __len__(self):
+        return len(self.seq_names)

lib/test/evaluation/tc128dataset.py

@@ -0,0 +1,44 @@
+import numpy as np
+from lib.test.evaluation.data import Sequence, BaseDataset, SequenceList
+import os
+import glob
+import six
+
+
+class TC128Dataset(BaseDataset):
+    """
+    TC-128 Dataset
+    modified from the implementation in got10k-toolkit (https://github.com/got-10k/toolkit)
+    """
+    def __init__(self):
+        super().__init__()
+        self.base_path = self.env_settings.tc128_path
+        self.anno_files = sorted(glob.glob(
+            os.path.join(self.base_path, '*/*_gt.txt')))
+        self.seq_dirs = [os.path.dirname(f) for f in self.anno_files]
+        self.seq_names = [os.path.basename(d) for d in self.seq_dirs]
+        # valid frame range for each sequence
+        self.range_files = [glob.glob(os.path.join(d, '*_frames.txt'))[0] for d in self.seq_dirs]
+
+    def get_sequence_list(self):
+        return SequenceList([self._construct_sequence(s) for s in self.seq_names])
+
+    def _construct_sequence(self, sequence_name):
+        if isinstance(sequence_name, six.string_types):
+            if not sequence_name in self.seq_names:
+                raise Exception('Sequence {} not found.'.format(sequence_name))
+            index = self.seq_names.index(sequence_name)
+        # load valid frame range
+        frames = np.loadtxt(self.range_files[index], dtype=int, delimiter=',')
+        img_files = [os.path.join(self.seq_dirs[index], 'img/%04d.jpg' % f) for f in range(frames[0], frames[1] + 1)]
+
+        # load annotations
+        anno = np.loadtxt(self.anno_files[index], delimiter=',')
+        assert len(img_files) == len(anno)
+        assert anno.shape[1] == 4
+
+        # return img_files, anno
+        return Sequence(sequence_name, img_files, 'tc128', anno.reshape(-1, 4))
+
+    def __len__(self):
+        return len(self.seq_names)

lib/test/evaluation/tnl2kdataset.py

@@ -0,0 +1,50 @@
+import os
+
+import numpy as np
+from lib.test.evaluation.data import Sequence, BaseDataset, SequenceList
+from lib.test.utils.load_text import load_text, load_str
+
+############
+# current 00000492.png of test_015_Sord_video_Q01_done is damaged and replaced by a copy of 00000491.png
+############
+
+
+class TNL2kDataset(BaseDataset):
+    """
+    TNL2k test set
+    """
+    def __init__(self):
+        super().__init__()
+        self.base_path = self.env_settings.tnl2k_path
+        self.sequence_list = self._get_sequence_list()
+
+    def get_sequence_list(self):
+        return SequenceList([self._construct_sequence(s) for s in self.sequence_list])
+
+    def _construct_sequence(self, sequence_name):
+        # class_name = sequence_name.split('-')[0]
+        anno_path = '{}/{}/groundtruth.txt'.format(self.base_path, sequence_name)
+
+        ground_truth_rect = load_text(str(anno_path), delimiter=',', dtype=np.float64)
+
+        text_dsp_path = '{}/{}/language.txt'.format(self.base_path, sequence_name)
+        text_dsp = load_str(text_dsp_path)
+
+        frames_path = '{}/{}/imgs'.format(self.base_path, sequence_name)
+        frames_list = [f for f in os.listdir(frames_path)]
+        frames_list = sorted(frames_list)
+        frames_list = ['{}/{}'.format(frames_path, frame_i) for frame_i in frames_list]
+
+        # target_class = class_name
+        return Sequence(sequence_name, frames_list, 'tnl2k', ground_truth_rect.reshape(-1, 4), text_dsp=text_dsp)
+
+    def __len__(self):
+        return len(self.sequence_list)
+
+    def _get_sequence_list(self):
+        sequence_list = []
+        for seq in os.listdir(self.base_path):
+            if os.path.isdir(os.path.join(self.base_path, seq)):
+                sequence_list.append(seq)
+
+        return sequence_list

lib/test/evaluation/tracker.py

@@ -0,0 +1,291 @@
+import importlib
+import os
+from collections import OrderedDict
+from lib.test.evaluation.environment import env_settings
+import time
+import cv2 as cv
+
+from lib.utils.lmdb_utils import decode_img
+from pathlib import Path
+import numpy as np
+
+
+def trackerlist(name: str, parameter_name: str, dataset_name: str, run_ids = None, display_name: str = None,
+                result_only=False):
+    """Generate list of trackers.
+    args:
+        name: Name of tracking method.
+        parameter_name: Name of parameter file.
+        run_ids: A single or list of run_ids.
+        display_name: Name to be displayed in the result plots.
+    """
+    if run_ids is None or isinstance(run_ids, int):
+        run_ids = [run_ids]
+    return [Tracker(name, parameter_name, dataset_name, run_id, display_name, result_only) for run_id in run_ids]
+
+
+class Tracker:
+    """Wraps the tracker for evaluation and running purposes.
+    args:
+        name: Name of tracking method.
+        parameter_name: Name of parameter file.
+        run_id: The run id.
+        display_name: Name to be displayed in the result plots.
+    """
+
+    def __init__(self, name: str, parameter_name: str, dataset_name: str, run_id: int = None, display_name: str = None,
+                 result_only=False):
+        assert run_id is None or isinstance(run_id, int)
+
+        self.name = name
+        self.parameter_name = parameter_name
+        self.dataset_name = dataset_name
+        self.run_id = run_id
+        self.display_name = display_name
+
+        env = env_settings()
+        if self.run_id is None:
+            self.results_dir = '{}/{}/{}'.format(env.results_path, self.name, self.parameter_name)
+        else:
+            self.results_dir = '{}/{}/{}_{:03d}'.format(env.results_path, self.name, self.parameter_name, self.run_id)
+        if result_only:
+            self.results_dir = '{}/{}'.format(env.results_path, self.name)
+
+        tracker_module_abspath = os.path.abspath(os.path.join(os.path.dirname(__file__),
+                                                              '..', 'tracker', '%s.py' % self.name))
+        if os.path.isfile(tracker_module_abspath):
+            tracker_module = importlib.import_module('lib.test.tracker.{}'.format(self.name))
+            self.tracker_class = tracker_module.get_tracker_class()
+        else:
+            self.tracker_class = None
+
+    def create_tracker(self, params):
+        tracker = self.tracker_class(params, self.dataset_name)
+        return tracker
+
+    def run_sequence(self, seq, debug=None):
+        """Run tracker on sequence.
+        args:
+            seq: Sequence to run the tracker on.
+            visualization: Set visualization flag (None means default value specified in the parameters).
+            debug: Set debug level (None means default value specified in the parameters).
+            multiobj_mode: Which mode to use for multiple objects.
+        """
+        params = self.get_parameters()
+
+        debug_ = debug
+        if debug is None:
+            debug_ = getattr(params, 'debug', 0)
+
+        params.debug = debug_
+
+        # Get init information
+        init_info = seq.init_info()
+
+        tracker = self.create_tracker(params)
+
+        output = self._track_sequence(tracker, seq, init_info)
+        return output
+
+    def _track_sequence(self, tracker, seq, init_info):
+        # Define outputs
+        # Each field in output is a list containing tracker prediction for each frame.
+
+        # In case of single object tracking mode:
+        # target_bbox[i] is the predicted bounding box for frame i
+        # time[i] is the processing time for frame i
+
+        # In case of multi object tracking mode:
+        # target_bbox[i] is an OrderedDict, where target_bbox[i][obj_id] is the predicted box for target obj_id in
+        # frame i
+        # time[i] is either the processing time for frame i, or an OrderedDict containing processing times for each
+        # object in frame i
+
+        output = {'target_bbox': [],
+                  'time': []}
+        if tracker.params.save_all_boxes:
+            output['all_boxes'] = []
+            output['all_scores'] = []
+
+        def _store_outputs(tracker_out: dict, defaults=None):
+            defaults = {} if defaults is None else defaults
+            for key in output.keys():
+                val = tracker_out.get(key, defaults.get(key, None))
+                if key in tracker_out or val is not None:
+                    output[key].append(val)
+
+        # Initialize
+        image = self._read_image(seq.frames[0])
+
+        start_time = time.time()
+        out = tracker.initialize(image, init_info)
+        if out is None:
+            out = {}
+
+        prev_output = OrderedDict(out)
+        init_default = {'target_bbox': init_info.get('init_bbox'),
+                        'time': time.time() - start_time}
+        if tracker.params.save_all_boxes:
+            init_default['all_boxes'] = out['all_boxes']
+            init_default['all_scores'] = out['all_scores']
+
+        _store_outputs(out, init_default)
+
+        for frame_num, frame_path in enumerate(seq.frames[1:], start=1):
+            image = self._read_image(frame_path)
+
+            start_time = time.time()
+
+            info = seq.frame_info(frame_num)
+            info['previous_output'] = prev_output
+
+            if len(seq.ground_truth_rect) > 1:
+                info['gt_bbox'] = seq.ground_truth_rect[frame_num]
+            out = tracker.track(image, info)
+            prev_output = OrderedDict(out)
+            _store_outputs(out, {'time': time.time() - start_time})
+
+        for key in ['target_bbox', 'all_boxes', 'all_scores']:
+            if key in output and len(output[key]) <= 1:
+                output.pop(key)
+
+        return output
+
+    def run_video(self, videofilepath, optional_box=None, debug=None, visdom_info=None, save_results=False):
+        """Run the tracker with the vieofile.
+        args:
+            debug: Debug level.
+        """
+
+        params = self.get_parameters()
+
+        debug_ = debug
+        if debug is None:
+            debug_ = getattr(params, 'debug', 0)
+        params.debug = debug_
+
+        params.tracker_name = self.name
+        params.param_name = self.parameter_name
+        # self._init_visdom(visdom_info, debug_)
+
+        multiobj_mode = getattr(params, 'multiobj_mode', getattr(self.tracker_class, 'multiobj_mode', 'default'))
+
+        if multiobj_mode == 'default':
+            tracker = self.create_tracker(params)
+
+        elif multiobj_mode == 'parallel':
+            tracker = MultiObjectWrapper(self.tracker_class, params, self.visdom, fast_load=True)
+        else:
+            raise ValueError('Unknown multi object mode {}'.format(multiobj_mode))
+
+        assert os.path.isfile(videofilepath), "Invalid param {}".format(videofilepath)
+        ", videofilepath must be a valid videofile"
+
+        output_boxes = []
+
+        cap = cv.VideoCapture(videofilepath)
+        display_name = 'Display: ' + tracker.params.tracker_name
+        cv.namedWindow(display_name, cv.WINDOW_NORMAL | cv.WINDOW_KEEPRATIO)
+        cv.resizeWindow(display_name, 960, 720)
+        success, frame = cap.read()
+        cv.imshow(display_name, frame)
+
+        def _build_init_info(box):
+            return {'init_bbox': box}
+
+        if success is not True:
+            print("Read frame from {} failed.".format(videofilepath))
+            exit(-1)
+        if optional_box is not None:
+            assert isinstance(optional_box, (list, tuple))
+            assert len(optional_box) == 4, "valid box's foramt is [x,y,w,h]"
+            tracker.initialize(frame, _build_init_info(optional_box))
+            output_boxes.append(optional_box)
+        else:
+            while True:
+                # cv.waitKey()
+                frame_disp = frame.copy()
+
+                cv.putText(frame_disp, 'Select target ROI and press ENTER', (20, 30), cv.FONT_HERSHEY_COMPLEX_SMALL,
+                           1.5, (0, 0, 0), 1)
+
+                x, y, w, h = cv.selectROI(display_name, frame_disp, fromCenter=False)
+                init_state = [x, y, w, h]
+                tracker.initialize(frame, _build_init_info(init_state))
+                output_boxes.append(init_state)
+                break
+
+        while True:
+            ret, frame = cap.read()
+
+            if frame is None:
+                break
+
+            frame_disp = frame.copy()
+
+            # Draw box
+            out = tracker.track(frame)
+            state = [int(s) for s in out['target_bbox']]
+            output_boxes.append(state)
+
+            cv.rectangle(frame_disp, (state[0], state[1]), (state[2] + state[0], state[3] + state[1]),
+                         (0, 255, 0), 5)
+
+            font_color = (0, 0, 0)
+            cv.putText(frame_disp, 'Tracking!', (20, 30), cv.FONT_HERSHEY_COMPLEX_SMALL, 1,
+                       font_color, 1)
+            cv.putText(frame_disp, 'Press r to reset', (20, 55), cv.FONT_HERSHEY_COMPLEX_SMALL, 1,
+                       font_color, 1)
+            cv.putText(frame_disp, 'Press q to quit', (20, 80), cv.FONT_HERSHEY_COMPLEX_SMALL, 1,
+                       font_color, 1)
+
+            # Display the resulting frame
+            cv.imshow(display_name, frame_disp)
+            key = cv.waitKey(1)
+            if key == ord('q'):
+                break
+            elif key == ord('r'):
+                ret, frame = cap.read()
+                frame_disp = frame.copy()
+
+                cv.putText(frame_disp, 'Select target ROI and press ENTER', (20, 30), cv.FONT_HERSHEY_COMPLEX_SMALL, 1.5,
+                           (0, 0, 0), 1)
+
+                cv.imshow(display_name, frame_disp)
+                x, y, w, h = cv.selectROI(display_name, frame_disp, fromCenter=False)
+                init_state = [x, y, w, h]
+                tracker.initialize(frame, _build_init_info(init_state))
+                output_boxes.append(init_state)
+
+        # When everything done, release the capture
+        cap.release()
+        cv.destroyAllWindows()
+
+        if save_results:
+            if not os.path.exists(self.results_dir):
+                os.makedirs(self.results_dir)
+            video_name = Path(videofilepath).stem
+            base_results_path = os.path.join(self.results_dir, 'video_{}'.format(video_name))
+
+            tracked_bb = np.array(output_boxes).astype(int)
+            bbox_file = '{}.txt'.format(base_results_path)
+            np.savetxt(bbox_file, tracked_bb, delimiter='\t', fmt='%d')
+
+
+    def get_parameters(self):
+        """Get parameters."""
+        param_module = importlib.import_module('lib.test.parameter.{}'.format(self.name))
+        params = param_module.parameters(self.parameter_name)
+        return params
+
+    def _read_image(self, image_file: str):
+        if isinstance(image_file, str):
+            im = cv.imread(image_file)
+            return cv.cvtColor(im, cv.COLOR_BGR2RGB)
+        elif isinstance(image_file, list) and len(image_file) == 2:
+            return decode_img(image_file[0], image_file[1])
+        else:
+            raise ValueError("type of image_file should be str or list")
+
+
+

lib/test/evaluation/trackingnetdataset.py

@@ -0,0 +1,58 @@
+import numpy as np
+from lib.test.evaluation.data import Sequence, BaseDataset, SequenceList
+import os
+from lib.test.utils.load_text import load_text
+
+
+class TrackingNetDataset(BaseDataset):
+    """ TrackingNet test set.
+
+    Publication:
+        TrackingNet: A Large-Scale Dataset and Benchmark for Object Tracking in the Wild.
+        Matthias Mueller,Adel Bibi, Silvio Giancola, Salman Al-Subaihi and Bernard Ghanem
+        ECCV, 2018
+        https://ivul.kaust.edu.sa/Documents/Publications/2018/TrackingNet%20A%20Large%20Scale%20Dataset%20and%20Benchmark%20for%20Object%20Tracking%20in%20the%20Wild.pdf
+
+    Download the dataset using the toolkit https://github.com/SilvioGiancola/TrackingNet-devkit.
+    """
+    def __init__(self):
+        super().__init__()
+        self.base_path = self.env_settings.trackingnet_path
+
+        sets = 'TEST'
+        if not isinstance(sets, (list, tuple)):
+            if sets == 'TEST':
+                sets = ['TEST']
+            elif sets == 'TRAIN':
+                sets = ['TRAIN_{}'.format(i) for i in range(5)]
+
+        self.sequence_list = self._list_sequences(self.base_path, sets)
+
+    def get_sequence_list(self):
+        return SequenceList([self._construct_sequence(set, seq_name) for set, seq_name in self.sequence_list])
+
+    def _construct_sequence(self, set, sequence_name):
+        anno_path = '{}/{}/anno/{}.txt'.format(self.base_path, set, sequence_name)
+
+        ground_truth_rect = load_text(str(anno_path), delimiter=',', dtype=np.float64, backend='numpy')
+
+        frames_path = '{}/{}/frames/{}'.format(self.base_path, set, sequence_name)
+        frame_list = [frame for frame in os.listdir(frames_path) if frame.endswith(".jpg")]
+        frame_list.sort(key=lambda f: int(f[:-4]))
+        frames_list = [os.path.join(frames_path, frame) for frame in frame_list]
+
+        return Sequence(sequence_name, frames_list, 'trackingnet', ground_truth_rect.reshape(-1, 4))
+
+    def __len__(self):
+        return len(self.sequence_list)
+
+    def _list_sequences(self, root, set_ids):
+        sequence_list = []
+
+        for s in set_ids:
+            anno_dir = os.path.join(root, s, "anno")
+            sequences_cur_set = [(s, os.path.splitext(f)[0]) for f in os.listdir(anno_dir) if f.endswith('.txt')]
+
+            sequence_list += sequences_cur_set
+
+        return sequence_list

lib/test/evaluation/uavdataset.py

@@ -0,0 +1,298 @@
+import numpy as np
+from lib.test.evaluation.data import Sequence, BaseDataset, SequenceList
+from lib.test.utils.load_text import load_text
+
+
+class UAVDataset(BaseDataset):
+    """ UAV123 dataset.
+    Publication:
+        A Benchmark and Simulator for UAV Tracking.
+        Matthias Mueller, Neil Smith and Bernard Ghanem
+        ECCV, 2016
+        https://ivul.kaust.edu.sa/Documents/Publications/2016/A%20Benchmark%20and%20Simulator%20for%20UAV%20Tracking.pdf
+    Download the dataset from https://ivul.kaust.edu.sa/Pages/pub-benchmark-simulator-uav.aspx
+    """
+    def __init__(self):
+        super().__init__()
+        self.base_path = self.env_settings.uav_path
+        self.sequence_info_list = self._get_sequence_info_list()
+
+    def get_sequence_list(self):
+        # return SequenceList([self._construct_sequence(s) for s in self.sequence_info_list])
+        return SequenceList([self._construct_sequence(s) for s in self.sequence_info_list])
+
+    def _construct_sequence(self, sequence_info):
+        sequence_path = sequence_info['path']
+        nz = sequence_info['nz']
+        ext = sequence_info['ext']
+        start_frame = sequence_info['startFrame']
+        end_frame = sequence_info['endFrame']
+
+        init_omit = 0
+        if 'initOmit' in sequence_info:
+            init_omit = sequence_info['initOmit']
+
+        frames = ['{base_path}/{sequence_path}/{frame:0{nz}}.{ext}'.format(base_path=self.base_path, 
+        sequence_path=sequence_path, frame=frame_num, nz=nz, ext=ext) for frame_num in range(start_frame+init_omit, end_frame+1)]
+
+        anno_path = '{}/{}'.format(self.base_path, sequence_info['anno_path'])
+
+        ground_truth_rect = load_text(str(anno_path), delimiter=',', dtype=np.float64, backend='numpy')
+
+        return Sequence(sequence_info['name'][4:], frames, 'uav', ground_truth_rect[init_omit:,:],
+                        object_class=sequence_info['object_class'])
+
+    def __len__(self):
+        return len(self.sequence_info_list)
+
+    def _get_sequence_info_list(self):
+        sequence_info_list = [
+            {"name": "uav_bike1", "path": "data_seq/UAV123/bike1", "startFrame": 1, "endFrame": 3085, "nz": 6,
+             "ext": "jpg", "anno_path": "anno/UAV123/bike1.txt", "object_class": "vehicle"},
+            {"name": "uav_bike2", "path": "data_seq/UAV123/bike2", "startFrame": 1, "endFrame": 553, "nz": 6,
+             "ext": "jpg", "anno_path": "anno/UAV123/bike2.txt", "object_class": "vehicle"},
+            {"name": "uav_bike3", "path": "data_seq/UAV123/bike3", "startFrame": 1, "endFrame": 433, "nz": 6,
+             "ext": "jpg", "anno_path": "anno/UAV123/bike3.txt", "object_class": "vehicle"},
+            {"name": "uav_bird1_1", "path": "data_seq/UAV123/bird1", "startFrame": 1, "endFrame": 253, "nz": 6,
+             "ext": "jpg", "anno_path": "anno/UAV123/bird1_1.txt", "object_class": "bird"},
+            {"name": "uav_bird1_2", "path": "data_seq/UAV123/bird1", "startFrame": 775, "endFrame": 1477, "nz": 6,
+             "ext": "jpg", "anno_path": "anno/UAV123/bird1_2.txt", "object_class": "bird"},
+            {"name": "uav_bird1_3", "path": "data_seq/UAV123/bird1", "startFrame": 1573, "endFrame": 2437, "nz": 6,
+             "ext": "jpg", "anno_path": "anno/UAV123/bird1_3.txt", "object_class": "bird"},
+            {"name": "uav_boat1", "path": "data_seq/UAV123/boat1", "startFrame": 1, "endFrame": 901, "nz": 6,
+             "ext": "jpg", "anno_path": "anno/UAV123/boat1.txt", "object_class": "vessel"},
+            {"name": "uav_boat2", "path": "data_seq/UAV123/boat2", "startFrame": 1, "endFrame": 799, "nz": 6,
+             "ext": "jpg", "anno_path": "anno/UAV123/boat2.txt", "object_class": "vessel"},
+            {"name": "uav_boat3", "path": "data_seq/UAV123/boat3", "startFrame": 1, "endFrame": 901, "nz": 6,
+             "ext": "jpg", "anno_path": "anno/UAV123/boat3.txt", "object_class": "vessel"},
+            {"name": "uav_boat4", "path": "data_seq/UAV123/boat4", "startFrame": 1, "endFrame": 553, "nz": 6,
+             "ext": "jpg", "anno_path": "anno/UAV123/boat4.txt", "object_class": "vessel"},
+            {"name": "uav_boat5", "path": "data_seq/UAV123/boat5", "startFrame": 1, "endFrame": 505, "nz": 6,
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+             "ext": "jpg", "anno_path": "anno/UAV123/boat9.txt", "object_class": "vessel"},
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+             "ext": "jpg", "anno_path": "anno/UAV123/building2.txt", "object_class": "other"},
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+             "ext": "jpg", "anno_path": "anno/UAV123/building3.txt", "object_class": "other"},
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+             "ext": "jpg", "anno_path": "anno/UAV123/building4.txt", "object_class": "other"},
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+             "ext": "jpg", "anno_path": "anno/UAV123/building5.txt", "object_class": "other"},
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+             "ext": "jpg", "anno_path": "anno/UAV123/car1_1.txt", "object_class": "car"},
+            {"name": "uav_car1_2", "path": "data_seq/UAV123/car1", "startFrame": 751, "endFrame": 1627, "nz": 6,
+             "ext": "jpg", "anno_path": "anno/UAV123/car1_2.txt", "object_class": "car"},
+            {"name": "uav_car1_3", "path": "data_seq/UAV123/car1", "startFrame": 1627, "endFrame": 2629, "nz": 6,
+             "ext": "jpg", "anno_path": "anno/UAV123/car1_3.txt", "object_class": "car"},
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+             "ext": "jpg", "anno_path": "anno/UAV123/car10.txt", "object_class": "car"},
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+             "ext": "jpg", "anno_path": "anno/UAV123/car11.txt", "object_class": "car"},
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+             "ext": "jpg", "anno_path": "anno/UAV123/car12.txt", "object_class": "car"},
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+             "ext": "jpg", "anno_path": "anno/UAV123/car13.txt", "object_class": "car"},
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+             "ext": "jpg", "anno_path": "anno/UAV123/car14.txt", "object_class": "car"},
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+             "ext": "jpg", "anno_path": "anno/UAV123/car15.txt", "object_class": "car"},
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+             "ext": "jpg", "anno_path": "anno/UAV123/car16_1.txt", "object_class": "car"},
+            {"name": "uav_car16_2", "path": "data_seq/UAV123/car16", "startFrame": 415, "endFrame": 1993, "nz": 6,
+             "ext": "jpg", "anno_path": "anno/UAV123/car16_2.txt", "object_class": "car"},
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+             "ext": "jpg", "anno_path": "anno/UAV123/car18.txt", "object_class": "car"},
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+             "ext": "jpg", "anno_path": "anno/UAV123/car1_s.txt", "object_class": "car"},
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+             "ext": "jpg", "anno_path": "anno/UAV123/car2_s.txt", "object_class": "car"},
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+             "ext": "jpg", "anno_path": "anno/UAV123/car4_s.txt", "object_class": "car"},
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+             "ext": "jpg", "anno_path": "anno/UAV123/car6_1.txt", "object_class": "car"},
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+             "ext": "jpg", "anno_path": "anno/UAV123/car6_5.txt", "object_class": "car"},
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+             "ext": "jpg", "anno_path": "anno/UAV123/group1_1.txt", "object_class": "person"},
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+             "ext": "jpg", "anno_path": "anno/UAV123/group1_2.txt", "object_class": "person"},
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+             "ext": "jpg", "anno_path": "anno/UAV123/group1_4.txt", "object_class": "person"},
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+             "ext": "jpg", "anno_path": "anno/UAV123/group2_1.txt", "object_class": "person"},
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+             "ext": "jpg", "anno_path": "anno/UAV123/group2_2.txt", "object_class": "person"},
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+             "ext": "jpg", "anno_path": "anno/UAV123/group3_1.txt", "object_class": "person"},
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+             "ext": "jpg", "anno_path": "anno/UAV123/group3_4.txt", "object_class": "person"},
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+             "ext": "jpg", "anno_path": "anno/UAV123/person1.txt", "object_class": "person"},
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+             "ext": "jpg", "anno_path": "anno/UAV123/person11.txt", "object_class": "person"},
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+             "ext": "jpg", "anno_path": "anno/UAV123/person12_1.txt", "object_class": "person"},
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+             "ext": "jpg", "anno_path": "anno/UAV123/person12_2.txt", "object_class": "person"},
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+             "ext": "jpg", "anno_path": "anno/UAV123/person13.txt", "object_class": "person"},
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+             "ext": "jpg", "anno_path": "anno/UAV123/person14_1.txt", "object_class": "person"},
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+             "ext": "jpg", "anno_path": "anno/UAV123/person14_2.txt", "object_class": "person"},
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+             "nz": 6, "ext": "jpg", "anno_path": "anno/UAV123/person14_3.txt", "object_class": "person"},
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+             "ext": "jpg", "anno_path": "anno/UAV123/person15.txt", "object_class": "person"},
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+             "ext": "jpg", "anno_path": "anno/UAV123/person16.txt", "object_class": "person"},
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+             "ext": "jpg", "anno_path": "anno/UAV123/person17_1.txt", "object_class": "person"},
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+             "ext": "jpg", "anno_path": "anno/UAV123/person18.txt", "object_class": "person"},
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+             "ext": "jpg", "anno_path": "anno/UAV123/person19_1.txt", "object_class": "person"},
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+             "nz": 6, "ext": "jpg", "anno_path": "anno/UAV123/person19_2.txt", "object_class": "person"},
+            {"name": "uav_person19_3", "path": "data_seq/UAV123/person19", "startFrame": 2791, "endFrame": 4357,
+             "nz": 6, "ext": "jpg", "anno_path": "anno/UAV123/person19_3.txt", "object_class": "person"},
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+             "ext": "jpg", "anno_path": "anno/UAV123/person1_s.txt", "object_class": "person"},
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+             "ext": "jpg", "anno_path": "anno/UAV123/person2_1.txt", "object_class": "person"},
+            {"name": "uav_person2_2", "path": "data_seq/UAV123/person2", "startFrame": 1189, "endFrame": 2623, "nz": 6,
+             "ext": "jpg", "anno_path": "anno/UAV123/person2_2.txt", "object_class": "person"},
+            {"name": "uav_person20", "path": "data_seq/UAV123/person20", "startFrame": 1, "endFrame": 1783, "nz": 6,
+             "ext": "jpg", "anno_path": "anno/UAV123/person20.txt", "object_class": "person"},
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+             "ext": "jpg", "anno_path": "anno/UAV123/person21.txt", "object_class": "person"},
+            {"name": "uav_person22", "path": "data_seq/UAV123/person22", "startFrame": 1, "endFrame": 199, "nz": 6,
+             "ext": "jpg", "anno_path": "anno/UAV123/person22.txt", "object_class": "person"},
+            {"name": "uav_person23", "path": "data_seq/UAV123/person23", "startFrame": 1, "endFrame": 397, "nz": 6,
+             "ext": "jpg", "anno_path": "anno/UAV123/person23.txt", "object_class": "person"},
+            {"name": "uav_person2_s", "path": "data_seq/UAV123/person2_s", "startFrame": 1, "endFrame": 250, "nz": 6,
+             "ext": "jpg", "anno_path": "anno/UAV123/person2_s.txt", "object_class": "person"},
+            {"name": "uav_person3", "path": "data_seq/UAV123/person3", "startFrame": 1, "endFrame": 643, "nz": 6,
+             "ext": "jpg", "anno_path": "anno/UAV123/person3.txt", "object_class": "person"},
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+             "ext": "jpg", "anno_path": "anno/UAV123/person3_s.txt", "object_class": "person"},
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+             "ext": "jpg", "anno_path": "anno/UAV123/person4_1.txt", "object_class": "person"},
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+             "ext": "jpg", "anno_path": "anno/UAV123/person7_2.txt", "object_class": "person"},
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+             "ext": "jpg", "anno_path": "anno/UAV123/person8_2.txt", "object_class": "person"},
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+            {"name": "uav_truck1", "path": "data_seq/UAV123/truck1", "startFrame": 1, "endFrame": 463, "nz": 6,
+             "ext": "jpg", "anno_path": "anno/UAV123/truck1.txt", "object_class": "truck"},
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+             "ext": "jpg", "anno_path": "anno/UAV123/truck2.txt", "object_class": "truck"},
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+             "ext": "jpg", "anno_path": "anno/UAV123/uav1_1.txt", "object_class": "aircraft"},
+            {"name": "uav_uav1_2", "path": "data_seq/UAV123/uav1", "startFrame": 1555, "endFrame": 2377, "nz": 6,
+             "ext": "jpg", "anno_path": "anno/UAV123/uav1_2.txt", "object_class": "aircraft"},
+            {"name": "uav_uav1_3", "path": "data_seq/UAV123/uav1", "startFrame": 2473, "endFrame": 3469, "nz": 6,
+             "ext": "jpg", "anno_path": "anno/UAV123/uav1_3.txt", "object_class": "aircraft"},
+            {"name": "uav_uav2", "path": "data_seq/UAV123/uav2", "startFrame": 1, "endFrame": 133, "nz": 6,
+             "ext": "jpg", "anno_path": "anno/UAV123/uav2.txt", "object_class": "aircraft"},
+            {"name": "uav_uav3", "path": "data_seq/UAV123/uav3", "startFrame": 1, "endFrame": 265, "nz": 6,
+             "ext": "jpg", "anno_path": "anno/UAV123/uav3.txt", "object_class": "aircraft"},
+            {"name": "uav_uav4", "path": "data_seq/UAV123/uav4", "startFrame": 1, "endFrame": 157, "nz": 6,
+             "ext": "jpg", "anno_path": "anno/UAV123/uav4.txt", "object_class": "aircraft"},
+            {"name": "uav_uav5", "path": "data_seq/UAV123/uav5", "startFrame": 1, "endFrame": 139, "nz": 6,
+             "ext": "jpg", "anno_path": "anno/UAV123/uav5.txt", "object_class": "aircraft"},
+            {"name": "uav_uav6", "path": "data_seq/UAV123/uav6", "startFrame": 1, "endFrame": 109, "nz": 6,
+             "ext": "jpg", "anno_path": "anno/UAV123/uav6.txt", "object_class": "aircraft"},
+            {"name": "uav_uav7", "path": "data_seq/UAV123/uav7", "startFrame": 1, "endFrame": 373, "nz": 6,
+             "ext": "jpg", "anno_path": "anno/UAV123/uav7.txt", "object_class": "aircraft"},
+            {"name": "uav_uav8", "path": "data_seq/UAV123/uav8", "startFrame": 1, "endFrame": 301, "nz": 6,
+             "ext": "jpg", "anno_path": "anno/UAV123/uav8.txt", "object_class": "aircraft"},
+            {"name": "uav_wakeboard1", "path": "data_seq/UAV123/wakeboard1", "startFrame": 1, "endFrame": 421, "nz": 6,
+             "ext": "jpg", "anno_path": "anno/UAV123/wakeboard1.txt", "object_class": "person"},
+            {"name": "uav_wakeboard10", "path": "data_seq/UAV123/wakeboard10", "startFrame": 1, "endFrame": 469,
+             "nz": 6, "ext": "jpg", "anno_path": "anno/UAV123/wakeboard10.txt", "object_class": "person"},
+            {"name": "uav_wakeboard2", "path": "data_seq/UAV123/wakeboard2", "startFrame": 1, "endFrame": 733, "nz": 6,
+             "ext": "jpg", "anno_path": "anno/UAV123/wakeboard2.txt", "object_class": "person"},
+            {"name": "uav_wakeboard3", "path": "data_seq/UAV123/wakeboard3", "startFrame": 1, "endFrame": 823, "nz": 6,
+             "ext": "jpg", "anno_path": "anno/UAV123/wakeboard3.txt", "object_class": "person"},
+            {"name": "uav_wakeboard4", "path": "data_seq/UAV123/wakeboard4", "startFrame": 1, "endFrame": 697, "nz": 6,
+             "ext": "jpg", "anno_path": "anno/UAV123/wakeboard4.txt", "object_class": "person"},
+            {"name": "uav_wakeboard5", "path": "data_seq/UAV123/wakeboard5", "startFrame": 1, "endFrame": 1675, "nz": 6,
+             "ext": "jpg", "anno_path": "anno/UAV123/wakeboard5.txt", "object_class": "person"},
+            {"name": "uav_wakeboard6", "path": "data_seq/UAV123/wakeboard6", "startFrame": 1, "endFrame": 1165, "nz": 6,
+             "ext": "jpg", "anno_path": "anno/UAV123/wakeboard6.txt", "object_class": "person"},
+            {"name": "uav_wakeboard7", "path": "data_seq/UAV123/wakeboard7", "startFrame": 1, "endFrame": 199, "nz": 6,
+             "ext": "jpg", "anno_path": "anno/UAV123/wakeboard7.txt", "object_class": "person"},
+            {"name": "uav_wakeboard8", "path": "data_seq/UAV123/wakeboard8", "startFrame": 1, "endFrame": 1543, "nz": 6,
+             "ext": "jpg", "anno_path": "anno/UAV123/wakeboard8.txt", "object_class": "person"},
+            {"name": "uav_wakeboard9", "path": "data_seq/UAV123/wakeboard9", "startFrame": 1, "endFrame": 355, "nz": 6,
+             "ext": "jpg", "anno_path": "anno/UAV123/wakeboard9.txt", "object_class": "person"}
+        ]
+
+        return sequence_info_list

lib/test/evaluation/votdataset.py

@@ -0,0 +1,349 @@
+from typing import Union, TextIO
+
+import numpy as np
+from numba import jit
+
+from lib.test.evaluation.data import SequenceList, BaseDataset, Sequence
+
+
+class VOTDataset(BaseDataset):
+    """
+    VOT2018 dataset
+
+    Publication:
+        The sixth Visual Object Tracking VOT2018 challenge results.
+        Matej Kristan, Ales Leonardis, Jiri Matas, Michael Felsberg, Roman Pfugfelder, Luka Cehovin Zajc, Tomas Vojir,
+        Goutam Bhat, Alan Lukezic et al.
+        ECCV, 2018
+        https://prints.vicos.si/publications/365
+
+    Download the dataset from http://www.votchallenge.net/vot2018/dataset.html
+    """
+    def __init__(self, year=18):
+        super().__init__()
+        self.year = year
+        if year == 18:
+            self.base_path = self.env_settings.vot18_path
+        elif year == 20:
+            self.base_path = self.env_settings.vot20_path
+        elif year == 22:
+            self.base_path = self.env_settings.vot22_path
+        self.sequence_list = self._get_sequence_list(year)
+
+    def get_sequence_list(self):
+        return SequenceList([self._construct_sequence(s) for s in self.sequence_list])
+
+    def _construct_sequence(self, sequence_name):
+        sequence_path = sequence_name
+        nz = 8
+        ext = 'jpg'
+        start_frame = 1
+
+        anno_path = '{}/{}/groundtruth.txt'.format(self.base_path, sequence_name)
+
+        if self.year == 18 or self.year == 22:
+            try:
+                ground_truth_rect = np.loadtxt(str(anno_path), dtype=np.float64)
+            except:
+                ground_truth_rect = np.loadtxt(str(anno_path), delimiter=',', dtype=np.float64)
+
+            end_frame = ground_truth_rect.shape[0]
+
+            frames = ['{base_path}/{sequence_path}/color/{frame:0{nz}}.{ext}'.format(base_path=self.base_path,
+                      sequence_path=sequence_path, frame=frame_num, nz=nz, ext=ext)
+                      for frame_num in range(start_frame, end_frame+1)]
+
+            # Convert gt
+            if ground_truth_rect.shape[1] > 4:
+                gt_x_all = ground_truth_rect[:, [0, 2, 4, 6]]
+                gt_y_all = ground_truth_rect[:, [1, 3, 5, 7]]
+
+                x1 = np.amin(gt_x_all, 1).reshape(-1,1)
+                y1 = np.amin(gt_y_all, 1).reshape(-1,1)
+                x2 = np.amax(gt_x_all, 1).reshape(-1,1)
+                y2 = np.amax(gt_y_all, 1).reshape(-1,1)
+
+                ground_truth_rect = np.concatenate((x1, y1, x2-x1, y2-y1), 1)
+
+        elif self.year == 20:
+            ground_truth_rect = read_file(str(anno_path))
+            ground_truth_rect = np.array(ground_truth_rect, dtype=np.float64)
+            end_frame = ground_truth_rect.shape[0]
+
+            frames = ['{base_path}/{sequence_path}/color/{frame:0{nz}}.{ext}'.format(base_path=self.base_path,
+                                                                                     sequence_path=sequence_path,
+                                                                                     frame=frame_num, nz=nz, ext=ext)
+                      for frame_num in range(start_frame, end_frame + 1)]
+
+        else:
+            raise NotImplementedError
+
+        return Sequence(sequence_name, frames, 'vot', ground_truth_rect)
+
+    def __len__(self):
+        return len(self.sequence_list)
+
+    def _get_sequence_list(self, year):
+        if year == 18:
+            sequence_list= ['ants1',
+                            'ants3',
+                            'bag',
+                            'ball1',
+                            'ball2',
+                            'basketball',
+                            'birds1',
+                            'blanket',
+                            'bmx',
+                            'bolt1',
+                            'bolt2',
+                            'book',
+                            'butterfly',
+                            'car1',
+                            'conduction1',
+                            'crabs1',
+                            'crossing',
+                            'dinosaur',
+                            'drone_across',
+                            'drone_flip',
+                            'drone1',
+                            'fernando',
+                            'fish1',
+                            'fish2',
+                            'fish3',
+                            'flamingo1',
+                            'frisbee',
+                            'girl',
+                            'glove',
+                            'godfather',
+                            'graduate',
+                            'gymnastics1',
+                            'gymnastics2',
+                            'gymnastics3',
+                            'hand',
+                            'handball1',
+                            'handball2',
+                            'helicopter',
+                            'iceskater1',
+                            'iceskater2',
+                            'leaves',
+                            'matrix',
+                            'motocross1',
+                            'motocross2',
+                            'nature',
+                            'pedestrian1',
+                            'rabbit',
+                            'racing',
+                            'road',
+                            'shaking',
+                            'sheep',
+                            'singer2',
+                            'singer3',
+                            'soccer1',
+                            'soccer2',
+                            'soldier',
+                            'tiger',
+                            'traffic',
+                            'wiper',
+                            'zebrafish1']
+        elif year == 20:
+
+            sequence_list= ['agility',
+                            'ants1',
+                            'ball2',
+                            'ball3',
+                            'basketball',
+                            'birds1',
+                            'bolt1',
+                            'book',
+                            'butterfly',
+                            'car1',
+                            'conduction1',
+                            'crabs1',
+                            'dinosaur',
+                            'dribble',
+                            'drone1',
+                            'drone_across',
+                            'drone_flip',
+                            'fernando',
+                            'fish1',
+                            'fish2',
+                            'flamingo1',
+                            'frisbee',
+                            'girl',
+                            'glove',
+                            'godfather',
+                            'graduate',
+                            'gymnastics1',
+                            'gymnastics2',
+                            'gymnastics3',
+                            'hand',
+                            'hand02',
+                            'hand2',
+                            'handball1',
+                            'handball2',
+                            'helicopter',
+                            'iceskater1',
+                            'iceskater2',
+                            'lamb',
+                            'leaves',
+                            'marathon',
+                            'matrix',
+                            'monkey',
+                            'motocross1',
+                            'nature',
+                            'polo',
+                            'rabbit',
+                            'rabbit2',
+                            'road',
+                            'rowing',
+                            'shaking',
+                            'singer2',
+                            'singer3',
+                            'soccer1',
+                            'soccer2',
+                            'soldier',
+                            'surfing',
+                            'tiger',
+                            'wheel',
+                            'wiper',
+                            'zebrafish1']
+        elif year == 22:
+            sequence_list= ['agility',
+                            'animal',
+                            'ants1',
+                            'bag',
+                            'ball2',
+                            'ball3',
+                            'basketball',
+                            'birds1',
+                            'birds2',
+                            'bolt1',
+                            'book',
+                            'bubble',
+                            'butterfly',
+                            'car1',
+                            'conduction1',
+                            'crabs1',
+                            'dinosaur',
+                            'diver',
+                            'drone1',
+                            'drone_across',
+                            'fernando',
+                            'fish1',
+                            'fish2',
+                            'flamingo1',
+                            'frisbee',
+                            'girl',
+                            'graduate',
+                            'gymnastics1',
+                            'gymnastics2',
+                            'gymnastics3',
+                            'hand',
+                            'hand2',
+                            'handball1',
+                            'handball2',
+                            'helicopter',
+                            'iceskater1',
+                            'iceskater2',
+                            'kangaroo',
+                            'lamb',
+                            'leaves',
+                            'marathon',
+                            'matrix',
+                            'monkey',
+                            'motocross1',
+                            'nature',
+                            'polo',
+                            'rabbit',
+                            'rabbit2',
+                            'rowing',
+                            'shaking',
+                            'singer2',
+                            'singer3',
+                            'snake',
+                            'soccer1',
+                            'soccer2',
+                            'soldier',
+                            'surfing',
+                            'tennis',
+                            'tiger',
+                            'wheel',
+                            'wiper',
+                            'zebrafish1']
+
+        else:
+            raise NotImplementedError
+
+        return sequence_list
+
+
+def parse(string):
+    """
+    parse string to the appropriate region format and return region object
+    """
+    from vot.region.shapes import Rectangle, Polygon, Mask
+
+
+    if string[0] == 'm':
+        # input is a mask - decode it
+        m_, offset_, region = create_mask_from_string(string[1:].split(','))
+        # return Mask(m_, offset=offset_)
+        return region
+    else:
+        # input is not a mask - check if special, rectangle or polygon
+        raise NotImplementedError
+    print('Unknown region format.')
+    return None
+
+
+def read_file(fp: Union[str, TextIO]):
+    if isinstance(fp, str):
+        with open(fp) as file:
+            lines = file.readlines()
+    else:
+        lines = fp.readlines()
+
+    regions = []
+    # iterate over all lines in the file
+    for i, line in enumerate(lines):
+        regions.append(parse(line.strip()))
+    return regions
+
+
+def create_mask_from_string(mask_encoding):
+    """
+    mask_encoding: a string in the following format: x0, y0, w, h, RLE
+    output: mask, offset
+    mask: 2-D binary mask, size defined in the mask encoding
+    offset: (x, y) offset of the mask in the image coordinates
+    """
+    elements = [int(el) for el in mask_encoding]
+    tl_x, tl_y, region_w, region_h = elements[:4]
+    rle = np.array([el for el in elements[4:]], dtype=np.int32)
+
+    # create mask from RLE within target region
+    mask = rle_to_mask(rle, region_w, region_h)
+    region = [tl_x, tl_y, region_w, region_h]
+
+    return mask, (tl_x, tl_y), region
+
+@jit(nopython=True)
+def rle_to_mask(rle, width, height):
+    """
+    rle: input rle mask encoding
+    each evenly-indexed element represents number of consecutive 0s
+    each oddly indexed element represents number of consecutive 1s
+    width and height are dimensions of the mask
+    output: 2-D binary mask
+    """
+    # allocate list of zeros
+    v = [0] * (width * height)
+
+    # set id of the last different element to the beginning of the vector
+    idx_ = 0
+    for i in range(len(rle)):
+        if i % 2 != 0:
+            # write as many 1s as RLE says (zeros are already in the vector)
+            for j in range(rle[i]):
+                v[idx_+j] = 1
+        idx_ += rle[i]

lib/test/parameter/artrack.py

@@ -0,0 +1,30 @@
+from lib.test.utils import TrackerParams
+import os
+from lib.test.evaluation.environment import env_settings
+from lib.config.artrack.config import cfg, update_config_from_file
+
+
+def parameters(yaml_name: str):
+    params = TrackerParams()
+    prj_dir = env_settings().prj_dir
+    save_dir = env_settings().save_dir
+    # update default config from yaml file
+    yaml_file = os.path.join(prj_dir, 'experiments/artrack/%s.yaml' % yaml_name)
+    update_config_from_file(yaml_file)
+    params.cfg = cfg
+    print("test config: ", cfg)
+
+    # template and search region
+    params.template_factor = cfg.TEST.TEMPLATE_FACTOR
+    params.template_size = cfg.TEST.TEMPLATE_SIZE
+    params.search_factor = cfg.TEST.SEARCH_FACTOR
+    params.search_size = cfg.TEST.SEARCH_SIZE
+
+    # Network checkpoint path
+    params.checkpoint = os.path.join(save_dir, "checkpoints/train/artrack/%s/ARTrack_ep%04d.pth.tar" %
+                                     (yaml_name, cfg.TEST.EPOCH))
+
+    # whether to save boxes from all queries
+    params.save_all_boxes = False
+
+    return params

lib/test/parameter/artrack_seq.py

@@ -0,0 +1,30 @@
+from lib.test.utils import TrackerParams
+import os
+from lib.test.evaluation.environment import env_settings
+from lib.config.artrack_seq.config import cfg, update_config_from_file
+
+
+def parameters(yaml_name: str):
+    params = TrackerParams()
+    prj_dir = env_settings().prj_dir
+    save_dir = env_settings().save_dir
+    # update default config from yaml file
+    yaml_file = os.path.join(prj_dir, 'experiments/artrack_seq/%s.yaml' % yaml_name)
+    update_config_from_file(yaml_file)
+    params.cfg = cfg
+    print("test config: ", cfg)
+
+    # template and search region
+    params.template_factor = cfg.TEST.TEMPLATE_FACTOR
+    params.template_size = cfg.TEST.TEMPLATE_SIZE
+    params.search_factor = cfg.TEST.SEARCH_FACTOR
+    params.search_size = cfg.TEST.SEARCH_SIZE
+
+    # Network checkpoint path
+    params.checkpoint = os.path.join(save_dir, "checkpoints/train/artrack_seq/%s/ARTrackSeq_ep%04d.pth.tar" %
+                                     (yaml_name, cfg.TEST.EPOCH))
+
+    # whether to save boxes from all queries
+    params.save_all_boxes = False
+
+    return params

lib/test/tracker/artrack.py

@@ -0,0 +1,225 @@
+import math
+
+from lib.models.artrack import build_artrack
+from lib.test.tracker.basetracker import BaseTracker
+import torch
+
+from lib.test.tracker.vis_utils import gen_visualization
+from lib.test.utils.hann import hann2d
+from lib.train.data.processing_utils import sample_target
+# for debug
+import cv2
+import os
+
+from lib.test.tracker.data_utils import Preprocessor
+from lib.utils.box_ops import clip_box
+from lib.utils.ce_utils import generate_mask_cond
+import random
+
+class RandomErasing(object):
+    def __init__(self, EPSILON=0.5, sl=0.02, sh=0.33, r1=0.3, mean=[0.4914, 0.4822, 0.4465]):
+        self.EPSILON = EPSILON
+        self.mean = mean
+        self.sl = sl
+        self.sh = sh
+        self.r1 = r1
+
+    def __call__(self, img):
+
+        if random.uniform(0, 1) > self.EPSILON:
+            return img
+
+        for attempt in range(100):
+            print(img.size())
+            area = img.size()[1] * img.size()[2]
+
+            target_area = random.uniform(self.sl, self.sh) * area
+            aspect_ratio = random.uniform(self.r1, 1 / self.r1)
+
+            h = int(round(math.sqrt(target_area * aspect_ratio)))
+            w = int(round(math.sqrt(target_area / aspect_ratio)))
+
+            if w < img.size()[2] and h < img.size()[1]:
+                x1 = random.randint(0, img.size()[1] - h)
+                y1 = random.randint(0, img.size()[2] - w)
+                if img.size()[0] == 3:
+                    # img[0, x1:x1+h, y1:y1+w] = random.uniform(0, 1)
+                    # img[1, x1:x1+h, y1:y1+w] = random.uniform(0, 1)
+                    # img[2, x1:x1+h, y1:y1+w] = random.uniform(0, 1)
+                    img[0, x1:x1 + h, y1:y1 + w] = self.mean[0]
+                    img[1, x1:x1 + h, y1:y1 + w] = self.mean[1]
+                    img[2, x1:x1 + h, y1:y1 + w] = self.mean[2]
+                    # img[:, x1:x1+h, y1:y1+w] = torch.from_numpy(np.random.rand(3, h, w))
+                else:
+                    img[0, x1:x1 + h, y1:y1 + w] = self.mean[1]
+                    # img[0, x1:x1+h, y1:y1+w] = torch.from_numpy(np.random.rand(1, h, w))
+                return img
+
+        return img
+
+
+class ARTrack(BaseTracker):
+    def __init__(self, params, dataset_name):
+        super(ARTrack, self).__init__(params)
+        network = build_artrack(params.cfg, training=False)
+        print(self.params.checkpoint)
+        network.load_state_dict(torch.load(self.params.checkpoint, map_location='cpu')['net'], strict=True)
+        self.cfg = params.cfg
+        self.bins = self.cfg.MODEL.BINS
+        self.network = network.cuda()
+        self.network.eval()
+        self.preprocessor = Preprocessor()
+        self.state = None
+        self.range = self.cfg.MODEL.RANGE
+
+        self.feat_sz = self.cfg.TEST.SEARCH_SIZE // self.cfg.MODEL.BACKBONE.STRIDE
+        # motion constrain
+        self.output_window = hann2d(torch.tensor([self.feat_sz, self.feat_sz]).long(), centered=True).cuda()
+
+        # for debug
+        self.debug = params.debug
+        self.use_visdom = params.debug
+        self.frame_id = 0
+        self.erase = RandomErasing()
+        if self.debug:
+            if not self.use_visdom:
+                self.save_dir = "debug"
+                if not os.path.exists(self.save_dir):
+                    os.makedirs(self.save_dir)
+            else:
+                # self.add_hook()
+                self._init_visdom(None, 1)
+        # for save boxes from all queries
+        self.save_all_boxes = params.save_all_boxes
+        self.z_dict1 = {}
+
+    def initialize(self, image, info: dict):
+        # forward the template once
+
+        z_patch_arr, resize_factor, z_amask_arr = sample_target(image, info['init_bbox'], self.params.template_factor,
+                                                    output_sz=self.params.template_size)#output_sz=self.params.template_size
+        self.z_patch_arr = z_patch_arr
+        template = self.preprocessor.process(z_patch_arr, z_amask_arr)
+        with torch.no_grad():
+            self.z_dict1 = template
+
+        self.box_mask_z = None
+        #if self.cfg.MODEL.BACKBONE.CE_LOC:
+        #    template_bbox = self.transform_bbox_to_crop(info['init_bbox'], resize_factor,
+        #                                                template.tensors.device).squeeze(1)
+        #    self.box_mask_z = generate_mask_cond(self.cfg, 1, template.tensors.device, template_bbox)
+
+        # save states
+        self.state = info['init_bbox']
+        self.frame_id = 0
+        if self.save_all_boxes:
+            '''save all predicted boxes'''
+            all_boxes_save = info['init_bbox'] * self.cfg.MODEL.NUM_OBJECT_QUERIES
+            return {"all_boxes": all_boxes_save}
+
+    def track(self, image, info: dict = None):
+        magic_num = (self.range - 1) * 0.5
+        H, W, _ = image.shape
+        self.frame_id += 1
+        x_patch_arr, resize_factor, x_amask_arr = sample_target(image, self.state, self.params.search_factor,
+                                                                output_sz=self.params.search_size)  # (x1, y1, w, h)
+        search = self.preprocessor.process(x_patch_arr, x_amask_arr)
+
+
+        with torch.no_grad():
+            x_dict = search
+            # merge the template and the search
+            # run the transformer
+            out_dict = self.network.forward(
+                template=self.z_dict1.tensors, search=x_dict.tensors)
+
+        # add hann windows
+        # pred_score_map = out_dict['score_map']
+        # response = self.output_window * pred_score_map
+        # pred_boxes = self.network.box_head.cal_bbox(response, out_dict['size_map'], out_dict['offset_map'])
+        # pred_boxes = pred_boxes.view(-1, 4)
+
+        pred_boxes = out_dict['seqs'][:, 0:4] / (self.bins - 1) - magic_num
+        pred_boxes = pred_boxes.view(-1, 4).mean(dim=0)
+        pred_new = pred_boxes
+        pred_new[2] = pred_boxes[2] - pred_boxes[0]
+        pred_new[3] = pred_boxes[3] - pred_boxes[1]
+        pred_new[0] = pred_boxes[0] + pred_boxes[2]/2
+        pred_new[1] = pred_boxes[1] + pred_boxes[3]/2
+
+        pred_boxes = (pred_new * self.params.search_size / resize_factor).tolist()
+
+        # Baseline: Take the mean of all pred boxes as the final result
+        #pred_box = (pred_boxes.mean(
+        #    dim=0) * self.params.search_size / resize_factor).tolist()  # (cx, cy, w, h) [0,1]
+        # get the final box result
+        self.state = clip_box(self.map_box_back(pred_boxes, resize_factor), H, W, margin=10)
+
+        # for debug
+        if self.debug:
+            if not self.use_visdom:
+                x1, y1, w, h = self.state
+                image_BGR = cv2.cvtColor(image, cv2.COLOR_RGB2BGR)
+                cv2.rectangle(image_BGR, (int(x1),int(y1)), (int(x1+w),int(y1+h)), color=(0,0,255), thickness=2)
+                save_path = os.path.join(self.save_dir, "%04d.jpg" % self.frame_id)
+                cv2.imwrite(save_path, image_BGR)
+            else:
+                self.visdom.register((image, info['gt_bbox'].tolist(), self.state), 'Tracking', 1, 'Tracking')
+
+                self.visdom.register(torch.from_numpy(x_patch_arr).permute(2, 0, 1), 'image', 1, 'search_region')
+                self.visdom.register(torch.from_numpy(self.z_patch_arr).permute(2, 0, 1), 'image', 1, 'template')
+                self.visdom.register(pred_score_map.view(self.feat_sz, self.feat_sz), 'heatmap', 1, 'score_map')
+                self.visdom.register((pred_score_map * self.output_window).view(self.feat_sz, self.feat_sz), 'heatmap', 1, 'score_map_hann')
+
+                if 'removed_indexes_s' in out_dict and out_dict['removed_indexes_s']:
+                    removed_indexes_s = out_dict['removed_indexes_s']
+                    removed_indexes_s = [removed_indexes_s_i.cpu().numpy() for removed_indexes_s_i in removed_indexes_s]
+                    masked_search = gen_visualization(x_patch_arr, removed_indexes_s)
+                    self.visdom.register(torch.from_numpy(masked_search).permute(2, 0, 1), 'image', 1, 'masked_search')
+
+                while self.pause_mode:
+                    if self.step:
+                        self.step = False
+                        break
+
+        if self.save_all_boxes:
+            '''save all predictions'''
+            all_boxes = self.map_box_back_batch(pred_boxes * self.params.search_size / resize_factor, resize_factor)
+            all_boxes_save = all_boxes.view(-1).tolist()  # (4N, )
+            return {"target_bbox": self.state,
+                    "all_boxes": all_boxes_save}
+        else:
+            return {"target_bbox": self.state}
+
+    def map_box_back(self, pred_box: list, resize_factor: float):
+        cx_prev, cy_prev = self.state[0] + 0.5 * self.state[2], self.state[1] + 0.5 * self.state[3]
+        cx, cy, w, h = pred_box
+        half_side = 0.5 * self.params.search_size / resize_factor
+        cx_real = cx + (cx_prev - half_side)
+        cy_real = cy + (cy_prev - half_side)
+        #cx_real = cx + cx_prev
+        #cy_real = cy + cy_prev
+        return [cx_real - 0.5 * w, cy_real - 0.5 * h, w, h]
+
+    def map_box_back_batch(self, pred_box: torch.Tensor, resize_factor: float):
+        cx_prev, cy_prev = self.state[0] + 0.5 * self.state[2], self.state[1] + 0.5 * self.state[3]
+        cx, cy, w, h = pred_box.unbind(-1) # (N,4) --> (N,)
+        half_side = 0.5 * self.params.search_size / resize_factor
+        cx_real = cx + (cx_prev - half_side)
+        cy_real = cy + (cy_prev - half_side)
+        return torch.stack([cx_real - 0.5 * w, cy_real - 0.5 * h, w, h], dim=-1)
+
+    def add_hook(self):
+        conv_features, enc_attn_weights, dec_attn_weights = [], [], []
+
+        for i in range(12):
+            self.network.backbone.blocks[i].attn.register_forward_hook(
+                # lambda self, input, output: enc_attn_weights.append(output[1])
+                lambda self, input, output: enc_attn_weights.append(output[1])
+            )
+
+        self.enc_attn_weights = enc_attn_weights
+
+
+def get_tracker_class():
+    return ARTrack

lib/test/tracker/artrack_seq.py

@@ -0,0 +1,209 @@
+import math
+
+from lib.models.artrack_seq import build_artrack_seq
+from lib.test.tracker.basetracker import BaseTracker
+import torch
+
+from lib.test.tracker.vis_utils import gen_visualization
+from lib.test.utils.hann import hann2d
+from lib.train.data.processing_utils import sample_target, transform_image_to_crop
+# for debug
+import cv2
+import os
+
+from lib.test.tracker.data_utils import Preprocessor
+from lib.utils.box_ops import clip_box
+from lib.utils.ce_utils import generate_mask_cond
+
+
+class ARTrackSeq(BaseTracker):
+    def __init__(self, params, dataset_name):
+        super(ARTrackSeq, self).__init__(params)
+        network = build_artrack_seq(params.cfg, training=False)
+        print(self.params.checkpoint)
+        network.load_state_dict(torch.load(self.params.checkpoint, map_location='cpu')['net'], strict=True)
+        self.cfg = params.cfg
+        self.bins = self.cfg.MODEL.BINS
+        self.network = network.cuda()
+        self.network.eval()
+        self.preprocessor = Preprocessor()
+        self.state = None
+
+        self.feat_sz = self.cfg.TEST.SEARCH_SIZE // self.cfg.MODEL.BACKBONE.STRIDE
+        # motion constrain
+        self.output_window = hann2d(torch.tensor([self.feat_sz, self.feat_sz]).long(), centered=True).cuda()
+
+        # for debug
+        self.debug = params.debug
+        self.use_visdom = params.debug
+        self.frame_id = 0
+        if self.debug:
+            if not self.use_visdom:
+                self.save_dir = "debug"
+                if not os.path.exists(self.save_dir):
+                    os.makedirs(self.save_dir)
+            else:
+                # self.add_hook()
+                self._init_visdom(None, 1)
+        # for save boxes from all queries
+        self.save_all_boxes = params.save_all_boxes
+        self.z_dict1 = {}
+        self.store_result = None
+        self.save_all = 7
+        self.x_feat = None
+        self.update = None
+        self.update_threshold = 5.0
+        self.update_intervals = 1
+
+    def initialize(self, image, info: dict):
+        # forward the template once
+        self.x_feat = None
+
+        z_patch_arr, resize_factor, z_amask_arr = sample_target(image, info['init_bbox'], self.params.template_factor,
+                                                                output_sz=self.params.template_size)  # output_sz=self.params.template_size
+        self.z_patch_arr = z_patch_arr
+        template = self.preprocessor.process(z_patch_arr, z_amask_arr)
+        with torch.no_grad():
+            self.z_dict1 = template
+
+        self.box_mask_z = None
+        # if self.cfg.MODEL.BACKBONE.CE_LOC:
+        #    template_bbox = self.transform_bbox_to_crop(info['init_bbox'], resize_factor,
+        #                                                template.tensors.device).squeeze(1)
+        #    self.box_mask_z = generate_mask_cond(self.cfg, 1, template.tensors.device, template_bbox)
+
+        # save states
+        self.state = info['init_bbox']
+        self.store_result = [info['init_bbox'].copy()]
+        for i in range(self.save_all - 1):
+            self.store_result.append(info['init_bbox'].copy())
+        self.frame_id = 0
+        self.update = None
+        if self.save_all_boxes:
+            '''save all predicted boxes'''
+            all_boxes_save = info['init_bbox'] * self.cfg.MODEL.NUM_OBJECT_QUERIES
+            return {"all_boxes": all_boxes_save}
+
+    def track(self, image, info: dict = None):
+        H, W, _ = image.shape
+        self.frame_id += 1
+        x_patch_arr, resize_factor, x_amask_arr = sample_target(image, self.state, self.params.search_factor,
+                                                                output_sz=self.params.search_size)  # (x1, y1, w, h)
+        for i in range(len(self.store_result)):
+            box_temp = self.store_result[i].copy()
+            box_out_i = transform_image_to_crop(torch.Tensor(self.store_result[i]), torch.Tensor(self.state),
+                                                resize_factor,
+                                                torch.Tensor([self.cfg.TEST.SEARCH_SIZE, self.cfg.TEST.SEARCH_SIZE]),
+                                                normalize=True)
+            box_out_i[2] = box_out_i[2] + box_out_i[0]
+            box_out_i[3] = box_out_i[3] + box_out_i[1]
+            box_out_i = box_out_i.clamp(min=-0.5, max=1.5)
+            box_out_i = (box_out_i + 0.5) * (self.bins - 1)
+            if i == 0:
+                seqs_out = box_out_i
+            else:
+                seqs_out = torch.cat((seqs_out, box_out_i), dim=-1)
+        seqs_out = seqs_out.unsqueeze(0)
+        search = self.preprocessor.process(x_patch_arr, x_amask_arr)
+        with torch.no_grad():
+            x_dict = search
+            # merge the template and the search
+            # run the transformer
+            out_dict = self.network.forward(
+                template=self.z_dict1.tensors, search=x_dict.tensors,
+                seq_input=seqs_out, stage="sequence", search_feature=self.x_feat, update=None)
+
+        self.x_feat = out_dict['x_feat']
+
+        pred_boxes = out_dict['seqs'][:, 0:4] / (self.bins - 1) - 0.5
+        pred_boxes = pred_boxes.view(-1, 4).mean(dim=0)
+        pred_new = pred_boxes
+        pred_new[2] = pred_boxes[2] - pred_boxes[0]
+        pred_new[3] = pred_boxes[3] - pred_boxes[1]
+        pred_new[0] = pred_boxes[0] + pred_new[2] / 2
+        pred_new[1] = pred_boxes[1] + pred_new[3] / 2
+        pred_boxes = (pred_new * self.params.search_size / resize_factor).tolist()
+
+        # Baseline: Take the mean of all pred boxes as the final result
+        # pred_box = (pred_boxes.mean(
+        #    dim=0) * self.params.search_size / resize_factor).tolist()  # (cx, cy, w, h) [0,1]
+        # get the final box result
+        self.state = clip_box(self.map_box_back(pred_boxes, resize_factor), H, W, margin=10)
+        if len(self.store_result) < self.save_all:
+            self.store_result.append(self.state.copy())
+        else:
+            for i in range(self.save_all):
+                if i != self.save_all - 1:
+                    self.store_result[i] = self.store_result[i + 1]
+                else:
+                    self.store_result[i] = self.state.copy()
+
+        # for debug
+        if self.debug:
+            if not self.use_visdom:
+                x1, y1, w, h = self.state
+                image_BGR = cv2.cvtColor(image, cv2.COLOR_RGB2BGR)
+                cv2.rectangle(image_BGR, (int(x1), int(y1)), (int(x1 + w), int(y1 + h)), color=(0, 0, 255), thickness=2)
+                save_path = os.path.join(self.save_dir, "%04d.jpg" % self.frame_id)
+                cv2.imwrite(save_path, image_BGR)
+            else:
+                self.visdom.register((image, info['gt_bbox'].tolist(), self.state), 'Tracking', 1, 'Tracking')
+
+                self.visdom.register(torch.from_numpy(x_patch_arr).permute(2, 0, 1), 'image', 1, 'search_region')
+                self.visdom.register(torch.from_numpy(self.z_patch_arr).permute(2, 0, 1), 'image', 1, 'template')
+                self.visdom.register(pred_score_map.view(self.feat_sz, self.feat_sz), 'heatmap', 1, 'score_map')
+                self.visdom.register((pred_score_map * self.output_window).view(self.feat_sz, self.feat_sz), 'heatmap',
+                                     1, 'score_map_hann')
+
+                if 'removed_indexes_s' in out_dict and out_dict['removed_indexes_s']:
+                    removed_indexes_s = out_dict['removed_indexes_s']
+                    removed_indexes_s = [removed_indexes_s_i.cpu().numpy() for removed_indexes_s_i in removed_indexes_s]
+                    masked_search = gen_visualization(x_patch_arr, removed_indexes_s)
+                    self.visdom.register(torch.from_numpy(masked_search).permute(2, 0, 1), 'image', 1, 'masked_search')
+
+                while self.pause_mode:
+                    if self.step:
+                        self.step = False
+                        break
+
+        if self.save_all_boxes:
+            '''save all predictions'''
+            all_boxes = self.map_box_back_batch(pred_boxes * self.params.search_size / resize_factor, resize_factor)
+            all_boxes_save = all_boxes.view(-1).tolist()  # (4N, )
+            return {"target_bbox": self.state,
+                    "all_boxes": all_boxes_save}
+        else:
+            return {"target_bbox": self.state}
+
+    def map_box_back(self, pred_box: list, resize_factor: float):
+        cx_prev, cy_prev = self.state[0] + 0.5 * self.state[2], self.state[1] + 0.5 * self.state[3]
+        cx, cy, w, h = pred_box
+        half_side = 0.5 * self.params.search_size / resize_factor
+        cx_real = cx + (cx_prev - half_side)
+        cy_real = cy + (cy_prev - half_side)
+        # cx_real = cx + cx_prev
+        # cy_real = cy + cy_prev
+        return [cx_real - 0.5 * w, cy_real - 0.5 * h, w, h]
+
+    def map_box_back_batch(self, pred_box: torch.Tensor, resize_factor: float):
+        cx_prev, cy_prev = self.state[0] + 0.5 * self.state[2], self.state[1] + 0.5 * self.state[3]
+        cx, cy, w, h = pred_box.unbind(-1)  # (N,4) --> (N,)
+        half_side = 0.5 * self.params.search_size / resize_factor
+        cx_real = cx + (cx_prev - half_side)
+        cy_real = cy + (cy_prev - half_side)
+        return torch.stack([cx_real - 0.5 * w, cy_real - 0.5 * h, w, h], dim=-1)
+
+    def add_hook(self):
+        conv_features, enc_attn_weights, dec_attn_weights = [], [], []
+
+        for i in range(12):
+            self.network.backbone.blocks[i].attn.register_forward_hook(
+                # lambda self, input, output: enc_attn_weights.append(output[1])
+                lambda self, input, output: enc_attn_weights.append(output[1])
+            )
+
+        self.enc_attn_weights = enc_attn_weights
+
+
+def get_tracker_class():
+    return ARTrackSeq

lib/test/tracker/basetracker.py

@@ -0,0 +1,89 @@
+import time
+
+import torch
+from _collections import OrderedDict
+
+from lib.train.data.processing_utils import transform_image_to_crop
+from lib.vis.visdom_cus import Visdom
+
+
+class BaseTracker:
+    """Base class for all trackers."""
+
+    def __init__(self, params):
+        self.params = params
+        self.visdom = None
+
+    def predicts_segmentation_mask(self):
+        return False
+
+    def initialize(self, image, info: dict) -> dict:
+        """Overload this function in your tracker. This should initialize the model."""
+        raise NotImplementedError
+
+    def track(self, image, info: dict = None) -> dict:
+        """Overload this function in your tracker. This should track in the frame and update the model."""
+        raise NotImplementedError
+
+    def visdom_draw_tracking(self, image, box, segmentation=None):
+        if isinstance(box, OrderedDict):
+            box = [v for k, v in box.items()]
+        else:
+            box = (box,)
+        if segmentation is None:
+            self.visdom.register((image, *box), 'Tracking', 1, 'Tracking')
+        else:
+            self.visdom.register((image, *box, segmentation), 'Tracking', 1, 'Tracking')
+
+    def transform_bbox_to_crop(self, box_in, resize_factor, device, box_extract=None, crop_type='template'):
+        # box_in: list [x1, y1, w, h], not normalized
+        # box_extract: same as box_in
+        # out bbox: Torch.tensor [1, 1, 4], x1y1wh, normalized
+        if crop_type == 'template':
+            crop_sz = torch.Tensor([self.params.template_size, self.params.template_size])
+        elif crop_type == 'search':
+            crop_sz = torch.Tensor([self.params.search_size, self.params.search_size])
+        else:
+            raise NotImplementedError
+
+        box_in = torch.tensor(box_in)
+        if box_extract is None:
+            box_extract = box_in
+        else:
+            box_extract = torch.tensor(box_extract)
+        template_bbox = transform_image_to_crop(box_in, box_extract, resize_factor, crop_sz, normalize=True)
+        template_bbox = template_bbox.view(1, 1, 4).to(device)
+
+        return template_bbox
+
+    def _init_visdom(self, visdom_info, debug):
+        visdom_info = {} if visdom_info is None else visdom_info
+        self.pause_mode = False
+        self.step = False
+        self.next_seq = False
+        if debug > 0 and visdom_info.get('use_visdom', True):
+            try:
+                self.visdom = Visdom(debug, {'handler': self._visdom_ui_handler, 'win_id': 'Tracking'},
+                                     visdom_info=visdom_info)
+
+                # # Show help
+                # help_text = 'You can pause/unpause the tracker by pressing ''space'' with the ''Tracking'' window ' \
+                #             'selected. During paused mode, you can track for one frame by pressing the right arrow key.' \
+                #             'To enable/disable plotting of a data block, tick/untick the corresponding entry in ' \
+                #             'block list.'
+                # self.visdom.register(help_text, 'text', 1, 'Help')
+            except:
+                time.sleep(0.5)
+                print('!!! WARNING: Visdom could not start, so using matplotlib visualization instead !!!\n'
+                      '!!! Start Visdom in a separate terminal window by typing \'visdom\' !!!')
+
+    def _visdom_ui_handler(self, data):
+        if data['event_type'] == 'KeyPress':
+            if data['key'] == ' ':
+                self.pause_mode = not self.pause_mode
+
+            elif data['key'] == 'ArrowRight' and self.pause_mode:
+                self.step = True
+
+            elif data['key'] == 'n':
+                self.next_seq = True

lib/test/tracker/data_utils.py

@@ -0,0 +1,46 @@
+import torch
+import numpy as np
+from lib.utils.misc import NestedTensor
+
+
+class Preprocessor(object):
+    def __init__(self):
+        self.mean = torch.tensor([0.485, 0.456, 0.406]).view((1, 3, 1, 1)).cuda()
+        self.std = torch.tensor([0.229, 0.224, 0.225]).view((1, 3, 1, 1)).cuda()
+
+    def process(self, img_arr: np.ndarray, amask_arr: np.ndarray):
+        # Deal with the image patch
+        img_tensor = torch.tensor(img_arr).cuda().float().permute((2,0,1)).unsqueeze(dim=0)
+        img_tensor_norm = ((img_tensor / 255.0) - self.mean) / self.std  # (1,3,H,W)
+        # Deal with the attention mask
+        amask_tensor = torch.from_numpy(amask_arr).to(torch.bool).cuda().unsqueeze(dim=0)  # (1,H,W)
+        return NestedTensor(img_tensor_norm, amask_tensor)
+
+
+class PreprocessorX(object):
+    def __init__(self):
+        self.mean = torch.tensor([0.485, 0.456, 0.406]).view((1, 3, 1, 1)).cuda()
+        self.std = torch.tensor([0.229, 0.224, 0.225]).view((1, 3, 1, 1)).cuda()
+
+    def process(self, img_arr: np.ndarray, amask_arr: np.ndarray):
+        # Deal with the image patch
+        img_tensor = torch.tensor(img_arr).cuda().float().permute((2,0,1)).unsqueeze(dim=0)
+        img_tensor_norm = ((img_tensor / 255.0) - self.mean) / self.std  # (1,3,H,W)
+        # Deal with the attention mask
+        amask_tensor = torch.from_numpy(amask_arr).to(torch.bool).cuda().unsqueeze(dim=0)  # (1,H,W)
+        return img_tensor_norm, amask_tensor
+
+
+class PreprocessorX_onnx(object):
+    def __init__(self):
+        self.mean = np.array([0.485, 0.456, 0.406]).reshape((1, 3, 1, 1))
+        self.std = np.array([0.229, 0.224, 0.225]).reshape((1, 3, 1, 1))
+
+    def process(self, img_arr: np.ndarray, amask_arr: np.ndarray):
+        """img_arr: (H,W,3), amask_arr: (H,W)"""
+        # Deal with the image patch
+        img_arr_4d = img_arr[np.newaxis, :, :, :].transpose(0, 3, 1, 2)
+        img_arr_4d = (img_arr_4d / 255.0 - self.mean) / self.std  # (1, 3, H, W)
+        # Deal with the attention mask
+        amask_arr_3d = amask_arr[np.newaxis, :, :]  # (1,H,W)
+        return img_arr_4d.astype(np.float32), amask_arr_3d.astype(np.bool)

lib/test/tracker/vis_utils.py

@@ -0,0 +1,59 @@
+import numpy as np
+
+
+############## used for visulize eliminated tokens #################
+def get_keep_indices(decisions):
+    keep_indices = []
+    for i in range(3):
+        if i == 0:
+            keep_indices.append(decisions[i])
+        else:
+            keep_indices.append(keep_indices[-1][decisions[i]])
+    return keep_indices
+
+
+def gen_masked_tokens(tokens, indices, alpha=0.2):
+    # indices = [i for i in range(196) if i not in indices]
+    indices = indices[0].astype(int)
+    tokens = tokens.copy()
+    tokens[indices] = alpha * tokens[indices] + (1 - alpha) * 255
+    return tokens
+
+
+def recover_image(tokens, H, W, Hp, Wp, patch_size):
+    # image: (C, 196, 16, 16)
+    image = tokens.reshape(Hp, Wp, patch_size, patch_size, 3).swapaxes(1, 2).reshape(H, W, 3)
+    return image
+
+
+def pad_img(img):
+    height, width, channels = img.shape
+    im_bg = np.ones((height, width + 8, channels)) * 255
+    im_bg[0:height, 0:width, :] = img
+    return im_bg
+
+
+def gen_visualization(image, mask_indices, patch_size=16):
+    # image [224, 224, 3]
+    # mask_indices, list of masked token indices
+
+    # mask mask_indices need to cat
+    # mask_indices = mask_indices[::-1]
+    num_stages = len(mask_indices)
+    for i in range(1, num_stages):
+        mask_indices[i] = np.concatenate([mask_indices[i-1], mask_indices[i]], axis=1)
+
+    # keep_indices = get_keep_indices(decisions)
+    image = np.asarray(image)
+    H, W, C = image.shape
+    Hp, Wp = H // patch_size, W // patch_size
+    image_tokens = image.reshape(Hp, patch_size, Wp, patch_size, 3).swapaxes(1, 2).reshape(Hp * Wp, patch_size, patch_size, 3)
+
+    stages = [
+        recover_image(gen_masked_tokens(image_tokens, mask_indices[i]), H, W, Hp, Wp, patch_size)
+        for i in range(num_stages)
+    ]
+    imgs = [image] + stages
+    imgs = [pad_img(img) for img in imgs]
+    viz = np.concatenate(imgs, axis=1)
+    return viz

lib/test/utils/__init__.py

@@ -0,0 +1 @@
+from .params import TrackerParams, FeatureParams, Choice

lib/test/utils/_init_paths.py

@@ -0,0 +1,17 @@
+from __future__ import absolute_import
+from __future__ import division
+from __future__ import print_function
+
+import os.path as osp
+import sys
+
+
+def add_path(path):
+    if path not in sys.path:
+        sys.path.insert(0, path)
+
+
+this_dir = osp.dirname(__file__)
+
+prj_path = osp.join(this_dir, '..', '..', '..')
+add_path(prj_path)

lib/test/utils/hann.py

@@ -0,0 +1,93 @@
+import torch
+import math
+import torch.nn.functional as F
+
+
+def hann1d(sz: int, centered = True) -> torch.Tensor:
+    """1D cosine window."""
+    if centered:
+        return 0.5 * (1 - torch.cos((2 * math.pi / (sz + 1)) * torch.arange(1, sz + 1).float()))
+    w = 0.5 * (1 + torch.cos((2 * math.pi / (sz + 2)) * torch.arange(0, sz//2 + 1).float()))
+    return torch.cat([w, w[1:sz-sz//2].flip((0,))])
+
+
+def hann2d(sz: torch.Tensor, centered = True) -> torch.Tensor:
+    """2D cosine window."""
+    return hann1d(sz[0].item(), centered).reshape(1, 1, -1, 1) * hann1d(sz[1].item(), centered).reshape(1, 1, 1, -1)
+
+
+def hann2d_bias(sz: torch.Tensor, ctr_point: torch.Tensor, centered = True) -> torch.Tensor:
+    """2D cosine window."""
+    distance = torch.stack([ctr_point, sz-ctr_point], dim=0)
+    max_distance, _ = distance.max(dim=0)
+
+    hann1d_x = hann1d(max_distance[0].item() * 2, centered)
+    hann1d_x = hann1d_x[max_distance[0] - distance[0, 0]: max_distance[0] + distance[1, 0]]
+    hann1d_y = hann1d(max_distance[1].item() * 2, centered)
+    hann1d_y = hann1d_y[max_distance[1] - distance[0, 1]: max_distance[1] + distance[1, 1]]
+
+    return hann1d_y.reshape(1, 1, -1, 1) * hann1d_x.reshape(1, 1, 1, -1)
+
+
+
+def hann2d_clipped(sz: torch.Tensor, effective_sz: torch.Tensor, centered = True) -> torch.Tensor:
+    """1D clipped cosine window."""
+
+    # Ensure that the difference is even
+    effective_sz += (effective_sz - sz) % 2
+    effective_window = hann1d(effective_sz[0].item(), True).reshape(1, 1, -1, 1) * hann1d(effective_sz[1].item(), True).reshape(1, 1, 1, -1)
+
+    pad = (sz - effective_sz) // 2
+
+    window = F.pad(effective_window, (pad[1].item(), pad[1].item(), pad[0].item(), pad[0].item()), 'replicate')
+
+    if centered:
+        return window
+    else:
+        mid = (sz / 2).int()
+        window_shift_lr = torch.cat((window[:, :, :, mid[1]:], window[:, :, :, :mid[1]]), 3)
+        return torch.cat((window_shift_lr[:, :, mid[0]:, :], window_shift_lr[:, :, :mid[0], :]), 2)
+
+
+def gauss_fourier(sz: int, sigma: float, half: bool = False) -> torch.Tensor:
+    if half:
+        k = torch.arange(0, int(sz/2+1))
+    else:
+        k = torch.arange(-int((sz-1)/2), int(sz/2+1))
+    return (math.sqrt(2*math.pi) * sigma / sz) * torch.exp(-2 * (math.pi * sigma * k.float() / sz)**2)
+
+
+def gauss_spatial(sz, sigma, center=0, end_pad=0):
+    k = torch.arange(-(sz-1)/2, (sz+1)/2+end_pad)
+    return torch.exp(-1.0/(2*sigma**2) * (k - center)**2)
+
+
+def label_function(sz: torch.Tensor, sigma: torch.Tensor):
+    return gauss_fourier(sz[0].item(), sigma[0].item()).reshape(1, 1, -1, 1) * gauss_fourier(sz[1].item(), sigma[1].item(), True).reshape(1, 1, 1, -1)
+
+def label_function_spatial(sz: torch.Tensor, sigma: torch.Tensor, center: torch.Tensor = torch.zeros(2), end_pad: torch.Tensor = torch.zeros(2)):
+    """The origin is in the middle of the image."""
+    return gauss_spatial(sz[0].item(), sigma[0].item(), center[0], end_pad[0].item()).reshape(1, 1, -1, 1) * \
+           gauss_spatial(sz[1].item(), sigma[1].item(), center[1], end_pad[1].item()).reshape(1, 1, 1, -1)
+
+
+def cubic_spline_fourier(f, a):
+    """The continuous Fourier transform of a cubic spline kernel."""
+
+    bf = (6*(1 - torch.cos(2 * math.pi * f)) + 3*a*(1 - torch.cos(4 * math.pi * f))
+           - (6 + 8*a)*math.pi*f*torch.sin(2 * math.pi * f) - 2*a*math.pi*f*torch.sin(4 * math.pi * f)) \
+         / (4 * math.pi**4 * f**4)
+
+    bf[f == 0] = 1
+
+    return bf
+
+def max2d(a: torch.Tensor) -> (torch.Tensor, torch.Tensor):
+    """Computes maximum and argmax in the last two dimensions."""
+
+    max_val_row, argmax_row = torch.max(a, dim=-2)
+    max_val, argmax_col = torch.max(max_val_row, dim=-1)
+    argmax_row = argmax_row.view(argmax_col.numel(),-1)[torch.arange(argmax_col.numel()), argmax_col.view(-1)]
+    argmax_row = argmax_row.reshape(argmax_col.shape)
+    argmax = torch.cat((argmax_row.unsqueeze(-1), argmax_col.unsqueeze(-1)), -1)
+    return max_val, argmax

lib/test/utils/load_text.py

@@ -0,0 +1,47 @@
+import numpy as np
+import pandas as pd
+
+
+def load_text_numpy(path, delimiter, dtype):
+    if isinstance(delimiter, (tuple, list)):
+        for d in delimiter:
+            try:
+                ground_truth_rect = np.loadtxt(path, delimiter=d, dtype=dtype)
+                return ground_truth_rect
+            except:
+                pass
+
+        raise Exception('Could not read file {}'.format(path))
+    else:
+        ground_truth_rect = np.loadtxt(path, delimiter=delimiter, dtype=dtype)
+        return ground_truth_rect
+
+
+def load_text_pandas(path, delimiter, dtype):
+    if isinstance(delimiter, (tuple, list)):
+        for d in delimiter:
+            try:
+                ground_truth_rect = pd.read_csv(path, delimiter=d, header=None, dtype=dtype, na_filter=False,
+                                                low_memory=False).values
+                return ground_truth_rect
+            except Exception as e:
+                pass
+
+        raise Exception('Could not read file {}'.format(path))
+    else:
+        ground_truth_rect = pd.read_csv(path, delimiter=delimiter, header=None, dtype=dtype, na_filter=False,
+                                        low_memory=False).values
+        return ground_truth_rect
+
+
+def load_text(path, delimiter=' ', dtype=np.float32, backend='numpy'):
+    if backend == 'numpy':
+        return load_text_numpy(path, delimiter, dtype)
+    elif backend == 'pandas':
+        return load_text_pandas(path, delimiter, dtype)
+
+
+def load_str(path):
+    with open(path, "r") as f:
+        text_str = f.readline().strip().lower()
+    return text_str

lib/test/utils/params.py

@@ -0,0 +1,43 @@
+from lib.utils import TensorList
+import random
+
+
+class TrackerParams:
+    """Class for tracker parameters."""
+    def set_default_values(self, default_vals: dict):
+        for name, val in default_vals.items():
+            if not hasattr(self, name):
+                setattr(self, name, val)
+
+    def get(self, name: str, *default):
+        """Get a parameter value with the given name. If it does not exists, it return the default value given as a
+        second argument or returns an error if no default value is given."""
+        if len(default) > 1:
+            raise ValueError('Can only give one default value.')
+
+        if not default:
+            return getattr(self, name)
+
+        return getattr(self, name, default[0])
+
+    def has(self, name: str):
+        """Check if there exist a parameter with the given name."""
+        return hasattr(self, name)
+
+
+class FeatureParams:
+    """Class for feature specific parameters"""
+    def __init__(self, *args, **kwargs):
+        if len(args) > 0:
+            raise ValueError
+
+        for name, val in kwargs.items():
+            if isinstance(val, list):
+                setattr(self, name, TensorList(val))
+            else:
+                setattr(self, name, val)
+
+
+def Choice(*args):
+    """Can be used to sample random parameter values."""
+    return random.choice(args)

lib/test/utils/transform_got10k.py

@@ -0,0 +1,52 @@
+import numpy as np
+import os
+import shutil
+import argparse
+import _init_paths
+from lib.test.evaluation.environment import env_settings
+
+
+def transform_got10k(tracker_name, cfg_name):
+    env = env_settings()
+    result_dir = env.results_path
+    src_dir = os.path.join(result_dir, "%s/%s/got10k/" % (tracker_name, cfg_name))
+    dest_dir = os.path.join(result_dir, "%s/%s/got10k_submit/" % (tracker_name, cfg_name))
+    if not os.path.exists(dest_dir):
+        os.makedirs(dest_dir)
+    items = os.listdir(src_dir)
+    for item in items:
+        if "all" in item:
+            continue
+        src_path = os.path.join(src_dir, item)
+        if "time" not in item:
+            seq_name = item.replace(".txt", '')
+            seq_dir = os.path.join(dest_dir, seq_name)
+            if not os.path.exists(seq_dir):
+                os.makedirs(seq_dir)
+            new_item = item.replace(".txt", '_001.txt')
+            dest_path = os.path.join(seq_dir, new_item)
+            bbox_arr = np.loadtxt(src_path, dtype=np.int, delimiter='\t')
+            np.savetxt(dest_path, bbox_arr, fmt='%d', delimiter=',')
+        else:
+            seq_name = item.replace("_time.txt", '')
+            seq_dir = os.path.join(dest_dir, seq_name)
+            if not os.path.exists(seq_dir):
+                os.makedirs(seq_dir)
+            dest_path = os.path.join(seq_dir, item)
+            os.system("cp %s %s" % (src_path, dest_path))
+    # make zip archive
+    shutil.make_archive(src_dir, "zip", src_dir)
+    shutil.make_archive(dest_dir, "zip", dest_dir)
+    # Remove the original files
+    shutil.rmtree(src_dir)
+    shutil.rmtree(dest_dir)
+
+
+if __name__ == "__main__":
+    parser = argparse.ArgumentParser(description='transform got10k results.')
+    parser.add_argument('--tracker_name', type=str, help='Name of tracking method.')
+    parser.add_argument('--cfg_name', type=str, help='Name of config file.')
+
+    args = parser.parse_args()
+    transform_got10k(args.tracker_name, args.cfg_name)
+

lib/test/utils/transform_trackingnet.py

@@ -0,0 +1,39 @@
+import numpy as np
+import os
+import shutil
+import argparse
+import _init_paths
+from lib.test.evaluation.environment import env_settings
+
+
+def transform_trackingnet(tracker_name, cfg_name):
+    env = env_settings()
+    result_dir = env.results_path
+    src_dir = os.path.join(result_dir, "%s/%s/trackingnet/" % (tracker_name, cfg_name))
+    dest_dir = os.path.join(result_dir, "%s/%s/trackingnet_submit/" % (tracker_name, cfg_name))
+    if not os.path.exists(dest_dir):
+        os.makedirs(dest_dir)
+    items = os.listdir(src_dir)
+    for item in items:
+        if "all" in item:
+            continue
+        if "time" not in item:
+            src_path = os.path.join(src_dir, item)
+            dest_path = os.path.join(dest_dir, item)
+            bbox_arr = np.loadtxt(src_path, dtype=np.int, delimiter='\t')
+            np.savetxt(dest_path, bbox_arr, fmt='%d', delimiter=',')
+    # make zip archive
+    shutil.make_archive(src_dir, "zip", src_dir)
+    shutil.make_archive(dest_dir, "zip", dest_dir)
+    # Remove the original files
+    shutil.rmtree(src_dir)
+    shutil.rmtree(dest_dir)
+
+
+if __name__ == "__main__":
+    parser = argparse.ArgumentParser(description='transform trackingnet results.')
+    parser.add_argument('--tracker_name', type=str, help='Name of tracking method.')
+    parser.add_argument('--cfg_name', type=str, help='Name of config file.')
+
+    args = parser.parse_args()
+    transform_trackingnet(args.tracker_name, args.cfg_name)

lib/train/__init__.py

@@ -0,0 +1 @@
+from .admin.multigpu import MultiGPU

lib/train/_init_paths.py

@@ -0,0 +1,17 @@
+from __future__ import absolute_import
+from __future__ import division
+from __future__ import print_function
+
+import os.path as osp
+import sys
+
+
+def add_path(path):
+    if path not in sys.path:
+        sys.path.insert(0, path)
+
+
+this_dir = osp.dirname(__file__)
+
+prj_path = osp.join(this_dir, '../..')
+add_path(prj_path)

lib/train/actors/__init__.py

@@ -0,0 +1,3 @@
+from .base_actor import BaseActor
+from .artrack import ARTrackActor
+from .artrack_seq import ARTrackSeqActor

lib/train/actors/artrack.py

@@ -0,0 +1,281 @@
+from . import BaseActor
+from lib.utils.misc import NestedTensor
+from lib.utils.box_ops import box_cxcywh_to_xyxy, box_xywh_to_xyxy
+import torch
+import math
+import numpy as np
+from lib.utils.merge import merge_template_search
+from ...utils.heapmap_utils import generate_heatmap
+from ...utils.ce_utils import generate_mask_cond, adjust_keep_rate
+
+def fp16_clamp(x, min=None, max=None):
+    if not x.is_cuda and x.dtype == torch.float16:
+        # clamp for cpu float16, tensor fp16 has no clamp implementation
+        return x.float().clamp(min, max).half()
+
+    return x.clamp(min, max)
+    
+def generate_sa_simdr(joints):
+    '''
+    :param joints:  [num_joints, 3]
+    :param joints_vis: [num_joints, 3]
+    :return: target, target_weight(1: visible, 0: invisible)
+    '''
+    num_joints = 48
+    image_size = [256, 256]
+    simdr_split_ratio = 1.5625
+    sigma = 6
+
+    target_x1 = np.zeros((num_joints,
+                              int(image_size[0] * simdr_split_ratio)),
+                             dtype=np.float32)
+    target_y1 = np.zeros((num_joints,
+                              int(image_size[1] * simdr_split_ratio)),
+                             dtype=np.float32)
+    target_x2 = np.zeros((num_joints,
+                              int(image_size[0] * simdr_split_ratio)),
+                             dtype=np.float32)
+    target_y2 = np.zeros((num_joints,
+                              int(image_size[1] * simdr_split_ratio)),
+                             dtype=np.float32)
+    zero_4_begin = np.zeros((num_joints, 1), dtype=np.float32)
+
+    tmp_size = sigma * 3
+
+    for joint_id in range(num_joints):
+
+        mu_x1 = joints[joint_id][0]
+        mu_y1 = joints[joint_id][1]
+        mu_x2 = joints[joint_id][2]
+        mu_y2 = joints[joint_id][3]
+
+        x1 = np.arange(0, int(image_size[0] * simdr_split_ratio), 1, np.float32)
+        y1 = np.arange(0, int(image_size[1] * simdr_split_ratio), 1, np.float32)
+        x2 = np.arange(0, int(image_size[0] * simdr_split_ratio), 1, np.float32)
+        y2 = np.arange(0, int(image_size[1] * simdr_split_ratio), 1, np.float32)
+
+        target_x1[joint_id] = (np.exp(- ((x1 - mu_x1) ** 2) / (2 * sigma ** 2))) / (
+                        sigma * np.sqrt(np.pi * 2))
+        target_y1[joint_id] = (np.exp(- ((y1 - mu_y1) ** 2) / (2 * sigma ** 2))) / (
+                        sigma * np.sqrt(np.pi * 2))
+        target_x2[joint_id] = (np.exp(- ((x2 - mu_x2) ** 2) / (2 * sigma ** 2))) / (
+                        sigma * np.sqrt(np.pi * 2))
+        target_y2[joint_id] = (np.exp(- ((y2 - mu_y2) ** 2) / (2 * sigma ** 2))) / (
+                        sigma * np.sqrt(np.pi * 2))
+    return target_x1, target_y1, target_x2, target_y2
+
+# angle cost
+def SIoU_loss(test1, test2, theta=4):
+    eps = 1e-7
+    cx_pred = (test1[:, 0] + test1[:, 2]) / 2
+    cy_pred = (test1[:, 1] + test1[:, 3]) / 2
+    cx_gt = (test2[:, 0] + test2[:, 2]) / 2
+    cy_gt = (test2[:, 1] + test2[:, 3]) / 2
+
+    dist = ((cx_pred - cx_gt)**2 + (cy_pred - cy_gt)**2) ** 0.5
+    ch = torch.max(cy_gt, cy_pred) - torch.min(cy_gt, cy_pred)
+    x = ch / (dist + eps)
+
+    angle = 1 - 2*torch.sin(torch.arcsin(x)-torch.pi/4)**2
+    # distance cost
+    xmin = torch.min(test1[:, 0], test2[:, 0])
+    xmax = torch.max(test1[:, 2], test2[:, 2])
+    ymin = torch.min(test1[:, 1], test2[:, 1])
+    ymax = torch.max(test1[:, 3], test2[:, 3])
+    cw = xmax - xmin
+    ch = ymax - ymin
+    px = ((cx_gt - cx_pred) / (cw+eps))**2
+    py = ((cy_gt - cy_pred) / (ch+eps))**2
+    gama = 2 - angle
+    dis = (1 - torch.exp(-1 * gama * px)) + (1 - torch.exp(-1 * gama * py))
+
+    #shape cost
+    w_pred = test1[:, 2] - test1[:, 0]
+    h_pred = test1[:, 3] - test1[:, 1]
+    w_gt = test2[:, 2] - test2[:, 0]
+    h_gt = test2[:, 3] - test2[:, 1]
+    ww = torch.abs(w_pred - w_gt) / (torch.max(w_pred, w_gt) + eps)
+    wh = torch.abs(h_gt - h_pred) / (torch.max(h_gt, h_pred) + eps)
+    omega = (1 - torch.exp(-1 * wh)) ** theta + (1 - torch.exp(-1 * ww)) ** theta
+
+    #IoU loss
+    lt = torch.max(test1[..., :2], test2[..., :2])  # [B, rows, 2]
+    rb = torch.min(test1[..., 2:], test2[..., 2:])  # [B, rows, 2]
+
+    wh = fp16_clamp(rb - lt, min=0)
+    overlap = wh[..., 0] * wh[..., 1]
+    area1 = (test1[..., 2] - test1[..., 0]) * (
+            test1[..., 3] - test1[..., 1])
+    area2 = (test2[..., 2] - test2[..., 0]) * (
+            test2[..., 3] - test2[..., 1])
+    iou = overlap / (area1 + area2 - overlap)
+
+    SIoU = 1 - iou + (omega + dis) / 2
+    return SIoU, iou
+    
+def ciou(pred, target, eps=1e-7):
+    # overlap
+    lt = torch.max(pred[:, :2], target[:, :2])
+    rb = torch.min(pred[:, 2:], target[:, 2:])
+    wh = (rb - lt).clamp(min=0)
+    overlap = wh[:, 0] * wh[:, 1]
+
+    # union
+    ap = (pred[:, 2] - pred[:, 0]) * (pred[:, 3] - pred[:, 1])
+    ag = (target[:, 2] - target[:, 0]) * (target[:, 3] - target[:, 1])
+    union = ap + ag - overlap + eps
+
+    # IoU
+    ious = overlap / union
+
+    # enclose area
+    enclose_x1y1 = torch.min(pred[:, :2], target[:, :2])
+    enclose_x2y2 = torch.max(pred[:, 2:], target[:, 2:])
+    enclose_wh = (enclose_x2y2 - enclose_x1y1).clamp(min=0)
+
+    cw = enclose_wh[:, 0]
+    ch = enclose_wh[:, 1]
+
+    c2 = cw**2 + ch**2 + eps
+
+    b1_x1, b1_y1 = pred[:, 0], pred[:, 1]
+    b1_x2, b1_y2 = pred[:, 2], pred[:, 3]
+    b2_x1, b2_y1 = target[:, 0], target[:, 1]
+    b2_x2, b2_y2 = target[:, 2], target[:, 3]
+
+    w1, h1 = b1_x2 - b1_x1, b1_y2 - b1_y1 + eps
+    w2, h2 = b2_x2 - b2_x1, b2_y2 - b2_y1 + eps
+
+    left = ((b2_x1 + b2_x2) - (b1_x1 + b1_x2))**2 / 4
+    right = ((b2_y1 + b2_y2) - (b1_y1 + b1_y2))**2 / 4
+    rho2 = left + right
+
+    factor = 4 / math.pi**2
+    v = factor * torch.pow(torch.atan(w2 / h2) - torch.atan(w1 / h1), 2)
+
+    # CIoU
+    cious = ious - (rho2 / c2 + v**2 / (1 - ious + v))
+    return cious, ious
+
+class ARTrackActor(BaseActor):
+    """ Actor for training ARTrack models """
+
+    def __init__(self, net, objective, loss_weight, settings, bins, search_size, cfg=None):
+        super().__init__(net, objective)
+        self.loss_weight = loss_weight
+        self.settings = settings
+        self.bs = self.settings.batchsize  # batch size
+        self.cfg = cfg
+        self.bins = bins
+        self.range = self.cfg.MODEL.RANGE
+        self.search_size = search_size
+        self.logsoftmax = torch.nn.LogSoftmax(dim=1)
+        self.focal = None
+        self.loss_weight['KL'] = 100
+        self.loss_weight['focal'] = 2
+
+    def __call__(self, data):
+        """
+        args:
+            data - The input data, should contain the fields 'template', 'search', 'gt_bbox'.
+            template_images: (N_t, batch, 3, H, W)
+            search_images: (N_s, batch, 3, H, W)
+        returns:
+            loss    - the training loss
+            status  -  dict containing detailed losses
+        """
+        # forward pass
+        out_dict = self.forward_pass(data)
+
+        # compute losses
+        loss, status = self.compute_losses(out_dict, data)
+
+        return loss, status
+
+    def forward_pass(self, data):
+        # currently only support 1 template and 1 search region
+        assert len(data['template_images']) == 1
+        assert len(data['search_images']) == 1
+
+        template_list = []
+        for i in range(self.settings.num_template):
+            template_img_i = data['template_images'][i].view(-1,
+                                                             *data['template_images'].shape[2:])  # (batch, 3, 128, 128)
+            template_list.append(template_img_i)
+
+        search_img = data['search_images'][0].view(-1, *data['search_images'].shape[2:])  # (batch, 3, 320, 320)
+
+        if len(template_list) == 1:
+            template_list = template_list[0]
+        gt_bbox = data['search_anno'][-1]
+        begin = self.bins * self.range
+        end = self.bins * self.range + 1
+
+        magic_num = (self.range - 1) * 0.5
+        gt_bbox[:, 2] = gt_bbox[:, 0] + gt_bbox[:, 2]
+        gt_bbox[:, 3] = gt_bbox[:, 1] + gt_bbox[:, 3]
+        gt_bbox = gt_bbox.clamp(min=(-1*magic_num), max=(1+magic_num))
+        data['real_bbox'] = gt_bbox
+
+        seq_ori = (gt_bbox + magic_num) * (self.bins - 1)
+
+        seq_ori = seq_ori.int().to(search_img)
+        B = seq_ori.shape[0]
+        seq_input = torch.cat([torch.ones((B, 1)).to(search_img) * begin, seq_ori], dim=1)
+        seq_output = torch.cat([seq_ori, torch.ones((B, 1)).to(search_img) * end], dim=1)
+        data['seq_input'] = seq_input
+        data['seq_output'] = seq_output
+        out_dict = self.net(template=template_list,
+                            search=search_img,
+                            seq_input=seq_input)
+
+        return out_dict
+
+    def compute_losses(self, pred_dict, gt_dict, return_status=True):
+        bins = self.bins
+        magic_num = (self.range - 1) * 0.5
+        seq_output = gt_dict['seq_output']
+        pred_feat = pred_dict["feat"]
+        if self.focal == None:
+            weight = torch.ones(bins*self.range+2) * 1
+            weight[bins*self.range+1] = 0.1
+            weight[bins*self.range] = 0.1
+            weight.to(pred_feat)
+            self.klloss = torch.nn.KLDivLoss(reduction='none').to(pred_feat)
+
+            self.focal = torch.nn.CrossEntropyLoss(weight=weight, size_average=True).to(pred_feat)
+        # compute varfifocal loss
+        pred = pred_feat.permute(1, 0, 2).reshape(-1, bins*2+2)
+        target = seq_output.reshape(-1).to(torch.int64)
+        varifocal_loss = self.focal(pred, target)
+        # compute giou and L1 loss
+        beta = 1
+        pred = pred_feat[0:4, :, 0:bins*self.range] * beta
+        target = seq_output[:, 0:4].to(pred_feat)
+        
+        out = pred.softmax(-1).to(pred)
+        mul = torch.range((-1*magic_num+1/(self.bins*self.range)), (1+magic_num-1/(self.bins*self.range)), 2/(self.bins*self.range)).to(pred)
+        ans = out * mul
+        ans = ans.sum(dim=-1)
+        ans = ans.permute(1, 0).to(pred)
+        target = target / (bins - 1) - magic_num
+        extra_seq = ans
+        extra_seq = extra_seq.to(pred)
+        sious, iou = SIoU_loss(extra_seq, target, 4)
+        sious = sious.mean()
+        siou_loss = sious
+        l1_loss = self.objective['l1'](extra_seq, target)
+
+        loss = self.loss_weight['giou'] * siou_loss + self.loss_weight['l1'] * l1_loss + self.loss_weight['focal'] * varifocal_loss
+
+        if return_status:
+            # status for log
+            mean_iou = iou.detach().mean()
+            status = {"Loss/total": loss.item(),
+                      "Loss/giou": siou_loss.item(),
+                      "Loss/l1": l1_loss.item(),
+                      "Loss/location": varifocal_loss.item(),
+                      "IoU": mean_iou.item()}
+            return loss, status
+        else:
+            return loss

lib/train/actors/artrack_seq.py

@@ -0,0 +1,629 @@
+from . import BaseActor
+from lib.utils.misc import NestedTensor
+from lib.utils.box_ops import box_cxcywh_to_xyxy, box_xywh_to_xyxy
+import torch
+import math
+import numpy as np
+import numpy
+import cv2
+import torch.nn.functional as F
+import torchvision.transforms.functional as tvisf
+import lib.train.data.bounding_box_utils as bbutils
+from lib.utils.merge import merge_template_search
+from torch.distributions.categorical import Categorical
+from ...utils.heapmap_utils import generate_heatmap
+from ...utils.ce_utils import generate_mask_cond, adjust_keep_rate
+
+
+def IoU(rect1, rect2):
+    """ caculate interection over union
+    Args:
+        rect1: (x1, y1, x2, y2)
+        rect2: (x1, y1, x2, y2)
+    Returns:
+        iou
+    """
+    # overlap
+    x1, y1, x2, y2 = rect1[0], rect1[1], rect1[2], rect1[3]
+    tx1, ty1, tx2, ty2 = rect2[0], rect2[1], rect2[2], rect2[3]
+
+    xx1 = np.maximum(tx1, x1)
+    yy1 = np.maximum(ty1, y1)
+    xx2 = np.minimum(tx2, x2)
+    yy2 = np.minimum(ty2, y2)
+
+    ww = np.maximum(0, xx2 - xx1)
+    hh = np.maximum(0, yy2 - yy1)
+
+    area = (x2 - x1) * (y2 - y1)
+    target_a = (tx2 - tx1) * (ty2 - ty1)
+    inter = ww * hh
+    iou = inter / (area + target_a - inter)
+    return iou
+
+
+def fp16_clamp(x, min=None, max=None):
+    if not x.is_cuda and x.dtype == torch.float16:
+        # clamp for cpu float16, tensor fp16 has no clamp implementation
+        return x.float().clamp(min, max).half()
+
+    return x.clamp(min, max)
+
+
+def generate_sa_simdr(joints):
+    '''
+    :param joints:  [num_joints, 3]
+    :param joints_vis: [num_joints, 3]
+    :return: target, target_weight(1: visible, 0: invisible)
+    '''
+    num_joints = 48
+    image_size = [256, 256]
+    simdr_split_ratio = 1.5625
+    sigma = 6
+
+    target_x1 = np.zeros((num_joints,
+                          int(image_size[0] * simdr_split_ratio)),
+                         dtype=np.float32)
+    target_y1 = np.zeros((num_joints,
+                          int(image_size[1] * simdr_split_ratio)),
+                         dtype=np.float32)
+    target_x2 = np.zeros((num_joints,
+                          int(image_size[0] * simdr_split_ratio)),
+                         dtype=np.float32)
+    target_y2 = np.zeros((num_joints,
+                          int(image_size[1] * simdr_split_ratio)),
+                         dtype=np.float32)
+    zero_4_begin = np.zeros((num_joints, 1), dtype=np.float32)
+
+    tmp_size = sigma * 3
+
+    for joint_id in range(num_joints):
+        mu_x1 = joints[joint_id][0]
+        mu_y1 = joints[joint_id][1]
+        mu_x2 = joints[joint_id][2]
+        mu_y2 = joints[joint_id][3]
+
+        x1 = np.arange(0, int(image_size[0] * simdr_split_ratio), 1, np.float32)
+        y1 = np.arange(0, int(image_size[1] * simdr_split_ratio), 1, np.float32)
+        x2 = np.arange(0, int(image_size[0] * simdr_split_ratio), 1, np.float32)
+        y2 = np.arange(0, int(image_size[1] * simdr_split_ratio), 1, np.float32)
+
+        target_x1[joint_id] = (np.exp(- ((x1 - mu_x1) ** 2) / (2 * sigma ** 2))) / (
+                sigma * np.sqrt(np.pi * 2))
+        target_y1[joint_id] = (np.exp(- ((y1 - mu_y1) ** 2) / (2 * sigma ** 2))) / (
+                sigma * np.sqrt(np.pi * 2))
+        target_x2[joint_id] = (np.exp(- ((x2 - mu_x2) ** 2) / (2 * sigma ** 2))) / (
+                sigma * np.sqrt(np.pi * 2))
+        target_y2[joint_id] = (np.exp(- ((y2 - mu_y2) ** 2) / (2 * sigma ** 2))) / (
+                sigma * np.sqrt(np.pi * 2))
+    return target_x1, target_y1, target_x2, target_y2
+
+
+# angle cost
+def SIoU_loss(test1, test2, theta=4):
+    eps = 1e-7
+    cx_pred = (test1[:, 0] + test1[:, 2]) / 2
+    cy_pred = (test1[:, 1] + test1[:, 3]) / 2
+    cx_gt = (test2[:, 0] + test2[:, 2]) / 2
+    cy_gt = (test2[:, 1] + test2[:, 3]) / 2
+
+    dist = ((cx_pred - cx_gt) ** 2 + (cy_pred - cy_gt) ** 2) ** 0.5
+    ch = torch.max(cy_gt, cy_pred) - torch.min(cy_gt, cy_pred)
+    x = ch / (dist + eps)
+
+    angle = 1 - 2 * torch.sin(torch.arcsin(x) - torch.pi / 4) ** 2
+    # distance cost
+    xmin = torch.min(test1[:, 0], test2[:, 0])
+    xmax = torch.max(test1[:, 2], test2[:, 2])
+    ymin = torch.min(test1[:, 1], test2[:, 1])
+    ymax = torch.max(test1[:, 3], test2[:, 3])
+    cw = xmax - xmin
+    ch = ymax - ymin
+    px = ((cx_gt - cx_pred) / (cw + eps)) ** 2
+    py = ((cy_gt - cy_pred) / (ch + eps)) ** 2
+    gama = 2 - angle
+    dis = (1 - torch.exp(-1 * gama * px)) + (1 - torch.exp(-1 * gama * py))
+
+    # shape cost
+    w_pred = test1[:, 2] - test1[:, 0]
+    h_pred = test1[:, 3] - test1[:, 1]
+    w_gt = test2[:, 2] - test2[:, 0]
+    h_gt = test2[:, 3] - test2[:, 1]
+    ww = torch.abs(w_pred - w_gt) / (torch.max(w_pred, w_gt) + eps)
+    wh = torch.abs(h_gt - h_pred) / (torch.max(h_gt, h_pred) + eps)
+    omega = (1 - torch.exp(-1 * wh)) ** theta + (1 - torch.exp(-1 * ww)) ** theta
+
+    # IoU loss
+    lt = torch.max(test1[..., :2], test2[..., :2])  # [B, rows, 2]
+    rb = torch.min(test1[..., 2:], test2[..., 2:])  # [B, rows, 2]
+
+    wh = fp16_clamp(rb - lt, min=0)
+    overlap = wh[..., 0] * wh[..., 1]
+    area1 = (test1[..., 2] - test1[..., 0]) * (
+            test1[..., 3] - test1[..., 1])
+    area2 = (test2[..., 2] - test2[..., 0]) * (
+            test2[..., 3] - test2[..., 1])
+    iou = overlap / (area1 + area2 - overlap)
+
+    SIoU = 1 - iou + (omega + dis) / 2
+    return SIoU, iou
+
+
+def ciou(pred, target, eps=1e-7):
+    # overlap
+    lt = torch.max(pred[:, :2], target[:, :2])
+    rb = torch.min(pred[:, 2:], target[:, 2:])
+    wh = (rb - lt).clamp(min=0)
+    overlap = wh[:, 0] * wh[:, 1]
+
+    # union
+    ap = (pred[:, 2] - pred[:, 0]) * (pred[:, 3] - pred[:, 1])
+    ag = (target[:, 2] - target[:, 0]) * (target[:, 3] - target[:, 1])
+    union = ap + ag - overlap + eps
+
+    # IoU
+    ious = overlap / union
+
+    # enclose area
+    enclose_x1y1 = torch.min(pred[:, :2], target[:, :2])
+    enclose_x2y2 = torch.max(pred[:, 2:], target[:, 2:])
+    enclose_wh = (enclose_x2y2 - enclose_x1y1).clamp(min=0)
+
+    cw = enclose_wh[:, 0]
+    ch = enclose_wh[:, 1]
+
+    c2 = cw ** 2 + ch ** 2 + eps
+
+    b1_x1, b1_y1 = pred[:, 0], pred[:, 1]
+    b1_x2, b1_y2 = pred[:, 2], pred[:, 3]
+    b2_x1, b2_y1 = target[:, 0], target[:, 1]
+    b2_x2, b2_y2 = target[:, 2], target[:, 3]
+
+    w1, h1 = b1_x2 - b1_x1, b1_y2 - b1_y1 + eps
+    w2, h2 = b2_x2 - b2_x1, b2_y2 - b2_y1 + eps
+
+    left = ((b2_x1 + b2_x2) - (b1_x1 + b1_x2)) ** 2 / 4
+    right = ((b2_y1 + b2_y2) - (b1_y1 + b1_y2)) ** 2 / 4
+    rho2 = left + right
+
+    factor = 4 / math.pi ** 2
+    v = factor * torch.pow(torch.atan(w2 / h2) - torch.atan(w1 / h1), 2)
+
+    # CIoU
+    cious = ious - (rho2 / c2 + v ** 2 / (1 - ious + v))
+    return cious, ious
+
+
+class ARTrackSeqActor(BaseActor):
+    """ Actor for training OSTrack models """
+
+    def __init__(self, net, objective, loss_weight, settings, bins, search_size, cfg=None):
+        super().__init__(net, objective)
+        self.loss_weight = loss_weight
+        self.settings = settings
+        self.bs = self.settings.batchsize  # batch size
+        self.cfg = cfg
+        self.bins = bins
+        self.search_size = search_size
+        self.logsoftmax = torch.nn.LogSoftmax(dim=1)
+        self.focal = None
+        self.range = cfg.MODEL.RANGE
+        self.pre_num = cfg.MODEL.PRENUM
+        self.loss_weight['KL'] = 0
+        self.loss_weight['focal'] = 0
+        self.pre_bbox = None
+        self.x_feat_rem = None
+        self.update_rem = None
+
+    def __call__(self, data):
+        """
+        args:
+            data - The input data, should contain the fields 'template', 'search', 'gt_bbox'.
+            template_images: (N_t, batch, 3, H, W)
+            search_images: (N_s, batch, 3, H, W)
+        returns:
+            loss    - the training loss
+            status  -  dict containing detailed losses
+        """
+        # forward pass
+        out_dict = self.forward_pass(data)
+
+        # compute losses
+        loss, status = self.compute_losses(out_dict, data)
+
+        return loss, status
+
+    def _bbox_clip(self, cx, cy, width, height, boundary):
+        cx = max(0, min(cx, boundary[1]))
+        cy = max(0, min(cy, boundary[0]))
+        width = max(10, min(width, boundary[1]))
+        height = max(10, min(height, boundary[0]))
+        return cx, cy, width, height
+
+    def get_subwindow(self, im, pos, model_sz, original_sz, avg_chans):
+        """
+        args:
+            im: bgr based image
+            pos: center position
+            model_sz: exemplar size
+            s_z: original size
+            avg_chans: channel average
+        """
+        if isinstance(pos, float):
+            pos = [pos, pos]
+        sz = original_sz
+        im_sz = im.shape
+        c = (original_sz + 1) / 2
+        # context_xmin = round(pos[0] - c) # py2 and py3 round
+        context_xmin = np.floor(pos[0] - c + 0.5)
+        context_xmax = context_xmin + sz - 1
+        # context_ymin = round(pos[1] - c)
+        context_ymin = np.floor(pos[1] - c + 0.5)
+        context_ymax = context_ymin + sz - 1
+        left_pad = int(max(0., -context_xmin))
+        top_pad = int(max(0., -context_ymin))
+        right_pad = int(max(0., context_xmax - im_sz[1] + 1))
+        bottom_pad = int(max(0., context_ymax - im_sz[0] + 1))
+
+        context_xmin = context_xmin + left_pad
+        context_xmax = context_xmax + left_pad
+        context_ymin = context_ymin + top_pad
+        context_ymax = context_ymax + top_pad
+
+        r, c, k = im.shape
+        if any([top_pad, bottom_pad, left_pad, right_pad]):
+            size = (r + top_pad + bottom_pad, c + left_pad + right_pad, k)
+            te_im = np.zeros(size, np.uint8)
+            te_im[top_pad:top_pad + r, left_pad:left_pad + c, :] = im
+            if top_pad:
+                te_im[0:top_pad, left_pad:left_pad + c, :] = avg_chans
+            if bottom_pad:
+                te_im[r + top_pad:, left_pad:left_pad + c, :] = avg_chans
+            if left_pad:
+                te_im[:, 0:left_pad, :] = avg_chans
+            if right_pad:
+                te_im[:, c + left_pad:, :] = avg_chans
+            im_patch = te_im[int(context_ymin):int(context_ymax + 1),
+                       int(context_xmin):int(context_xmax + 1), :]
+        else:
+            im_patch = im[int(context_ymin):int(context_ymax + 1),
+                       int(context_xmin):int(context_xmax + 1), :]
+
+        if not np.array_equal(model_sz, original_sz):
+            try:
+                im_patch = cv2.resize(im_patch, (model_sz, model_sz))
+            except:
+                return None
+        im_patch = im_patch.transpose(2, 0, 1)
+        im_patch = im_patch[np.newaxis, :, :, :]
+        im_patch = im_patch.astype(np.float32)
+        im_patch = torch.from_numpy(im_patch)
+        im_patch = im_patch.cuda()
+        return im_patch
+
+    def batch_init(self, images, template_bbox, initial_bbox) -> dict:
+        self.frame_num = 1
+        self.device = 'cuda'
+        # Convert bbox (x1, y1, w, h) -> (cx, cy, w, h)
+
+        template_bbox = bbutils.batch_xywh2center2(template_bbox)  # ndarray:(2*num_seq,4)
+        initial_bbox = bbutils.batch_xywh2center2(initial_bbox)  # ndarray:(2*num_seq,4)
+        self.center_pos = initial_bbox[:, :2]  # ndarray:(2*num_seq,2)
+        self.size = initial_bbox[:, 2:]  # ndarray:(2*num_seq,2)
+        self.pre_bbox = initial_bbox
+        for i in range(self.pre_num - 1):
+            self.pre_bbox = numpy.concatenate((self.pre_bbox, initial_bbox), axis=1)
+        # print(self.pre_bbox.shape)
+
+        template_factor = self.cfg.DATA.TEMPLATE.FACTOR
+        w_z = template_bbox[:, 2] * template_factor  # ndarray:(2*num_seq)
+        h_z = template_bbox[:, 3] * template_factor  # ndarray:(2*num_seq)
+        s_z = np.ceil(np.sqrt(w_z * h_z))  # ndarray:(2*num_seq)
+
+        self.channel_average = []
+        for img in images:
+            self.channel_average.append(np.mean(img, axis=(0, 1)))
+        self.channel_average = np.array(self.channel_average)  # ndarray:(2*num_seq,3)
+
+        # get crop
+        z_crop_list = []
+        for i in range(len(images)):
+            here_crop = self.get_subwindow(images[i], template_bbox[i, :2],
+                                           self.cfg.DATA.TEMPLATE.SIZE, s_z[i], self.channel_average[i])
+            z_crop = here_crop.float().mul(1.0 / 255.0).clamp(0.0, 1.0)
+            self.mean = [0.485, 0.456, 0.406]
+            self.std = [0.229, 0.224, 0.225]
+            self.inplace = False
+            z_crop[0] = tvisf.normalize(z_crop[0], self.mean, self.std, self.inplace)
+            z_crop_list.append(z_crop.clone())
+        z_crop = torch.cat(z_crop_list, dim=0)  # Tensor(2*num_seq,3,128,128)
+
+        self.update_rem = None
+
+        out = {'template_images': z_crop}
+        return out
+
+    def batch_track(self, img, gt_boxes, template, action_mode='max') -> dict:
+        search_factor = self.cfg.DATA.SEARCH.FACTOR
+        w_x = self.size[:, 0] * search_factor
+        h_x = self.size[:, 1] * search_factor
+        s_x = np.ceil(np.sqrt(w_x * h_x))
+
+        gt_boxes_corner = bbutils.batch_xywh2corner(gt_boxes)  # ndarray:(2*num_seq,4)
+
+        x_crop_list = []
+        gt_in_crop_list = []
+        pre_seq_list = []
+        pre_seq_in_list = []
+        x_feat_list = []
+
+        magic_num = (self.range - 1) * 0.5
+        for i in range(len(img)):
+            channel_avg = np.mean(img[i], axis=(0, 1))
+            x_crop = self.get_subwindow(img[i], self.center_pos[i], self.cfg.DATA.SEARCH.SIZE,
+                                        round(s_x[i]), channel_avg)
+            if x_crop == None:
+                return None
+            for q in range(self.pre_num):
+                pre_seq_temp = bbutils.batch_center2corner(self.pre_bbox[:, 0 + 4 * q:4 + 4 * q])
+                if q == 0:
+                    pre_seq = pre_seq_temp
+                else:
+                    pre_seq = numpy.concatenate((pre_seq, pre_seq_temp), axis=1)
+
+            if gt_boxes_corner is not None and np.sum(np.abs(gt_boxes_corner[i] - np.zeros(4))) > 10:
+                pre_in = np.zeros(4 * self.pre_num)
+                for w in range(self.pre_num):
+
+                    pre_in[0 + w * 4:2 + w * 4] = pre_seq[i, 0 + w * 4:2 + w * 4] - self.center_pos[i]
+                    pre_in[2 + w * 4:4 + w * 4] = pre_seq[i, 2 + w * 4:4 + w * 4] - self.center_pos[i]
+                    pre_in[0 + w * 4:4 + w * 4] = pre_in[0 + w * 4:4 + w * 4] * (
+                                self.cfg.DATA.SEARCH.SIZE / s_x[i]) + self.cfg.DATA.SEARCH.SIZE / 2
+                    pre_in[0 + w * 4:4 + w * 4] = pre_in[0 + w * 4:4 + w * 4] / self.cfg.DATA.SEARCH.SIZE
+
+                pre_seq_list.append(pre_in)
+                gt_in_crop = np.zeros(4)
+                gt_in_crop[:2] = gt_boxes_corner[i, :2] - self.center_pos[i]
+                gt_in_crop[2:] = gt_boxes_corner[i, 2:] - self.center_pos[i]
+                gt_in_crop = gt_in_crop * (self.cfg.DATA.SEARCH.SIZE / s_x[i]) + self.cfg.DATA.SEARCH.SIZE / 2
+                gt_in_crop[2:] = gt_in_crop[2:] - gt_in_crop[:2]  # (x1,y1,x2,y2) to (x1,y1,w,h)
+                gt_in_crop_list.append(gt_in_crop)
+            else:
+                pre_in = np.zeros(4 * self.pre_num)
+                pre_seq_list.append(pre_in)
+                gt_in_crop_list.append(np.zeros(4))
+            pre_seq_input = torch.from_numpy(pre_in).clamp(-1 * magic_num, 1 + magic_num)
+            pre_seq_input = (pre_seq_input + 0.5) * (self.bins - 1)
+            pre_seq_in_list.append(pre_seq_input.clone())
+            x_crop = x_crop.float().mul(1.0 / 255.0).clamp(0.0, 1.0)
+            x_crop[0] = tvisf.normalize(x_crop[0], self.mean, self.std, self.inplace)
+            x_crop_list.append(x_crop.clone())
+
+        x_crop = torch.cat(x_crop_list, dim=0)
+        pre_seq_output = torch.cat(pre_seq_in_list, dim=0).reshape(-1, 4 * self.pre_num)
+
+        outputs = self.net(template, x_crop, seq_input=pre_seq_output, head_type=None, stage="batch_track",
+                           search_feature=self.x_feat_rem, update=None)
+        selected_indices = outputs['seqs'].detach()
+        x_feat = outputs['x_feat'].detach().cpu()
+        self.x_feat_rem = x_feat.clone()
+        x_feat_list.append(x_feat.clone())
+
+        pred_bbox = selected_indices[:, 0:4].data.cpu().numpy()
+        bbox = (pred_bbox / (self.bins - 1) - magic_num) * s_x.reshape(-1, 1)
+        cx = bbox[:, 0] + self.center_pos[:, 0] - s_x / 2
+        cy = bbox[:, 1] + self.center_pos[:, 1] - s_x / 2
+        width = bbox[:, 2] - bbox[:, 0]
+        height = bbox[:, 3] - bbox[:, 1]
+        cx = cx + width / 2
+        cy = cy + height / 2
+
+        for i in range(len(img)):
+            cx[i], cy[i], width[i], height[i] = self._bbox_clip(cx[i], cy[i], width[i],
+                                                                height[i], img[i].shape[:2])
+        self.center_pos = np.stack([cx, cy], 1)
+        self.size = np.stack([width, height], 1)
+        for e in range(self.pre_num):
+            if e != self.pre_num - 1:
+                self.pre_bbox[:, 0 + e * 4:4 + e * 4] = self.pre_bbox[:, 4 + e * 4:8 + e * 4]
+            else:
+                self.pre_bbox[:, 0 + e * 4:4 + e * 4] = numpy.stack([cx, cy, width, height], 1)
+
+        bbox = np.stack([cx - width / 2, cy - height / 2, width, height], 1)
+
+        out = {
+            'search_images': x_crop,
+            'pred_bboxes': bbox,
+            'selected_indices': selected_indices.cpu(),
+            'gt_in_crop': torch.tensor(np.stack(gt_in_crop_list, axis=0), dtype=torch.float),
+            'pre_seq': torch.tensor(np.stack(pre_seq_list, axis=0), dtype=torch.float),
+            'x_feat': torch.tensor([item.cpu().detach().numpy() for item in x_feat_list], dtype=torch.float),
+        }
+
+        return out
+
+    def explore(self, data):
+        results = {}
+        search_images_list = []
+        search_anno_list = []
+        iou_list = []
+        pre_seq_list = []
+        x_feat_list = []
+
+        num_frames = data['num_frames']
+        images = data['search_images']
+        gt_bbox = data['search_annos']
+        template = data['template_images']
+        template_bbox = data['template_annos']
+
+        template = template
+        template_bbox = template_bbox
+        template_bbox = np.array(template_bbox)
+        num_seq = len(num_frames)
+
+        for idx in range(np.max(num_frames)):
+            here_images = [img[idx] for img in images]  # S, N
+            here_gt_bbox = np.array([gt[idx] for gt in gt_bbox])
+
+            here_images = here_images
+            here_gt_bbox = np.concatenate([here_gt_bbox], 0)
+
+            if idx == 0:
+                outputs_template = self.batch_init(template, template_bbox, here_gt_bbox)
+                results['template_images'] = outputs_template['template_images']
+
+            else:
+                outputs = self.batch_track(here_images, here_gt_bbox, outputs_template['template_images'],
+                                           action_mode='half')
+                if outputs == None:
+                    return None
+
+                x_feat = outputs['x_feat']
+                pred_bbox = outputs['pred_bboxes']
+                search_images_list.append(outputs['search_images'])
+                search_anno_list.append(outputs['gt_in_crop'])
+                if len(outputs['pre_seq']) != 8:
+                    print(outputs['pre_seq'])
+                    print(len(outputs['pre_seq']))
+                    print(idx)
+                    print(data['num_frames'])
+                    print(data['search_annos'])
+                    return None
+                pre_seq_list.append(outputs['pre_seq'])
+                pred_bbox_corner = bbutils.batch_xywh2corner(pred_bbox)
+                gt_bbox_corner = bbutils.batch_xywh2corner(here_gt_bbox)
+                here_iou = []
+                for i in range(num_seq):
+                    bbox_iou = IoU(pred_bbox_corner[i], gt_bbox_corner[i])
+                    here_iou.append(bbox_iou)
+                iou_list.append(here_iou)
+                x_feat_list.append(x_feat.clone())
+
+        results['x_feat'] = torch.cat([torch.stack(x_feat_list)], dim=2)
+
+        results['search_images'] = torch.cat([torch.stack(search_images_list)],
+                                             dim=1)
+        results['search_anno'] = torch.cat([torch.stack(search_anno_list)],
+                                           dim=1)
+        results['pre_seq'] = torch.cat([torch.stack(pre_seq_list)], dim=1)
+
+        iou_tensor = torch.tensor(iou_list, dtype=torch.float)
+        results['baseline_iou'] = torch.cat([iou_tensor[:, :num_seq]], dim=1)
+
+
+        return results
+
+    def forward_pass(self, data):
+        # currently only support 1 template and 1 search region
+        assert len(data['template_images']) == 1
+        assert len(data['search_images']) == 1
+
+        template_list = []
+        for i in range(self.settings.num_template):
+            template_img_i = data['template_images'][i].view(-1,
+                                                             *data['template_images'].shape[2:])  # (batch, 3, 128, 128)
+            template_list.append(template_img_i)
+
+        search_img = data['search_images'][0].view(-1, *data['search_images'].shape[2:])  # (batch, 3, 320, 320)
+
+        box_mask_z = None
+        ce_keep_rate = None
+        if self.cfg.MODEL.BACKBONE.CE_LOC:
+            box_mask_z = generate_mask_cond(self.cfg, template_list[0].shape[0], template_list[0].device,
+                                            data['template_anno'][0])
+
+            ce_start_epoch = self.cfg.TRAIN.CE_START_EPOCH
+            ce_warm_epoch = self.cfg.TRAIN.CE_WARM_EPOCH
+            ce_keep_rate = adjust_keep_rate(data['epoch'], warmup_epochs=ce_start_epoch,
+                                            total_epochs=ce_start_epoch + ce_warm_epoch,
+                                            ITERS_PER_EPOCH=1,
+                                            base_keep_rate=self.cfg.MODEL.BACKBONE.CE_KEEP_RATIO[0])
+
+        if len(template_list) == 1:
+            template_list = template_list[0]
+        gt_bbox = data['search_anno'][-1]
+        begin = self.bins
+        end = self.bins + 1
+        gt_bbox[:, 2] = gt_bbox[:, 0] + gt_bbox[:, 2]
+        gt_bbox[:, 3] = gt_bbox[:, 1] + gt_bbox[:, 3]
+        gt_bbox = gt_bbox.clamp(min=0.5, max=1.5)
+        data['real_bbox'] = gt_bbox
+        seq_ori = gt_bbox * (self.bins - 1)
+        seq_ori = seq_ori.int().to(search_img)
+        B = seq_ori.shape[0]
+        seq_input = torch.cat([torch.ones((B, 1)).to(search_img) * begin, seq_ori], dim=1)
+        seq_output = torch.cat([seq_ori, torch.ones((B, 1)).to(search_img) * end], dim=1)
+        data['seq_input'] = seq_input
+        data['seq_output'] = seq_output
+        out_dict = self.net(template=template_list,
+                            search=search_img,
+                            ce_template_mask=box_mask_z,
+                            ce_keep_rate=ce_keep_rate,
+                            return_last_attn=False,
+                            seq_input=seq_input)
+
+        return out_dict
+
+    def compute_sequence_losses(self, data):
+        num_frames = data['search_images'].shape[0]
+        template_images = data['template_images'].repeat(num_frames, 1, 1, 1, 1)
+        template_images = template_images.view(-1, *template_images.size()[2:])
+        search_images = data['search_images'].reshape(-1, *data['search_images'].size()[2:])
+        search_anno = data['search_anno'].reshape(-1, *data['search_anno'].size()[2:])
+
+        magic_num = (self.range - 1) * 0.5
+        self.loss_weight['focal'] = 0
+        pre_seq = data['pre_seq'].reshape(-1, 4 * self.pre_num)
+        x_feat = data['x_feat'].reshape(-1, *data['x_feat'].size()[2:])
+        pre_seq = pre_seq.clamp(-1 * magic_num, 1 + magic_num)
+        pre_seq = (pre_seq + magic_num) * (self.bins - 1)
+
+        outputs = self.net(template_images, search_images, seq_input=pre_seq, stage="forward_pass",
+                           search_feature=x_feat, update=None)
+
+        pred_feat = outputs["feat"]
+        # generate labels
+        if self.focal == None:
+            weight = torch.ones(self.bins * self.range + 2) * 1
+            weight[self.bins * self.range + 1] = 0.1
+            weight[self.bins * self.range] = 0.1
+            weight.to(pred_feat)
+            self.focal = torch.nn.CrossEntropyLoss(weight=weight, size_average=True).to(pred_feat)
+
+        search_anno[:, 2] = search_anno[:, 2] + search_anno[:, 0]
+        search_anno[:, 3] = search_anno[:, 3] + search_anno[:, 1]
+        target = (search_anno / self.cfg.DATA.SEARCH.SIZE + 0.5) * (self.bins - 1)
+
+        target = target.clamp(min=0.0, max=(self.bins * self.range - 0.0001))
+        target_iou = target
+        target = torch.cat([target], dim=1)
+        target = target.reshape(-1).to(torch.int64)
+        pred = pred_feat.permute(1, 0, 2).reshape(-1, self.bins * self.range + 2)
+        varifocal_loss = self.focal(pred, target)
+        pred = pred_feat[0:4, :, 0:self.bins * self.range]
+        target = target_iou[:, 0:4].to(pred_feat) / (self.bins - 1) - magic_num
+        out = pred.softmax(-1).to(pred)
+        mul = torch.range(-1 * magic_num + 1 / (self.bins * self.range), 1 + magic_num - 1 / (self.bins * self.range), 2 / (self.bins * self.range)).to(pred)
+        ans = out * mul
+        ans = ans.sum(dim=-1)
+        ans = ans.permute(1, 0).to(pred)
+        extra_seq = ans
+        extra_seq = extra_seq.to(pred)
+
+        cious, iou = SIoU_loss(extra_seq, target, 4)
+        cious = cious.mean()
+
+        giou_loss = cious
+        loss_bb = self.loss_weight['giou'] * giou_loss + self.loss_weight[
+            'focal'] * varifocal_loss
+
+        total_losses = loss_bb
+
+        mean_iou = iou.detach().mean()
+        status = {"Loss/total": total_losses.item(),
+                  "Loss/giou": giou_loss.item(),
+                  "Loss/location": varifocal_loss.item(),
+                  "IoU": mean_iou.item()}
+
+        return total_losses, status
+

lib/train/actors/base_actor.py

@@ -0,0 +1,44 @@
+from lib.utils import TensorDict
+
+
+class BaseActor:
+    """ Base class for actor. The actor class handles the passing of the data through the network
+    and calculation the loss"""
+    def __init__(self, net, objective):
+        """
+        args:
+            net - The network to train
+            objective - The loss function
+        """
+        self.net = net
+        self.objective = objective
+
+    def __call__(self, data: TensorDict):
+        """ Called in each training iteration. Should pass in input data through the network, calculate the loss, and
+        return the training stats for the input data
+        args:
+            data - A TensorDict containing all the necessary data blocks.
+
+        returns:
+            loss    - loss for the input data
+            stats   - a dict containing detailed losses
+        """
+        raise NotImplementedError
+
+    def to(self, device):
+        """ Move the network to device
+        args:
+            device - device to use. 'cpu' or 'cuda'
+        """
+        self.net.to(device)
+
+    def train(self, mode=True):
+        """ Set whether the network is in train mode.
+        args:
+            mode (True) - Bool specifying whether in training mode.
+        """
+        self.net.train(mode)
+
+    def eval(self):
+        """ Set network to eval mode"""
+        self.train(False)

lib/train/admin/__init__.py

@@ -0,0 +1,3 @@
+from .environment import env_settings, create_default_local_file_ITP_train
+from .stats import AverageMeter, StatValue
+#from .tensorboard import TensorboardWriter

lib/train/admin/environment.py

@@ -0,0 +1,102 @@
+import importlib
+import os
+from collections import OrderedDict
+
+
+def create_default_local_file():
+    path = os.path.join(os.path.dirname(__file__), 'local.py')
+
+    empty_str = '\'\''
+    default_settings = OrderedDict({
+        'workspace_dir': empty_str,
+        'tensorboard_dir': 'self.workspace_dir + \'/tensorboard/\'',
+        'pretrained_networks': 'self.workspace_dir + \'/pretrained_networks/\'',
+        'lasot_dir': empty_str,
+        'got10k_dir': empty_str,
+        'trackingnet_dir': empty_str,
+        'coco_dir': empty_str,
+        'lvis_dir': empty_str,
+        'sbd_dir': empty_str,
+        'imagenet_dir': empty_str,
+        'imagenetdet_dir': empty_str,
+        'ecssd_dir': empty_str,
+        'hkuis_dir': empty_str,
+        'msra10k_dir': empty_str,
+        'davis_dir': empty_str,
+        'youtubevos_dir': empty_str})
+
+    comment = {'workspace_dir': 'Base directory for saving network checkpoints.',
+               'tensorboard_dir': 'Directory for tensorboard files.'}
+
+    with open(path, 'w') as f:
+        f.write('class EnvironmentSettings:\n')
+        f.write('    def __init__(self):\n')
+
+        for attr, attr_val in default_settings.items():
+            comment_str = None
+            if attr in comment:
+                comment_str = comment[attr]
+            if comment_str is None:
+                f.write('        self.{} = {}\n'.format(attr, attr_val))
+            else:
+                f.write('        self.{} = {}    # {}\n'.format(attr, attr_val, comment_str))
+
+
+def create_default_local_file_ITP_train(workspace_dir, data_dir):
+    path = os.path.join(os.path.dirname(__file__), 'local.py')
+
+    empty_str = '\'\''
+    default_settings = OrderedDict({
+        'workspace_dir': workspace_dir,
+        'tensorboard_dir': os.path.join(workspace_dir, 'tensorboard'),    # Directory for tensorboard files.
+        'pretrained_networks': os.path.join(workspace_dir, 'pretrained_networks'),
+        'lasot_dir': os.path.join(data_dir, 'lasot'),
+        'got10k_dir': os.path.join(data_dir, 'got10k/train'),
+        'got10k_val_dir': os.path.join(data_dir, 'got10k/val'),
+        'lasot_lmdb_dir': os.path.join(data_dir, 'lasot_lmdb'),
+        'got10k_lmdb_dir': os.path.join(data_dir, 'got10k_lmdb'),
+        'trackingnet_dir': os.path.join(data_dir, 'trackingnet'),
+        'trackingnet_lmdb_dir': os.path.join(data_dir, 'trackingnet_lmdb'),
+        'coco_dir': os.path.join(data_dir, 'coco'),
+        'coco_lmdb_dir': os.path.join(data_dir, 'coco_lmdb'),
+        'lvis_dir': empty_str,
+        'sbd_dir': empty_str,
+        'imagenet_dir': os.path.join(data_dir, 'vid'),
+        'imagenet_lmdb_dir': os.path.join(data_dir, 'vid_lmdb'),
+        'imagenetdet_dir': empty_str,
+        'ecssd_dir': empty_str,
+        'hkuis_dir': empty_str,
+        'msra10k_dir': empty_str,
+        'davis_dir': empty_str,
+        'youtubevos_dir': empty_str})
+
+    comment = {'workspace_dir': 'Base directory for saving network checkpoints.',
+               'tensorboard_dir': 'Directory for tensorboard files.'}
+
+    with open(path, 'w') as f:
+        f.write('class EnvironmentSettings:\n')
+        f.write('    def __init__(self):\n')
+
+        for attr, attr_val in default_settings.items():
+            comment_str = None
+            if attr in comment:
+                comment_str = comment[attr]
+            if comment_str is None:
+                if attr_val == empty_str:
+                    f.write('        self.{} = {}\n'.format(attr, attr_val))
+                else:
+                    f.write('        self.{} = \'{}\'\n'.format(attr, attr_val))
+            else:
+                f.write('        self.{} = \'{}\'    # {}\n'.format(attr, attr_val, comment_str))
+
+
+def env_settings():
+    env_module_name = 'lib.train.admin.local'
+    try:
+        env_module = importlib.import_module(env_module_name)
+        return env_module.EnvironmentSettings()
+    except:
+        env_file = os.path.join(os.path.dirname(__file__), 'local.py')
+
+        create_default_local_file()
+        raise RuntimeError('YOU HAVE NOT SETUP YOUR local.py!!!\n Go to "{}" and set all the paths you need. Then try to run again.'.format(env_file))

lib/train/admin/local.py

@@ -0,0 +1,24 @@
+class EnvironmentSettings:
+    def __init__(self):
+        self.workspace_dir = '/home/baiyifan/code/2stage_update_intrain'    # Base directory for saving network checkpoints.
+        self.tensorboard_dir = '/home/baiyifan/code/2stage/tensorboard'    # Directory for tensorboard files.
+        self.pretrained_networks = '/home/baiyifan/code/2stage/pretrained_networks'
+        self.lasot_dir = '/home/baiyifan/LaSOT/LaSOTBenchmark'
+        self.got10k_dir = '/home/baiyifan/GOT-10k/train'
+        self.got10k_val_dir = '/home/baiyifan/GOT-10k/val'
+        self.lasot_lmdb_dir = '/home/baiyifan/code/2stage/data/lasot_lmdb'
+        self.got10k_lmdb_dir = '/home/baiyifan/code/2stage/data/got10k_lmdb'
+        self.trackingnet_dir = '/ssddata/TrackingNet/all_zip'
+        self.trackingnet_lmdb_dir = '/home/baiyifan/code/2stage/data/trackingnet_lmdb'
+        self.coco_dir = '/home/baiyifan/coco'
+        self.coco_lmdb_dir = '/home/baiyifan/code/2stage/data/coco_lmdb'
+        self.lvis_dir = ''
+        self.sbd_dir = ''
+        self.imagenet_dir = '/home/baiyifan/code/2stage/data/vid'
+        self.imagenet_lmdb_dir = '/home/baiyifan/code/2stage/data/vid_lmdb'
+        self.imagenetdet_dir = ''
+        self.ecssd_dir = ''
+        self.hkuis_dir = ''
+        self.msra10k_dir = ''
+        self.davis_dir = ''
+        self.youtubevos_dir = ''

lib/train/admin/multigpu.py

@@ -0,0 +1,15 @@
+import torch.nn as nn
+# Here we use DistributedDataParallel(DDP) rather than DataParallel(DP) for multiple GPUs training
+
+
+def is_multi_gpu(net):
+    return isinstance(net, (MultiGPU, nn.parallel.distributed.DistributedDataParallel))
+
+
+class MultiGPU(nn.parallel.distributed.DistributedDataParallel):
+    def __getattr__(self, item):
+        try:
+            return super().__getattr__(item)
+        except:
+            pass
+        return getattr(self.module, item)

lib/train/admin/settings.py

@@ -0,0 +1,13 @@
+from lib.train.admin.environment import env_settings
+
+
+class Settings:
+    """ Training settings, e.g. the paths to datasets and networks."""
+    def __init__(self):
+        self.set_default()
+
+    def set_default(self):
+        self.env = env_settings()
+        self.use_gpu = True
+
+

lib/train/admin/stats.py

@@ -0,0 +1,71 @@
+
+
+class StatValue:
+    def __init__(self):
+        self.clear()
+
+    def reset(self):
+        self.val = 0
+
+    def clear(self):
+        self.reset()
+        self.history = []
+
+    def update(self, val):
+        self.val = val
+        self.history.append(self.val)
+
+
+class AverageMeter(object):
+    """Computes and stores the average and current value"""
+    def __init__(self):
+        self.clear()
+        self.has_new_data = False
+
+    def reset(self):
+        self.avg = 0
+        self.val = 0
+        self.sum = 0
+        self.count = 0
+
+    def clear(self):
+        self.reset()
+        self.history = []
+
+    def update(self, val, n=1):
+        self.val = val
+        self.sum += val * n
+        self.count += n
+        self.avg = self.sum / self.count
+
+    def new_epoch(self):
+        if self.count > 0:
+            self.history.append(self.avg)
+            self.reset()
+            self.has_new_data = True
+        else:
+            self.has_new_data = False
+
+
+def topk_accuracy(output, target, topk=(1,)):
+    """Computes the precision@k for the specified values of k"""
+    single_input = not isinstance(topk, (tuple, list))
+    if single_input:
+        topk = (topk,)
+
+    maxk = max(topk)
+    batch_size = target.size(0)
+
+    _, pred = output.topk(maxk, 1, True, True)
+    pred = pred.t()
+    correct = pred.eq(target.view(1, -1).expand_as(pred))
+
+    res = []
+    for k in topk:
+        correct_k = correct[:k].view(-1).float().sum(0, keepdim=True)[0]
+        res.append(correct_k * 100.0 / batch_size)
+
+    if single_input:
+        return res[0]
+
+    return res

lib/train/admin/tensorboard.py

@@ -0,0 +1,27 @@
+#import os
+#from collections import OrderedDict
+#try:
+#    from torch.utils.tensorboard import SummaryWriter
+#except:
+#    print('WARNING: You are using tensorboardX instead sis you have a too old pytorch version.')
+#    from tensorboardX import SummaryWriter
+
+
+#class TensorboardWriter:
+#    def __init__(self, directory, loader_names):
+#        self.directory = directory
+#        self.writer = OrderedDict({name: SummaryWriter(os.path.join(self.directory, name)) for name in loader_names})
+
+#    def write_info(self, script_name, description):
+#        tb_info_writer = SummaryWriter(os.path.join(self.directory, 'info'))
+#        tb_info_writer.add_text('Script_name', script_name)
+#        tb_info_writer.add_text('Description', description)
+#        tb_info_writer.close()
+
+#    def write_epoch(self, stats: OrderedDict, epoch: int, ind=-1):
+#        for loader_name, loader_stats in stats.items():
+#            if loader_stats is None:
+#                continue
+#            for var_name, val in loader_stats.items():
+#                if hasattr(val, 'history') and getattr(val, 'has_new_data', True):
+#                    self.writer[loader_name].add_scalar(var_name, val.history[ind], epoch)

lib/train/base_functions.py

@@ -0,0 +1,193 @@
+import torch
+from torch.utils.data.distributed import DistributedSampler
+# datasets related
+from lib.train.dataset import Lasot, Got10k, MSCOCOSeq, ImagenetVID, TrackingNet
+from lib.train.dataset import Lasot_lmdb, Got10k_lmdb, MSCOCOSeq_lmdb, ImagenetVID_lmdb, TrackingNet_lmdb
+from lib.train.data import sampler, opencv_loader, processing, LTRLoader
+import lib.train.data.transforms as tfm
+from lib.utils.misc import is_main_process
+
+
+def update_settings(settings, cfg):
+    settings.print_interval = cfg.TRAIN.PRINT_INTERVAL
+    settings.search_area_factor = {'template': cfg.DATA.TEMPLATE.FACTOR,
+                                   'search': cfg.DATA.SEARCH.FACTOR}
+    settings.output_sz = {'template': cfg.DATA.TEMPLATE.SIZE,
+                          'search': cfg.DATA.SEARCH.SIZE}
+    settings.center_jitter_factor = {'template': cfg.DATA.TEMPLATE.CENTER_JITTER,
+                                     'search': cfg.DATA.SEARCH.CENTER_JITTER}
+    settings.scale_jitter_factor = {'template': cfg.DATA.TEMPLATE.SCALE_JITTER,
+                                    'search': cfg.DATA.SEARCH.SCALE_JITTER}
+    settings.grad_clip_norm = cfg.TRAIN.GRAD_CLIP_NORM
+    settings.print_stats = None
+    settings.batchsize = cfg.TRAIN.BATCH_SIZE
+    settings.scheduler_type = cfg.TRAIN.SCHEDULER.TYPE
+
+
+def names2datasets(name_list: list, settings, image_loader):
+    assert isinstance(name_list, list)
+    datasets = []
+    #settings.use_lmdb = True
+    for name in name_list:
+        assert name in ["LASOT", "GOT10K_vottrain", "GOT10K_votval", "GOT10K_train_full", "GOT10K_official_val",
+                        "COCO17", "VID", "TRACKINGNET"]
+        if name == "LASOT":
+            if settings.use_lmdb:
+                print("Building lasot dataset from lmdb")
+                datasets.append(Lasot_lmdb(settings.env.lasot_lmdb_dir, split='train', image_loader=image_loader))
+            else:
+                datasets.append(Lasot(settings.env.lasot_dir, split='train', image_loader=image_loader))
+        if name == "GOT10K_vottrain":
+            if settings.use_lmdb:
+                print("Building got10k from lmdb")
+                datasets.append(Got10k_lmdb(settings.env.got10k_lmdb_dir, split='vottrain', image_loader=image_loader))
+            else:
+                datasets.append(Got10k(settings.env.got10k_dir, split='vottrain', image_loader=image_loader))
+        if name == "GOT10K_train_full":
+            if settings.use_lmdb:
+                print("Building got10k_train_full from lmdb")
+                datasets.append(Got10k_lmdb(settings.env.got10k_lmdb_dir, split='train_full', image_loader=image_loader))
+            else:
+                datasets.append(Got10k(settings.env.got10k_dir, split='train_full', image_loader=image_loader))
+        if name == "GOT10K_votval":
+            if settings.use_lmdb:
+                print("Building got10k from lmdb")
+                datasets.append(Got10k_lmdb(settings.env.got10k_lmdb_dir, split='votval', image_loader=image_loader))
+            else:
+                datasets.append(Got10k(settings.env.got10k_dir, split='votval', image_loader=image_loader))
+        if name == "GOT10K_official_val":
+            if settings.use_lmdb:
+                raise ValueError("Not implement")
+            else:
+                datasets.append(Got10k(settings.env.got10k_val_dir, split=None, image_loader=image_loader))
+        if name == "COCO17":
+            if settings.use_lmdb:
+                print("Building COCO2017 from lmdb")
+                datasets.append(MSCOCOSeq_lmdb(settings.env.coco_lmdb_dir, version="2017", image_loader=image_loader))
+            else:
+                datasets.append(MSCOCOSeq(settings.env.coco_dir, version="2017", image_loader=image_loader))
+        if name == "VID":
+            if settings.use_lmdb:
+                print("Building VID from lmdb")
+                datasets.append(ImagenetVID_lmdb(settings.env.imagenet_lmdb_dir, image_loader=image_loader))
+            else:
+                datasets.append(ImagenetVID(settings.env.imagenet_dir, image_loader=image_loader))
+        if name == "TRACKINGNET":
+            if settings.use_lmdb:
+                print("Building TrackingNet from lmdb")
+                datasets.append(TrackingNet_lmdb(settings.env.trackingnet_lmdb_dir, image_loader=image_loader))
+            else:
+                # raise ValueError("NOW WE CAN ONLY USE TRACKINGNET FROM LMDB")
+                datasets.append(TrackingNet(settings.env.trackingnet_dir, image_loader=image_loader))
+    return datasets
+
+
+def build_dataloaders(cfg, settings):
+    # Data transform
+    transform_joint = tfm.Transform(tfm.ToGrayscale(probability=0.05),
+                                    tfm.RandomHorizontalFlip(probability=0.5))
+
+    transform_train = tfm.Transform(tfm.ToTensorAndJitter(0.2),
+                                    tfm.RandomHorizontalFlip_Norm(probability=0.5),
+                                    tfm.Normalize(mean=cfg.DATA.MEAN, std=cfg.DATA.STD))
+
+    transform_val = tfm.Transform(tfm.ToTensor(),
+                                  tfm.Normalize(mean=cfg.DATA.MEAN, std=cfg.DATA.STD))
+
+    # The tracking pairs processing module
+    output_sz = settings.output_sz
+    search_area_factor = settings.search_area_factor
+
+    data_processing_train = processing.STARKProcessing(search_area_factor=search_area_factor,
+                                                       output_sz=output_sz,
+                                                       center_jitter_factor=settings.center_jitter_factor,
+                                                       scale_jitter_factor=settings.scale_jitter_factor,
+                                                       mode='sequence',
+                                                       transform=transform_train,
+                                                       joint_transform=transform_joint,
+                                                       settings=settings)
+
+    data_processing_val = processing.STARKProcessing(search_area_factor=search_area_factor,
+                                                     output_sz=output_sz,
+                                                     center_jitter_factor=settings.center_jitter_factor,
+                                                     scale_jitter_factor=settings.scale_jitter_factor,
+                                                     mode='sequence',
+                                                     transform=transform_val,
+                                                     joint_transform=transform_joint,
+                                                     settings=settings)
+
+    # Train sampler and loader
+    settings.num_template = getattr(cfg.DATA.TEMPLATE, "NUMBER", 1)
+    settings.num_search = getattr(cfg.DATA.SEARCH, "NUMBER", 1)
+    sampler_mode = getattr(cfg.DATA, "SAMPLER_MODE", "causal")
+    train_cls = getattr(cfg.TRAIN, "TRAIN_CLS", False)
+    print("sampler_mode", sampler_mode)
+    dataset_train = sampler.TrackingSampler(datasets=names2datasets(cfg.DATA.TRAIN.DATASETS_NAME, settings, opencv_loader),
+                                            p_datasets=cfg.DATA.TRAIN.DATASETS_RATIO,
+                                            samples_per_epoch=cfg.DATA.TRAIN.SAMPLE_PER_EPOCH,
+                                            max_gap=cfg.DATA.MAX_SAMPLE_INTERVAL, num_search_frames=settings.num_search,
+                                            num_template_frames=settings.num_template, processing=data_processing_train,
+                                            frame_sample_mode=sampler_mode, train_cls=train_cls)
+
+    train_sampler = DistributedSampler(dataset_train) if settings.local_rank != -1 else None
+    shuffle = False if settings.local_rank != -1 else True
+
+    loader_train = LTRLoader('train', dataset_train, training=True, batch_size=cfg.TRAIN.BATCH_SIZE, shuffle=shuffle,
+                             num_workers=cfg.TRAIN.NUM_WORKER, drop_last=True, stack_dim=1, sampler=train_sampler)
+
+    # Validation samplers and loaders
+    dataset_val = sampler.TrackingSampler(datasets=names2datasets(cfg.DATA.VAL.DATASETS_NAME, settings, opencv_loader),
+                                          p_datasets=cfg.DATA.VAL.DATASETS_RATIO,
+                                          samples_per_epoch=cfg.DATA.VAL.SAMPLE_PER_EPOCH,
+                                          max_gap=cfg.DATA.MAX_SAMPLE_INTERVAL, num_search_frames=settings.num_search,
+                                          num_template_frames=settings.num_template, processing=data_processing_val,
+                                          frame_sample_mode=sampler_mode, train_cls=train_cls)
+    val_sampler = DistributedSampler(dataset_val) if settings.local_rank != -1 else None
+    loader_val = LTRLoader('val', dataset_val, training=False, batch_size=cfg.TRAIN.BATCH_SIZE,
+                           num_workers=cfg.TRAIN.NUM_WORKER, drop_last=True, stack_dim=1, sampler=val_sampler,
+                           epoch_interval=cfg.TRAIN.VAL_EPOCH_INTERVAL)
+
+    return loader_train, loader_val
+
+
+def get_optimizer_scheduler(net, cfg):
+    train_cls = getattr(cfg.TRAIN, "TRAIN_CLS", False)
+    if train_cls:
+        print("Only training classification head. Learnable parameters are shown below.")
+        param_dicts = [
+            {"params": [p for n, p in net.named_parameters() if "cls" in n and p.requires_grad]}
+        ]
+
+        for n, p in net.named_parameters():
+            if "cls" not in n:
+                p.requires_grad = False
+            else:
+                print(n)
+    else:
+        param_dicts = [
+            {"params": [p for n, p in net.named_parameters() if "backbone" not in n and p.requires_grad]},
+            {
+                "params": [p for n, p in net.named_parameters() if "backbone" in n and p.requires_grad],
+                "lr": cfg.TRAIN.LR * cfg.TRAIN.BACKBONE_MULTIPLIER,
+            },
+        ]
+        if is_main_process():
+            print("Learnable parameters are shown below.")
+            for n, p in net.named_parameters():
+                if p.requires_grad:
+                    print(n)
+
+    if cfg.TRAIN.OPTIMIZER == "ADAMW":
+        optimizer = torch.optim.AdamW(param_dicts, lr=cfg.TRAIN.LR,
+                                      weight_decay=cfg.TRAIN.WEIGHT_DECAY)
+    else:
+        raise ValueError("Unsupported Optimizer")
+    if cfg.TRAIN.SCHEDULER.TYPE == 'step':
+        lr_scheduler = torch.optim.lr_scheduler.StepLR(optimizer, cfg.TRAIN.LR_DROP_EPOCH)
+    elif cfg.TRAIN.SCHEDULER.TYPE == "Mstep":
+        lr_scheduler = torch.optim.lr_scheduler.MultiStepLR(optimizer,
+                                                            milestones=cfg.TRAIN.SCHEDULER.MILESTONES,
+                                                            gamma=cfg.TRAIN.SCHEDULER.GAMMA)
+    else:
+        raise ValueError("Unsupported scheduler")
+    return optimizer, lr_scheduler

lib/train/data/__init__.py

@@ -0,0 +1,2 @@
+from .loader import LTRLoader
+from .image_loader import jpeg4py_loader, opencv_loader, jpeg4py_loader_w_failsafe, default_image_loader

lib/train/data/bounding_box_utils.py

@@ -0,0 +1,150 @@
+import torch
+import numpy as np
+
+def batch_center2corner(boxes):
+    xmin = boxes[:, 0] - boxes[:, 2] * 0.5
+    ymin = boxes[:, 1] - boxes[:, 3] * 0.5
+    xmax = boxes[:, 0] + boxes[:, 2] * 0.5
+    ymax = boxes[:, 1] + boxes[:, 3] * 0.5
+
+    if isinstance(boxes, np.ndarray):
+        return np.stack([xmin, ymin, xmax, ymax], 1)
+    else:
+        return torch.stack([xmin, ymin, xmax, ymax], 1)
+
+def batch_corner2center(boxes):
+    cx = (boxes[:, 0] + boxes[:, 2]) * 0.5
+    cy = (boxes[:, 1] + boxes[:, 3]) * 0.5
+    w = (boxes[:, 2] - boxes[:, 0])
+    h = (boxes[:, 3] - boxes[:, 1])
+
+    if isinstance(boxes, np.ndarray):
+        return np.stack([cx, cy, w, h], 1)
+    else:
+        return torch.stack([cx, cy, w, h], 1)
+
+def batch_xywh2center(boxes):
+    cx = boxes[:, 0] + (boxes[:, 2] - 1) / 2
+    cy = boxes[:, 1] + (boxes[:, 3] - 1) / 2
+    w = boxes[:, 2]
+    h = boxes[:, 3]
+
+    if isinstance(boxes, np.ndarray):
+        return np.stack([cx, cy, w, h], 1)
+    else:
+        return torch.stack([cx, cy, w, h], 1)
+
+def batch_xywh2center2(boxes):
+    cx = boxes[:, 0] + boxes[:, 2] / 2
+    cy = boxes[:, 1] + boxes[:, 3] / 2
+    w = boxes[:, 2]
+    h = boxes[:, 3]
+
+    if isinstance(boxes, np.ndarray):
+        return np.stack([cx, cy, w, h], 1)
+    else:
+        return torch.stack([cx, cy, w, h], 1)
+
+
+def batch_xywh2corner(boxes):
+    xmin = boxes[:, 0]
+    ymin = boxes[:, 1]
+    xmax = boxes[:, 0] + boxes[:, 2]
+    ymax = boxes[:, 1] + boxes[:, 3]
+
+    if isinstance(boxes, np.ndarray):
+        return np.stack([xmin, ymin, xmax, ymax], 1)
+    else:
+        return torch.stack([xmin, ymin, xmax, ymax], 1)
+
+def rect_to_rel(bb, sz_norm=None):
+    """Convert standard rectangular parametrization of the bounding box [x, y, w, h]
+    to relative parametrization [cx/sw, cy/sh, log(w), log(h)], where [cx, cy] is the center coordinate.
+    args:
+        bb  -  N x 4 tensor of boxes.
+        sz_norm  -  [N] x 2 tensor of value of [sw, sh] (optional). sw=w and sh=h if not given.
+    """
+
+    c = bb[...,:2] + 0.5 * bb[...,2:]
+    if sz_norm is None:
+        c_rel = c / bb[...,2:]
+    else:
+        c_rel = c / sz_norm
+    sz_rel = torch.log(bb[...,2:])
+    return torch.cat((c_rel, sz_rel), dim=-1)
+
+
+def rel_to_rect(bb, sz_norm=None):
+    """Inverts the effect of rect_to_rel. See above."""
+
+    sz = torch.exp(bb[...,2:])
+    if sz_norm is None:
+        c = bb[...,:2] * sz
+    else:
+        c = bb[...,:2] * sz_norm
+    tl = c - 0.5 * sz
+    return torch.cat((tl, sz), dim=-1)
+
+
+def masks_to_bboxes(mask, fmt='c'):
+
+    """ Convert a mask tensor to one or more bounding boxes.
+    Note: This function is a bit new, make sure it does what it says.  /Andreas
+    :param mask: Tensor of masks, shape = (..., H, W)
+    :param fmt: bbox layout. 'c' => "center + size" or (x_center, y_center, width, height)
+                             't' => "top left + size" or (x_left, y_top, width, height)
+                             'v' => "vertices" or (x_left, y_top, x_right, y_bottom)
+    :return: tensor containing a batch of bounding boxes, shape = (..., 4)
+    """
+    batch_shape = mask.shape[:-2]
+    mask = mask.reshape((-1, *mask.shape[-2:]))
+    bboxes = []
+
+    for m in mask:
+        mx = m.sum(dim=-2).nonzero()
+        my = m.sum(dim=-1).nonzero()
+        bb = [mx.min(), my.min(), mx.max(), my.max()] if (len(mx) > 0 and len(my) > 0) else [0, 0, 0, 0]
+        bboxes.append(bb)
+
+    bboxes = torch.tensor(bboxes, dtype=torch.float32, device=mask.device)
+    bboxes = bboxes.reshape(batch_shape + (4,))
+
+    if fmt == 'v':
+        return bboxes
+
+    x1 = bboxes[..., :2]
+    s = bboxes[..., 2:] - x1 + 1
+
+    if fmt == 'c':
+        return torch.cat((x1 + 0.5 * s, s), dim=-1)
+    elif fmt == 't':
+        return torch.cat((x1, s), dim=-1)
+
+    raise ValueError("Undefined bounding box layout '%s'" % fmt)
+
+
+def masks_to_bboxes_multi(mask, ids, fmt='c'):
+    assert mask.dim() == 2
+    bboxes = []
+
+    for id in ids:
+        mx = (mask == id).sum(dim=-2).nonzero()
+        my = (mask == id).float().sum(dim=-1).nonzero()
+        bb = [mx.min(), my.min(), mx.max(), my.max()] if (len(mx) > 0 and len(my) > 0) else [0, 0, 0, 0]
+
+        bb = torch.tensor(bb, dtype=torch.float32, device=mask.device)
+
+        x1 = bb[:2]
+        s = bb[2:] - x1 + 1
+
+        if fmt == 'v':
+            pass
+        elif fmt == 'c':
+            bb = torch.cat((x1 + 0.5 * s, s), dim=-1)
+        elif fmt == 't':
+            bb = torch.cat((x1, s), dim=-1)
+        else:
+            raise ValueError("Undefined bounding box layout '%s'" % fmt)
+        bboxes.append(bb)
+
+    return bboxes

lib/train/data/image_loader.py

@@ -0,0 +1,103 @@
+import jpeg4py
+import cv2 as cv
+from PIL import Image
+import numpy as np
+
+davis_palette = np.repeat(np.expand_dims(np.arange(0,256), 1), 3, 1).astype(np.uint8)
+davis_palette[:22, :] = [[0, 0, 0], [128, 0, 0], [0, 128, 0], [128, 128, 0],
+                         [0, 0, 128], [128, 0, 128], [0, 128, 128], [128, 128, 128],
+                         [64, 0, 0], [191, 0, 0], [64, 128, 0], [191, 128, 0],
+                         [64, 0, 128], [191, 0, 128], [64, 128, 128], [191, 128, 128],
+                         [0, 64, 0], [128, 64, 0], [0, 191, 0], [128, 191, 0],
+                         [0, 64, 128], [128, 64, 128]]
+
+
+def default_image_loader(path):
+    """The default image loader, reads the image from the given path. It first tries to use the jpeg4py_loader,
+    but reverts to the opencv_loader if the former is not available."""
+    if default_image_loader.use_jpeg4py is None:
+        # Try using jpeg4py
+        im = jpeg4py_loader(path)
+        if im is None:
+            default_image_loader.use_jpeg4py = False
+            print('Using opencv_loader instead.')
+        else:
+            default_image_loader.use_jpeg4py = True
+            return im
+    if default_image_loader.use_jpeg4py:
+        return jpeg4py_loader(path)
+    return opencv_loader(path)
+
+default_image_loader.use_jpeg4py = None
+
+
+def jpeg4py_loader(path):
+    """ Image reading using jpeg4py https://github.com/ajkxyz/jpeg4py"""
+    try:
+        return jpeg4py.JPEG(path).decode()
+    except Exception as e:
+        print('ERROR: Could not read image "{}"'.format(path))
+        print(e)
+        return None
+
+
+def opencv_loader(path):
+    """ Read image using opencv's imread function and returns it in rgb format"""
+    try:
+        im = cv.imread(path, cv.IMREAD_COLOR)
+
+        # convert to rgb and return
+        return cv.cvtColor(im, cv.COLOR_BGR2RGB)
+    except Exception as e:
+        print('ERROR: Could not read image "{}"'.format(path))
+        print(e)
+        return None
+
+
+def jpeg4py_loader_w_failsafe(path):
+    """ Image reading using jpeg4py https://github.com/ajkxyz/jpeg4py"""
+    try:
+        return jpeg4py.JPEG(path).decode()
+    except:
+        try:
+            im = cv.imread(path, cv.IMREAD_COLOR)
+
+            # convert to rgb and return
+            return cv.cvtColor(im, cv.COLOR_BGR2RGB)
+        except Exception as e:
+            print('ERROR: Could not read image "{}"'.format(path))
+            print(e)
+            return None
+
+
+def opencv_seg_loader(path):
+    """ Read segmentation annotation using opencv's imread function"""
+    try:
+        return cv.imread(path)
+    except Exception as e:
+        print('ERROR: Could not read image "{}"'.format(path))
+        print(e)
+        return None
+
+
+def imread_indexed(filename):
+    """ Load indexed image with given filename. Used to read segmentation annotations."""
+
+    im = Image.open(filename)
+
+    annotation = np.atleast_3d(im)[...,0]
+    return annotation
+
+
+def imwrite_indexed(filename, array, color_palette=None):
+    """ Save indexed image as png. Used to save segmentation annotation."""
+
+    if color_palette is None:
+        color_palette = davis_palette
+
+    if np.atleast_3d(array).shape[2] != 1:
+        raise Exception("Saving indexed PNGs requires 2D array.")
+
+    im = Image.fromarray(array)
+    im.putpalette(color_palette.ravel())
+    im.save(filename, format='PNG')

lib/train/data/loader.py

@@ -0,0 +1,199 @@
+import torch
+import torch.utils.data.dataloader
+import importlib
+import collections
+# from torch._six import string_classes
+from lib.utils import TensorDict, TensorList
+
+if float(torch.__version__[:3]) >= 1.9 or len('.'.join((torch.__version__).split('.')[0:2])) > 3:
+    int_classes = int
+else:
+    from torch._six import int_classes
+import warnings
+warnings.filterwarnings("ignore")
+
+string_classes = str
+
+def _check_use_shared_memory():
+    if hasattr(torch.utils.data.dataloader, '_use_shared_memory'):
+        return getattr(torch.utils.data.dataloader, '_use_shared_memory')
+    collate_lib = importlib.import_module('torch.utils.data._utils.collate')
+    if hasattr(collate_lib, '_use_shared_memory'):
+        return getattr(collate_lib, '_use_shared_memory')
+    return torch.utils.data.get_worker_info() is not None
+
+
+def ltr_collate(batch):
+    """Puts each data field into a tensor with outer dimension batch size"""
+
+    error_msg = "batch must contain tensors, numbers, dicts or lists; found {}"
+    elem_type = type(batch[0])
+    if isinstance(batch[0], torch.Tensor):
+        out = None
+        if _check_use_shared_memory():
+            # If we're in a background process, concatenate directly into a
+            # shared memory tensor to avoid an extra copy
+            numel = sum([x.numel() for x in batch])
+            storage = batch[0].storage()._new_shared(numel)
+            out = batch[0].new(storage)
+        return torch.stack(batch, 0, out=out)
+        # if batch[0].dim() < 4:
+        #     return torch.stack(batch, 0, out=out)
+        # return torch.cat(batch, 0, out=out)
+    elif elem_type.__module__ == 'numpy' and elem_type.__name__ != 'str_' \
+            and elem_type.__name__ != 'string_':
+        elem = batch[0]
+        if elem_type.__name__ == 'ndarray':
+            # array of string classes and object
+            if torch.utils.data.dataloader.re.search('[SaUO]', elem.dtype.str) is not None:
+                raise TypeError(error_msg.format(elem.dtype))
+
+            return torch.stack([torch.from_numpy(b) for b in batch], 0)
+        if elem.shape == ():  # scalars
+            py_type = float if elem.dtype.name.startswith('float') else int
+            return torch.utils.data.dataloader.numpy_type_map[elem.dtype.name](list(map(py_type, batch)))
+    elif isinstance(batch[0], int_classes):
+        return torch.LongTensor(batch)
+    elif isinstance(batch[0], float):
+        return torch.DoubleTensor(batch)
+    elif isinstance(batch[0], string_classes):
+        return batch
+    elif isinstance(batch[0], TensorDict):
+        return TensorDict({key: ltr_collate([d[key] for d in batch]) for key in batch[0]})
+    elif isinstance(batch[0], collections.Mapping):
+        return {key: ltr_collate([d[key] for d in batch]) for key in batch[0]}
+    elif isinstance(batch[0], TensorList):
+        transposed = zip(*batch)
+        return TensorList([ltr_collate(samples) for samples in transposed])
+    elif isinstance(batch[0], collections.Sequence):
+        transposed = zip(*batch)
+        return [ltr_collate(samples) for samples in transposed]
+    elif batch[0] is None:
+        return batch
+
+    raise TypeError((error_msg.format(type(batch[0]))))
+
+
+def ltr_collate_stack1(batch):
+    """Puts each data field into a tensor. The tensors are stacked at dim=1 to form the batch"""
+
+    error_msg = "batch must contain tensors, numbers, dicts or lists; found {}"
+    elem_type = type(batch[0])
+    if isinstance(batch[0], torch.Tensor):
+        out = None
+        if _check_use_shared_memory():
+            # If we're in a background process, concatenate directly into a
+            # shared memory tensor to avoid an extra copy
+            numel = sum([x.numel() for x in batch])
+            storage = batch[0].storage()._new_shared(numel)
+            out = batch[0].new(storage)
+        return torch.stack(batch, 1, out=out)
+        # if batch[0].dim() < 4:
+        #     return torch.stack(batch, 0, out=out)
+        # return torch.cat(batch, 0, out=out)
+    elif elem_type.__module__ == 'numpy' and elem_type.__name__ != 'str_' \
+            and elem_type.__name__ != 'string_':
+        elem = batch[0]
+        if elem_type.__name__ == 'ndarray':
+            # array of string classes and object
+            if torch.utils.data.dataloader.re.search('[SaUO]', elem.dtype.str) is not None:
+                raise TypeError(error_msg.format(elem.dtype))
+
+            return torch.stack([torch.from_numpy(b) for b in batch], 1)
+        if elem.shape == ():  # scalars
+            py_type = float if elem.dtype.name.startswith('float') else int
+            return torch.utils.data.dataloader.numpy_type_map[elem.dtype.name](list(map(py_type, batch)))
+    elif isinstance(batch[0], int_classes):
+        return torch.LongTensor(batch)
+    elif isinstance(batch[0], float):
+        return torch.DoubleTensor(batch)
+    elif isinstance(batch[0], string_classes):
+        return batch
+    elif isinstance(batch[0], TensorDict):
+        return TensorDict({key: ltr_collate_stack1([d[key] for d in batch]) for key in batch[0]})
+    elif isinstance(batch[0], collections.Mapping):
+        return {key: ltr_collate_stack1([d[key] for d in batch]) for key in batch[0]}
+    elif isinstance(batch[0], TensorList):
+        transposed = zip(*batch)
+        return TensorList([ltr_collate_stack1(samples) for samples in transposed])
+    elif isinstance(batch[0], collections.Sequence):
+        transposed = zip(*batch)
+        return [ltr_collate_stack1(samples) for samples in transposed]
+    elif batch[0] is None:
+        return batch
+
+    raise TypeError((error_msg.format(type(batch[0]))))
+
+
+class LTRLoader(torch.utils.data.dataloader.DataLoader):
+    """
+    Data loader. Combines a dataset and a sampler, and provides
+    single- or multi-process iterators over the dataset.
+
+    Note: The only difference with default pytorch DataLoader is that an additional option stack_dim is available to
+            select along which dimension the data should be stacked to form a batch.
+
+    Arguments:
+        dataset (Dataset): dataset from which to load the data.
+        batch_size (int, optional): how many samples per batch to load
+            (default: 1).
+        shuffle (bool, optional): set to ``True`` to have the data reshuffled
+            at every epoch (default: False).
+        sampler (Sampler, optional): defines the strategy to draw samples from
+            the dataset. If specified, ``shuffle`` must be False.
+        batch_sampler (Sampler, optional): like sampler, but returns a batch of
+            indices at a time. Mutually exclusive with batch_size, shuffle,
+            sampler, and drop_last.
+        num_workers (int, optional): how many subprocesses to use for data
+            loading. 0 means that the data will be loaded in the main process.
+            (default: 0)
+        collate_fn (callable, optional): merges a list of samples to form a mini-batch.
+        stack_dim (int): Dimension along which to stack to form the batch. (default: 0)
+        pin_memory (bool, optional): If ``True``, the data loader will copy tensors
+            into CUDA pinned memory before returning them.
+        drop_last (bool, optional): set to ``True`` to drop the last incomplete batch,
+            if the dataset size is not divisible by the batch size. If ``False`` and
+            the size of dataset is not divisible by the batch size, then the last batch
+            will be smaller. (default: False)
+        timeout (numeric, optional): if positive, the timeout value for collecting a batch
+            from workers. Should always be non-negative. (default: 0)
+        worker_init_fn (callable, optional): If not None, this will be called on each
+            worker subprocess with the worker id (an int in ``[0, num_workers - 1]``) as
+            input, after seeding and before data loading. (default: None)
+
+    .. note:: By default, each worker will have its PyTorch seed set to
+              ``base_seed + worker_id``, where ``base_seed`` is a long generated
+              by main process using its RNG. However, seeds for other libraries
+              may be duplicated upon initializing workers (w.g., NumPy), causing
+              each worker to return identical random numbers. (See
+              :ref:`dataloader-workers-random-seed` section in FAQ.) You may
+              use ``torch.initial_seed()`` to access the PyTorch seed for each
+              worker in :attr:`worker_init_fn`, and use it to set other seeds
+              before data loading.
+
+    .. warning:: If ``spawn`` start method is used, :attr:`worker_init_fn` cannot be an
+                 unpicklable object, e.g., a lambda function.
+    """
+
+    __initialized = False
+
+    def __init__(self, name, dataset, training=True, batch_size=1, shuffle=False, sampler=None, batch_sampler=None,
+                 num_workers=0, epoch_interval=1, collate_fn=None, stack_dim=0, pin_memory=False, drop_last=False,
+                 timeout=0, worker_init_fn=None):
+        print("pin_memory is", pin_memory)
+        if collate_fn is None:
+            if stack_dim == 0:
+                collate_fn = ltr_collate
+            elif stack_dim == 1:
+                collate_fn = ltr_collate_stack1
+            else:
+                raise ValueError('Stack dim no supported. Must be 0 or 1.')
+
+        super(LTRLoader, self).__init__(dataset, batch_size, shuffle, sampler, batch_sampler,
+                 num_workers, collate_fn, pin_memory, drop_last,
+                 timeout, worker_init_fn)
+
+        self.name = name
+        self.training = training
+        self.epoch_interval = epoch_interval
+        self.stack_dim = stack_dim

lib/train/data/processing.py

@@ -0,0 +1,155 @@
+import torch
+import torchvision.transforms as transforms
+from lib.utils import TensorDict
+import lib.train.data.processing_utils as prutils
+import torch.nn.functional as F
+
+
+def stack_tensors(x):
+    if isinstance(x, (list, tuple)) and isinstance(x[0], torch.Tensor):
+        return torch.stack(x)
+    return x
+
+
+class BaseProcessing:
+    """ Base class for Processing. Processing class is used to process the data returned by a dataset, before passing it
+     through the network. For example, it can be used to crop a search region around the object, apply various data
+     augmentations, etc."""
+    def __init__(self, transform=transforms.ToTensor(), template_transform=None, search_transform=None, joint_transform=None):
+        """
+        args:
+            transform       - The set of transformations to be applied on the images. Used only if template_transform or
+                                search_transform is None.
+            template_transform - The set of transformations to be applied on the template images. If None, the 'transform'
+                                argument is used instead.
+            search_transform  - The set of transformations to be applied on the search images. If None, the 'transform'
+                                argument is used instead.
+            joint_transform - The set of transformations to be applied 'jointly' on the template and search images.  For
+                                example, it can be used to convert both template and search images to grayscale.
+        """
+        self.transform = {'template': transform if template_transform is None else template_transform,
+                          'search':  transform if search_transform is None else search_transform,
+                          'joint': joint_transform}
+
+    def __call__(self, data: TensorDict):
+        raise NotImplementedError
+
+
+class STARKProcessing(BaseProcessing):
+    """ The processing class used for training LittleBoy. The images are processed in the following way.
+    First, the target bounding box is jittered by adding some noise. Next, a square region (called search region )
+    centered at the jittered target center, and of area search_area_factor^2 times the area of the jittered box is
+    cropped from the image. The reason for jittering the target box is to avoid learning the bias that the target is
+    always at the center of the search region. The search region is then resized to a fixed size given by the
+    argument output_sz.
+
+    """
+
+    def __init__(self, search_area_factor, output_sz, center_jitter_factor, scale_jitter_factor,
+                 mode='pair', settings=None, *args, **kwargs):
+        """
+        args:
+            search_area_factor - The size of the search region  relative to the target size.
+            output_sz - An integer, denoting the size to which the search region is resized. The search region is always
+                        square.
+            center_jitter_factor - A dict containing the amount of jittering to be applied to the target center before
+                                    extracting the search region. See _get_jittered_box for how the jittering is done.
+            scale_jitter_factor - A dict containing the amount of jittering to be applied to the target size before
+                                    extracting the search region. See _get_jittered_box for how the jittering is done.
+            mode - Either 'pair' or 'sequence'. If mode='sequence', then output has an extra dimension for frames
+        """
+        super().__init__(*args, **kwargs)
+        self.search_area_factor = search_area_factor
+        self.output_sz = output_sz
+        self.center_jitter_factor = center_jitter_factor
+        self.scale_jitter_factor = scale_jitter_factor
+        self.mode = mode
+        self.settings = settings
+
+    def _get_jittered_box(self, box, mode):
+        """ Jitter the input box
+        args:
+            box - input bounding box
+            mode - string 'template' or 'search' indicating template or search data
+
+        returns:
+            torch.Tensor - jittered box
+        """
+
+        jittered_size = box[2:4] * torch.exp(torch.randn(2) * self.scale_jitter_factor[mode])
+        max_offset = (jittered_size.prod().sqrt() * torch.tensor(self.center_jitter_factor[mode]).float())
+        jittered_center = box[0:2] + 0.5 * box[2:4] + max_offset * (torch.rand(2) - 0.5)
+
+        return torch.cat((jittered_center - 0.5 * jittered_size, jittered_size), dim=0)
+
+    def __call__(self, data: TensorDict):
+        """
+        args:
+            data - The input data, should contain the following fields:
+                'template_images', search_images', 'template_anno', 'search_anno'
+        returns:
+            TensorDict - output data block with following fields:
+                'template_images', 'search_images', 'template_anno', 'search_anno', 'test_proposals', 'proposal_iou'
+        """
+        # Apply joint transforms
+        if self.transform['joint'] is not None:
+            data['template_images'], data['template_anno'], data['template_masks'] = self.transform['joint'](
+                image=data['template_images'], bbox=data['template_anno'], mask=data['template_masks'])
+            data['search_images'], data['search_anno'], data['search_masks'] = self.transform['joint'](
+                image=data['search_images'], bbox=data['search_anno'], mask=data['search_masks'], new_roll=False)
+
+        for s in ['template', 'search']:
+            assert self.mode == 'sequence' or len(data[s + '_images']) == 1, \
+                "In pair mode, num train/test frames must be 1"
+
+            # Add a uniform noise to the center pos
+            jittered_anno = [self._get_jittered_box(a, s) for a in data[s + '_anno']]
+
+            # 2021.1.9 Check whether data is valid. Avoid too small bounding boxes
+            w, h = torch.stack(jittered_anno, dim=0)[:, 2], torch.stack(jittered_anno, dim=0)[:, 3]
+
+            crop_sz = torch.ceil(torch.sqrt(w * h) * self.search_area_factor[s])
+            if (crop_sz < 1).any():
+                data['valid'] = False
+                # print("Too small box is found. Replace it with new data.")
+                return data
+
+            # Crop image region centered at jittered_anno box and get the attention mask
+            crops, boxes, att_mask, mask_crops = prutils.jittered_center_crop(data[s + '_images'], jittered_anno,
+                                                                              data[s + '_anno'], self.search_area_factor[s],
+                                                                              self.output_sz[s], masks=data[s + '_masks'])
+            # Apply transforms
+            data[s + '_images'], data[s + '_anno'], data[s + '_att'], data[s + '_masks'] = self.transform[s](
+                image=crops, bbox=boxes, att=att_mask, mask=mask_crops, joint=False)
+
+
+            # 2021.1.9 Check whether elements in data[s + '_att'] is all 1
+            # Note that type of data[s + '_att'] is tuple, type of ele is torch.tensor
+            for ele in data[s + '_att']:
+                if (ele == 1).all():
+                    data['valid'] = False
+                    # print("Values of original attention mask are all one. Replace it with new data.")
+                    return data
+            # 2021.1.10 more strict conditions: require the donwsampled masks not to be all 1
+            for ele in data[s + '_att']:
+                feat_size = self.output_sz[s] // 16  # 16 is the backbone stride
+                # (1,1,128,128) (1,1,256,256) --> (1,1,8,8) (1,1,16,16)
+                mask_down = F.interpolate(ele[None, None].float(), size=feat_size).to(torch.bool)[0]
+                if (mask_down == 1).all():
+                    data['valid'] = False
+                    # print("Values of down-sampled attention mask are all one. "
+                    #       "Replace it with new data.")
+                    return data
+
+        data['valid'] = True
+        # if we use copy-and-paste augmentation
+        if data["template_masks"] is None or data["search_masks"] is None:
+            data["template_masks"] = torch.zeros((1, self.output_sz["template"], self.output_sz["template"]))
+            data["search_masks"] = torch.zeros((1, self.output_sz["search"], self.output_sz["search"]))
+        # Prepare output
+        if self.mode == 'sequence':
+            data = data.apply(stack_tensors)
+        else:
+            data = data.apply(lambda x: x[0] if isinstance(x, list) else x)
+
+        return data

lib/train/data/processing_utils.py

@@ -0,0 +1,168 @@
+import torch
+import math
+import cv2 as cv
+import torch.nn.functional as F
+import numpy as np
+
+'''modified from the original test implementation
+Replace cv.BORDER_REPLICATE with cv.BORDER_CONSTANT
+Add a variable called att_mask for computing attention and positional encoding later'''
+
+
+def sample_target(im, target_bb, search_area_factor, output_sz=None, mask=None):
+    """ Extracts a square crop centered at target_bb box, of area search_area_factor^2 times target_bb area
+
+    args:
+        im - cv image
+        target_bb - target box [x, y, w, h]
+        search_area_factor - Ratio of crop size to target size
+        output_sz - (float) Size to which the extracted crop is resized (always square). If None, no resizing is done.
+
+    returns:
+        cv image - extracted crop
+        float - the factor by which the crop has been resized to make the crop size equal output_size
+    """
+    if not isinstance(target_bb, list):
+        x, y, w, h = target_bb.tolist()
+    else:
+        x, y, w, h = target_bb
+    # Crop image
+    crop_sz = math.ceil(math.sqrt(w * h) * search_area_factor)
+
+    if crop_sz < 1:
+        raise Exception('Too small bounding box.')
+
+    x1 = round(x + 0.5 * w - crop_sz * 0.5)
+    x2 = x1 + crop_sz
+
+    y1 = round(y + 0.5 * h - crop_sz * 0.5)
+    y2 = y1 + crop_sz
+
+    x1_pad = max(0, -x1)
+    x2_pad = max(x2 - im.shape[1] + 1, 0)
+
+    y1_pad = max(0, -y1)
+    y2_pad = max(y2 - im.shape[0] + 1, 0)
+
+    # Crop target
+    im_crop = im[y1 + y1_pad:y2 - y2_pad, x1 + x1_pad:x2 - x2_pad, :]
+    if mask is not None:
+        mask_crop = mask[y1 + y1_pad:y2 - y2_pad, x1 + x1_pad:x2 - x2_pad]
+
+    # Pad
+    im_crop_padded = cv.copyMakeBorder(im_crop, y1_pad, y2_pad, x1_pad, x2_pad, cv.BORDER_CONSTANT)
+    # deal with attention mask
+    H, W, _ = im_crop_padded.shape
+    att_mask = np.ones((H,W))
+    end_x, end_y = -x2_pad, -y2_pad
+    if y2_pad == 0:
+        end_y = None
+    if x2_pad == 0:
+        end_x = None
+    att_mask[y1_pad:end_y, x1_pad:end_x] = 0
+    if mask is not None:
+        mask_crop_padded = F.pad(mask_crop, pad=(x1_pad, x2_pad, y1_pad, y2_pad), mode='constant', value=0)
+
+    if output_sz is not None:
+        resize_factor = output_sz / crop_sz
+        im_crop_padded = cv.resize(im_crop_padded, (output_sz, output_sz))
+        att_mask = cv.resize(att_mask, (output_sz, output_sz)).astype(np.bool_)
+        if mask is None:
+            return im_crop_padded, resize_factor, att_mask
+        mask_crop_padded = \
+        F.interpolate(mask_crop_padded[None, None], (output_sz, output_sz), mode='bilinear', align_corners=False)[0, 0]
+        return im_crop_padded, resize_factor, att_mask, mask_crop_padded
+
+    else:
+        if mask is None:
+            return im_crop_padded, att_mask.astype(np.bool_), 1.0
+        return im_crop_padded, 1.0, att_mask.astype(np.bool_), mask_crop_padded
+
+
+def transform_image_to_crop(box_in: torch.Tensor, box_extract: torch.Tensor, resize_factor: float,
+                            crop_sz: torch.Tensor, normalize=False) -> torch.Tensor:
+    """ Transform the box co-ordinates from the original image co-ordinates to the co-ordinates of the cropped image
+    args:
+        box_in - the box for which the co-ordinates are to be transformed
+        box_extract - the box about which the image crop has been extracted.
+        resize_factor - the ratio between the original image scale and the scale of the image crop
+        crop_sz - size of the cropped image
+
+    returns:
+        torch.Tensor - transformed co-ordinates of box_in
+    """
+    box_extract_center = box_extract[0:2] + 0.5 * box_extract[2:4]
+
+    box_in_center = box_in[0:2] + 0.5 * box_in[2:4]
+
+    box_out_center = (crop_sz - 1) / 2 + (box_in_center - box_extract_center) * resize_factor
+    box_out_wh = box_in[2:4] * resize_factor
+
+    box_out = torch.cat((box_out_center - 0.5 * box_out_wh, box_out_wh))
+    if normalize:
+        return box_out / crop_sz[0]
+    else:
+        return box_out
+
+
+def jittered_center_crop(frames, box_extract, box_gt, search_area_factor, output_sz, masks=None):
+    """ For each frame in frames, extracts a square crop centered at box_extract, of area search_area_factor^2
+    times box_extract area. The extracted crops are then resized to output_sz. Further, the co-ordinates of the box
+    box_gt are transformed to the image crop co-ordinates
+
+    args:
+        frames - list of frames
+        box_extract - list of boxes of same length as frames. The crops are extracted using anno_extract
+        box_gt - list of boxes of same length as frames. The co-ordinates of these boxes are transformed from
+                    image co-ordinates to the crop co-ordinates
+        search_area_factor - The area of the extracted crop is search_area_factor^2 times box_extract area
+        output_sz - The size to which the extracted crops are resized
+
+    returns:
+        list - list of image crops
+        list - box_gt location in the crop co-ordinates
+        """
+
+    if masks is None:
+        crops_resize_factors = [sample_target(f, a, search_area_factor, output_sz)
+                                for f, a in zip(frames, box_extract)]
+        frames_crop, resize_factors, att_mask = zip(*crops_resize_factors)
+        masks_crop = None
+    else:
+        crops_resize_factors = [sample_target(f, a, search_area_factor, output_sz, m)
+                                for f, a, m in zip(frames, box_extract, masks)]
+        frames_crop, resize_factors, att_mask, masks_crop = zip(*crops_resize_factors)
+    # frames_crop: tuple of ndarray (128,128,3), att_mask: tuple of ndarray (128,128)
+    crop_sz = torch.Tensor([output_sz, output_sz])
+
+    # find the bb location in the crop
+    '''Note that here we use normalized coord'''
+    box_crop = [transform_image_to_crop(a_gt, a_ex, rf, crop_sz, normalize=True)
+                for a_gt, a_ex, rf in zip(box_gt, box_extract, resize_factors)]  # (x1,y1,w,h) list of tensors
+
+    return frames_crop, box_crop, att_mask, masks_crop
+
+
+def transform_box_to_crop(box: torch.Tensor, crop_box: torch.Tensor, crop_sz: torch.Tensor, normalize=False) -> torch.Tensor:
+    """ Transform the box co-ordinates from the original image co-ordinates to the co-ordinates of the cropped image
+    args:
+        box - the box for which the co-ordinates are to be transformed
+        crop_box - bounding box defining the crop in the original image
+        crop_sz - size of the cropped image
+
+    returns:
+        torch.Tensor - transformed co-ordinates of box_in
+    """
+
+    box_out = box.clone()
+    box_out[:2] -= crop_box[:2]
+
+    scale_factor = crop_sz / crop_box[2:]
+
+    box_out[:2] *= scale_factor
+    box_out[2:] *= scale_factor
+    if normalize:
+        return box_out / crop_sz[0]
+    else:
+        return box_out
+

lib/train/data/sampler.py

@@ -0,0 +1,349 @@
+import random
+import torch.utils.data
+from lib.utils import TensorDict
+import numpy as np
+
+
+def no_processing(data):
+    return data
+
+
+class TrackingSampler(torch.utils.data.Dataset):
+    """ Class responsible for sampling frames from training sequences to form batches. 
+
+    The sampling is done in the following ways. First a dataset is selected at random. Next, a sequence is selected
+    from that dataset. A base frame is then sampled randomly from the sequence. Next, a set of 'train frames' and
+    'test frames' are sampled from the sequence from the range [base_frame_id - max_gap, base_frame_id]  and
+    (base_frame_id, base_frame_id + max_gap] respectively. Only the frames in which the target is visible are sampled.
+    If enough visible frames are not found, the 'max_gap' is increased gradually till enough frames are found.
+
+    The sampled frames are then passed through the input 'processing' function for the necessary processing-
+    """
+
+    def __init__(self, datasets, p_datasets, samples_per_epoch, max_gap,
+                 num_search_frames, num_template_frames=1, processing=no_processing, frame_sample_mode='causal',
+                 train_cls=False, pos_prob=0.5):
+        """
+        args:
+            datasets - List of datasets to be used for training
+            p_datasets - List containing the probabilities by which each dataset will be sampled
+            samples_per_epoch - Number of training samples per epoch
+            max_gap - Maximum gap, in frame numbers, between the train frames and the test frames.
+            num_search_frames - Number of search frames to sample.
+            num_template_frames - Number of template frames to sample.
+            processing - An instance of Processing class which performs the necessary processing of the data.
+            frame_sample_mode - Either 'causal' or 'interval'. If 'causal', then the test frames are sampled in a causally,
+                                otherwise randomly within the interval.
+        """
+        self.datasets = datasets
+        self.train_cls = train_cls  # whether we are training classification
+        self.pos_prob = pos_prob  # probability of sampling positive class when making classification
+
+        # If p not provided, sample uniformly from all videos
+        if p_datasets is None:
+            p_datasets = [len(d) for d in self.datasets]
+
+        # Normalize
+        p_total = sum(p_datasets)
+        self.p_datasets = [x / p_total for x in p_datasets]
+
+        self.samples_per_epoch = samples_per_epoch
+        self.max_gap = max_gap
+        self.num_search_frames = num_search_frames
+        self.num_template_frames = num_template_frames
+        self.processing = processing
+        self.frame_sample_mode = frame_sample_mode
+
+    def __len__(self):
+        return self.samples_per_epoch
+
+    def _sample_visible_ids(self, visible, num_ids=1, min_id=None, max_id=None,
+                            allow_invisible=False, force_invisible=False):
+        """ Samples num_ids frames between min_id and max_id for which target is visible
+
+        args:
+            visible - 1d Tensor indicating whether target is visible for each frame
+            num_ids - number of frames to be samples
+            min_id - Minimum allowed frame number
+            max_id - Maximum allowed frame number
+
+        returns:
+            list - List of sampled frame numbers. None if not sufficient visible frames could be found.
+        """
+        if num_ids == 0:
+            return []
+        if min_id is None or min_id < 0:
+            min_id = 0
+        if max_id is None or max_id > len(visible):
+            max_id = len(visible)
+        # get valid ids
+        if force_invisible:
+            valid_ids = [i for i in range(min_id, max_id) if not visible[i]]
+        else:
+            if allow_invisible:
+                valid_ids = [i for i in range(min_id, max_id)]
+            else:
+                valid_ids = [i for i in range(min_id, max_id) if visible[i]]
+
+        # No visible ids
+        if len(valid_ids) == 0:
+            return None
+
+        return random.choices(valid_ids, k=num_ids)
+
+    def __getitem__(self, index):
+        if self.train_cls:
+            return self.getitem_cls()
+        else:
+            return self.getitem()
+
+    def getitem(self):
+        """
+        returns:
+            TensorDict - dict containing all the data blocks
+        """
+        valid = False
+        while not valid:
+            # Select a dataset
+            dataset = random.choices(self.datasets, self.p_datasets)[0]
+
+            is_video_dataset = dataset.is_video_sequence()
+
+            # sample a sequence from the given dataset
+            seq_id, visible, seq_info_dict = self.sample_seq_from_dataset(dataset, is_video_dataset)
+
+            if is_video_dataset:
+                template_frame_ids = None
+                search_frame_ids = None
+                gap_increase = 0
+
+                if self.frame_sample_mode == 'causal':
+                    # Sample test and train frames in a causal manner, i.e. search_frame_ids > template_frame_ids
+                    while search_frame_ids is None:
+                        base_frame_id = self._sample_visible_ids(visible, num_ids=1, min_id=self.num_template_frames - 1,
+                                                                 max_id=len(visible) - self.num_search_frames)
+                        prev_frame_ids = self._sample_visible_ids(visible, num_ids=self.num_template_frames - 1,
+                                                                  min_id=base_frame_id[0] - self.max_gap - gap_increase,
+                                                                  max_id=base_frame_id[0])
+                        if prev_frame_ids is None:
+                            gap_increase += 5
+                            continue
+                        template_frame_ids = base_frame_id + prev_frame_ids
+                        search_frame_ids = self._sample_visible_ids(visible, min_id=template_frame_ids[0] + 1,
+                                                                  max_id=template_frame_ids[0] + self.max_gap + gap_increase,
+                                                                  num_ids=self.num_search_frames)
+                        # Increase gap until a frame is found
+                        gap_increase += 5
+
+                elif self.frame_sample_mode == "trident" or self.frame_sample_mode == "trident_pro":
+                    template_frame_ids, search_frame_ids = self.get_frame_ids_trident(visible)
+                elif self.frame_sample_mode == "stark":
+                    template_frame_ids, search_frame_ids = self.get_frame_ids_stark(visible, seq_info_dict["valid"])
+                else:
+                    raise ValueError("Illegal frame sample mode")
+            else:
+                # In case of image dataset, just repeat the image to generate synthetic video
+                template_frame_ids = [1] * self.num_template_frames
+                search_frame_ids = [1] * self.num_search_frames
+            try:
+                template_frames, template_anno, meta_obj_train = dataset.get_frames(seq_id, template_frame_ids, seq_info_dict)
+                search_frames, search_anno, meta_obj_test = dataset.get_frames(seq_id, search_frame_ids, seq_info_dict)
+
+                H, W, _ = template_frames[0].shape
+                template_masks = template_anno['mask'] if 'mask' in template_anno else [torch.zeros((H, W))] * self.num_template_frames
+                search_masks = search_anno['mask'] if 'mask' in search_anno else [torch.zeros((H, W))] * self.num_search_frames
+
+                data = TensorDict({'template_images': template_frames,
+                                   'template_anno': template_anno['bbox'],
+                                   'template_masks': template_masks,
+                                   'search_images': search_frames,
+                                   'search_anno': search_anno['bbox'],
+                                   'search_masks': search_masks,
+                                   'dataset': dataset.get_name(),
+                                   'test_class': meta_obj_test.get('object_class_name')})
+                # make data augmentation
+                data = self.processing(data)
+
+                # check whether data is valid
+                valid = data['valid']
+            except:
+                valid = False
+
+        return data
+
+    def getitem_cls(self):
+        # get data for classification
+        """
+        args:
+            index (int): Index (Ignored since we sample randomly)
+            aux (bool): whether the current data is for auxiliary use (e.g. copy-and-paste)
+
+        returns:
+            TensorDict - dict containing all the data blocks
+        """
+        valid = False
+        label = None
+        while not valid:
+            # Select a dataset
+            dataset = random.choices(self.datasets, self.p_datasets)[0]
+
+            is_video_dataset = dataset.is_video_sequence()
+
+            # sample a sequence from the given dataset
+            seq_id, visible, seq_info_dict = self.sample_seq_from_dataset(dataset, is_video_dataset)
+            # sample template and search frame ids
+            if is_video_dataset:
+                if self.frame_sample_mode in ["trident", "trident_pro"]:
+                    template_frame_ids, search_frame_ids = self.get_frame_ids_trident(visible)
+                elif self.frame_sample_mode == "stark":
+                    template_frame_ids, search_frame_ids = self.get_frame_ids_stark(visible, seq_info_dict["valid"])
+                else:
+                    raise ValueError("illegal frame sample mode")
+            else:
+                # In case of image dataset, just repeat the image to generate synthetic video
+                template_frame_ids = [1] * self.num_template_frames
+                search_frame_ids = [1] * self.num_search_frames
+            try:
+                # "try" is used to handle trackingnet data failure
+                # get images and bounding boxes (for templates)
+                template_frames, template_anno, meta_obj_train = dataset.get_frames(seq_id, template_frame_ids,
+                                                                                    seq_info_dict)
+                H, W, _ = template_frames[0].shape
+                template_masks = template_anno['mask'] if 'mask' in template_anno else [torch.zeros(
+                    (H, W))] * self.num_template_frames
+                # get images and bounding boxes (for searches)
+                # positive samples
+                if random.random() < self.pos_prob:
+                    label = torch.ones(1,)
+                    search_frames, search_anno, meta_obj_test = dataset.get_frames(seq_id, search_frame_ids, seq_info_dict)
+                    search_masks = search_anno['mask'] if 'mask' in search_anno else [torch.zeros(
+                        (H, W))] * self.num_search_frames
+                # negative samples
+                else:
+                    label = torch.zeros(1,)
+                    if is_video_dataset:
+                        search_frame_ids = self._sample_visible_ids(visible, num_ids=1, force_invisible=True)
+                        if search_frame_ids is None:
+                            search_frames, search_anno, meta_obj_test = self.get_one_search()
+                        else:
+                            search_frames, search_anno, meta_obj_test = dataset.get_frames(seq_id, search_frame_ids,
+                                                                                           seq_info_dict)
+                            search_anno["bbox"] = [self.get_center_box(H, W)]
+                    else:
+                        search_frames, search_anno, meta_obj_test = self.get_one_search()
+                    H, W, _ = search_frames[0].shape
+                    search_masks = search_anno['mask'] if 'mask' in search_anno else [torch.zeros(
+                        (H, W))] * self.num_search_frames
+
+                data = TensorDict({'template_images': template_frames,
+                                   'template_anno': template_anno['bbox'],
+                                   'template_masks': template_masks,
+                                   'search_images': search_frames,
+                                   'search_anno': search_anno['bbox'],
+                                   'search_masks': search_masks,
+                                   'dataset': dataset.get_name(),
+                                   'test_class': meta_obj_test.get('object_class_name')})
+
+                # make data augmentation
+                data = self.processing(data)
+                # add classification label
+                data["label"] = label
+                # check whether data is valid
+                valid = data['valid']
+            except:
+                valid = False
+
+        return data
+
+    def get_center_box(self, H, W, ratio=1/8):
+        cx, cy, w, h = W/2, H/2, W * ratio, H * ratio
+        return torch.tensor([int(cx-w/2), int(cy-h/2), int(w), int(h)])
+
+    def sample_seq_from_dataset(self, dataset, is_video_dataset):
+
+        # Sample a sequence with enough visible frames
+        enough_visible_frames = False
+        while not enough_visible_frames:
+            # Sample a sequence
+            seq_id = random.randint(0, dataset.get_num_sequences() - 1)
+
+            # Sample frames
+            seq_info_dict = dataset.get_sequence_info(seq_id)
+            visible = seq_info_dict['visible']
+
+            enough_visible_frames = visible.type(torch.int64).sum().item() > 2 * (
+                    self.num_search_frames + self.num_template_frames) and len(visible) >= 20
+
+            enough_visible_frames = enough_visible_frames or not is_video_dataset
+        return seq_id, visible, seq_info_dict
+
+    def get_one_search(self):
+        # Select a dataset
+        dataset = random.choices(self.datasets, self.p_datasets)[0]
+
+        is_video_dataset = dataset.is_video_sequence()
+        # sample a sequence
+        seq_id, visible, seq_info_dict = self.sample_seq_from_dataset(dataset, is_video_dataset)
+        # sample a frame
+        if is_video_dataset:
+            if self.frame_sample_mode == "stark":
+                search_frame_ids = self._sample_visible_ids(seq_info_dict["valid"], num_ids=1)
+            else:
+                search_frame_ids = self._sample_visible_ids(visible, num_ids=1, allow_invisible=True)
+        else:
+            search_frame_ids = [1]
+        # get the image, bounding box and other info
+        search_frames, search_anno, meta_obj_test = dataset.get_frames(seq_id, search_frame_ids, seq_info_dict)
+
+        return search_frames, search_anno, meta_obj_test
+
+    def get_frame_ids_trident(self, visible):
+        # get template and search ids in a 'trident' manner
+        template_frame_ids_extra = []
+        while None in template_frame_ids_extra or len(template_frame_ids_extra) == 0:
+            template_frame_ids_extra = []
+            # first randomly sample two frames from a video
+            template_frame_id1 = self._sample_visible_ids(visible, num_ids=1)  # the initial template id
+            search_frame_ids = self._sample_visible_ids(visible, num_ids=1)  # the search region id
+            # get the dynamic template id
+            for max_gap in self.max_gap:
+                if template_frame_id1[0] >= search_frame_ids[0]:
+                    min_id, max_id = search_frame_ids[0], search_frame_ids[0] + max_gap
+                else:
+                    min_id, max_id = search_frame_ids[0] - max_gap, search_frame_ids[0]
+                if self.frame_sample_mode == "trident_pro":
+                    f_id = self._sample_visible_ids(visible, num_ids=1, min_id=min_id, max_id=max_id,
+                                                    allow_invisible=True)
+                else:
+                    f_id = self._sample_visible_ids(visible, num_ids=1, min_id=min_id, max_id=max_id)
+                if f_id is None:
+                    template_frame_ids_extra += [None]
+                else:
+                    template_frame_ids_extra += f_id
+
+        template_frame_ids = template_frame_id1 + template_frame_ids_extra
+        return template_frame_ids, search_frame_ids
+
+    def get_frame_ids_stark(self, visible, valid):
+        # get template and search ids in a 'stark' manner
+        template_frame_ids_extra = []
+        while None in template_frame_ids_extra or len(template_frame_ids_extra) == 0:
+            template_frame_ids_extra = []
+            # first randomly sample two frames from a video
+            template_frame_id1 = self._sample_visible_ids(visible, num_ids=1)  # the initial template id
+            search_frame_ids = self._sample_visible_ids(visible, num_ids=1)  # the search region id
+            # get the dynamic template id
+            for max_gap in self.max_gap:
+                if template_frame_id1[0] >= search_frame_ids[0]:
+                    min_id, max_id = search_frame_ids[0], search_frame_ids[0] + max_gap
+                else:
+                    min_id, max_id = search_frame_ids[0] - max_gap, search_frame_ids[0]
+                """we require the frame to be valid but not necessary visible"""
+                f_id = self._sample_visible_ids(valid, num_ids=1, min_id=min_id, max_id=max_id)
+                if f_id is None:
+                    template_frame_ids_extra += [None]
+                else:
+                    template_frame_ids_extra += f_id
+
+        template_frame_ids = template_frame_id1 + template_frame_ids_extra
+        return template_frame_ids, search_frame_ids

lib/train/data/sequence_sampler.py

@@ -0,0 +1,265 @@
+import random
+import torch.utils.data
+import numpy as np
+from lib.utils import TensorDict
+
+
+class SequenceSampler(torch.utils.data.Dataset):
+    """
+    Sample sequence for sequence-level training
+    """
+
+    def __init__(self, datasets, p_datasets, samples_per_epoch, max_gap,
+                 num_search_frames, num_template_frames=1, frame_sample_mode='sequential', max_interval=10, prob=0.7):
+        """
+        args:
+            datasets - List of datasets to be used for training
+            p_datasets - List containing the probabilities by which each dataset will be sampled
+            samples_per_epoch - Number of training samples per epoch
+            max_gap - Maximum gap, in frame numbers, between the train frames and the search frames.\
+            max_interval - Maximum interval between sampled frames
+            num_search_frames - Number of search frames to sample.
+            num_template_frames - Number of template frames to sample.
+            processing - An instance of Processing class which performs the necessary processing of the data.
+            frame_sample_mode - Either 'causal' or 'interval'. If 'causal', then the search frames are sampled in a causally,
+                                otherwise randomly within the interval.
+            prob - sequential sampling by prob / interval sampling by 1-prob
+        """
+        self.datasets = datasets
+
+        # If p not provided, sample uniformly from all videos
+        if p_datasets is None:
+            p_datasets = [len(d) for d in self.datasets]
+
+        # Normalize
+        p_total = sum(p_datasets)
+        self.p_datasets = [x / p_total for x in p_datasets]
+
+        self.samples_per_epoch = samples_per_epoch
+        self.max_gap = max_gap
+        self.max_interval = max_interval
+        self.num_search_frames = num_search_frames
+        self.num_template_frames = num_template_frames
+        self.frame_sample_mode = frame_sample_mode
+        self.prob=prob
+        self.extra=1
+
+    def __len__(self):
+        return self.samples_per_epoch
+
+    def _sample_visible_ids(self, visible, num_ids=1, min_id=None, max_id=None):
+        """ Samples num_ids frames between min_id and max_id for which target is visible
+
+        args:
+            visible - 1d Tensor indicating whether target is visible for each frame
+            num_ids - number of frames to be samples
+            min_id - Minimum allowed frame number
+            max_id - Maximum allowed frame number
+
+        returns:
+            list - List of sampled frame numbers. None if not sufficient visible frames could be found.
+        """
+        if num_ids == 0:
+            return []
+        if min_id is None or min_id < 0:
+            min_id = 0
+        if max_id is None or max_id > len(visible):
+            max_id = len(visible)
+
+        valid_ids = [i for i in range(min_id, max_id) if visible[i]]
+
+        # No visible ids
+        if len(valid_ids) == 0:
+            return None
+
+        return random.choices(valid_ids, k=num_ids)
+
+
+    def _sequential_sample(self, visible):
+        # Sample frames in sequential manner
+        template_frame_ids = self._sample_visible_ids(visible, num_ids=1, min_id=0,
+                                                   max_id=len(visible) - self.num_search_frames)
+        if self.max_gap == -1:
+            left = template_frame_ids[0]
+        else:
+            # template frame (1) ->(max_gap) -> search frame (num_search_frames)
+            left_max = min(len(visible) - self.num_search_frames, template_frame_ids[0] + self.max_gap)
+            left = self._sample_visible_ids(visible, num_ids=1, min_id=template_frame_ids[0],
+                                            max_id=left_max)[0]
+
+        valid_ids = [i for i in range(left, len(visible)) if visible[i]]
+        search_frame_ids = valid_ids[:self.num_search_frames]
+
+        # if length is not enough
+        last = search_frame_ids[-1]
+        while len(search_frame_ids) < self.num_search_frames:
+            if last >= len(visible) - 1:
+                search_frame_ids.append(last)
+            else:
+                last += 1
+                if visible[last]:
+                    search_frame_ids.append(last)
+
+        return template_frame_ids, search_frame_ids
+
+
+    def _random_interval_sample(self, visible):
+        # Get valid ids
+        valid_ids = [i for i in range(len(visible)) if visible[i]]
+
+        # Sample template frame
+        avg_interval = self.max_interval
+        while avg_interval * (self.num_search_frames - 1) > len(visible):
+            avg_interval = max(avg_interval - 1, 1)
+
+        while True:
+            template_frame_ids = self._sample_visible_ids(visible, num_ids=1, min_id=0,
+                                                       max_id=len(visible) - avg_interval * (self.num_search_frames - 1))
+            if template_frame_ids == None:
+                avg_interval = avg_interval - 1
+            else:
+                break
+
+            if avg_interval == 0:
+                template_frame_ids = [valid_ids[0]]
+                break
+
+        # Sample first search frame
+        if self.max_gap == -1:
+            search_frame_ids = template_frame_ids
+        else:
+            avg_interval = self.max_interval
+            while avg_interval * (self.num_search_frames - 1) > len(visible):
+                avg_interval = max(avg_interval - 1, 1)
+
+            while True:
+                left_max = min(max(len(visible) - avg_interval * (self.num_search_frames - 1), template_frame_ids[0] + 1),
+                               template_frame_ids[0] + self.max_gap)
+                search_frame_ids = self._sample_visible_ids(visible, num_ids=1, min_id=template_frame_ids[0],
+                                                          max_id=left_max)
+
+                if search_frame_ids == None:
+                    avg_interval = avg_interval - 1
+                else:
+                    break
+
+                if avg_interval == -1:
+                    search_frame_ids = template_frame_ids
+                    break
+
+        # Sample rest of the search frames with random interval
+        last = search_frame_ids[0]
+        while last <= len(visible) - 1 and len(search_frame_ids) < self.num_search_frames:
+            # sample id with interval
+            max_id = min(last + self.max_interval + 1, len(visible))
+            id = self._sample_visible_ids(visible, num_ids=1, min_id=last,
+                                          max_id=max_id)
+
+            if id is None:
+                # If not found in current range, find from previous range
+                last = last + self.max_interval
+            else:
+                search_frame_ids.append(id[0])
+                last = search_frame_ids[-1]
+
+        # if length is not enough, randomly sample new ids
+        if len(search_frame_ids) < self.num_search_frames:
+            valid_ids = [x for x in valid_ids if x > search_frame_ids[0] and x not in search_frame_ids]
+
+            if len(valid_ids) > 0:
+                new_ids = random.choices(valid_ids, k=min(len(valid_ids),
+                                                          self.num_search_frames - len(search_frame_ids)))
+                search_frame_ids = search_frame_ids + new_ids
+                search_frame_ids = sorted(search_frame_ids, key=int)
+
+        # if length is still not enough, duplicate last frame
+        while len(search_frame_ids) < self.num_search_frames:
+            search_frame_ids.append(search_frame_ids[-1])
+
+        for i in range(1, self.num_search_frames):
+            if search_frame_ids[i] - search_frame_ids[i - 1] > self.max_interval:
+                print(search_frame_ids[i] - search_frame_ids[i - 1])
+
+        return template_frame_ids, search_frame_ids
+
+
+    def __getitem__(self, index):
+        """
+        args:
+            index (int): Index (Ignored since we sample randomly)
+
+        returns:
+            TensorDict - dict containing all the data blocks
+        """
+
+        # Select a dataset
+        dataset = random.choices(self.datasets, self.p_datasets)[0]
+        if dataset.get_name() == 'got10k' :
+            max_gap = self.max_gap
+            max_interval = self.max_interval
+        else:
+            max_gap = self.max_gap
+            max_interval = self.max_interval
+            self.max_gap = max_gap * self.extra
+            self.max_interval = max_interval * self.extra
+            
+        is_video_dataset = dataset.is_video_sequence()
+
+        # Sample a sequence with enough visible frames
+        while True:
+            try:
+                enough_visible_frames = False
+                while not enough_visible_frames:
+                    # Sample a sequence
+                    seq_id = random.randint(0, dataset.get_num_sequences() - 1)
+
+                    # Sample frames
+                    seq_info_dict = dataset.get_sequence_info(seq_id)
+                    visible = seq_info_dict['visible']
+
+                    enough_visible_frames = visible.type(torch.int64).sum().item() > 2 * (
+                            self.num_search_frames + self.num_template_frames) and len(visible) >= (self.num_search_frames + self.num_template_frames)
+
+                    enough_visible_frames = enough_visible_frames or not is_video_dataset
+
+                if is_video_dataset:
+                    if self.frame_sample_mode == 'sequential':
+                        template_frame_ids, search_frame_ids = self._sequential_sample(visible)
+
+                    elif self.frame_sample_mode == 'random_interval':
+                        if random.random() < self.prob:
+                            template_frame_ids, search_frame_ids = self._random_interval_sample(visible)
+                        else:
+                            template_frame_ids, search_frame_ids = self._sequential_sample(visible)
+                    else:
+                        self.max_gap = max_gap
+                        self.max_interval = max_interval
+                        raise NotImplementedError
+                else:
+                    # In case of image dataset, just repeat the image to generate synthetic video
+                    template_frame_ids = [1] * self.num_template_frames
+                    search_frame_ids = [1] * self.num_search_frames
+                #print(dataset.get_name(), search_frame_ids, self.max_gap, self.max_interval)
+                self.max_gap = max_gap
+                self.max_interval = max_interval
+                #print(self.max_gap, self.max_interval)
+                template_frames, template_anno, meta_obj_template = dataset.get_frames(seq_id, template_frame_ids, seq_info_dict)
+                search_frames, search_anno, meta_obj_search = dataset.get_frames(seq_id, search_frame_ids, seq_info_dict)
+                template_bbox = [bbox.numpy() for bbox in template_anno['bbox']] # tensor -> numpy array
+                search_bbox = [bbox.numpy() for bbox in search_anno['bbox']] # tensor -> numpy array
+                # print("====================================================================================")
+                # print("dataset index: {}".format(index))
+                # print("seq_id: {}".format(seq_id))
+                # print('template_frame_ids: {}'.format(template_frame_ids))
+                # print('search_frame_ids: {}'.format(search_frame_ids))
+                return TensorDict({'template_images': np.array(template_frames).squeeze(),    # 1 template images
+                        'template_annos': np.array(template_bbox).squeeze(),
+                        'search_images': np.array(search_frames),      # (num_frames) search images
+                        'search_annos': np.array(search_bbox),
+                        'seq_id': seq_id,
+                        'dataset': dataset.get_name(),
+                        'search_class': meta_obj_search.get('object_class_name'),
+                        'num_frames': len(search_frames)
+                        })
+            except Exception:
+                pass

lib/train/data/transforms.py

@@ -0,0 +1,335 @@
+import random
+import numpy as np
+import math
+import cv2 as cv
+import torch
+import torch.nn.functional as F
+import torchvision.transforms.functional as tvisf
+
+
+class Transform:
+    """A set of transformations, used for e.g. data augmentation.
+    Args of constructor:
+        transforms: An arbitrary number of transformations, derived from the TransformBase class.
+                    They are applied in the order they are given.
+
+    The Transform object can jointly transform images, bounding boxes and segmentation masks.
+    This is done by calling the object with the following key-word arguments (all are optional).
+
+    The following arguments are inputs to be transformed. They are either supplied as a single instance, or a list of instances.
+        image  -  Image
+        coords  -  2xN dimensional Tensor of 2D image coordinates [y, x]
+        bbox  -  Bounding box on the form [x, y, w, h]
+        mask  -  Segmentation mask with discrete classes
+
+    The following parameters can be supplied with calling the transform object:
+        joint [Bool]  -  If True then transform all images/coords/bbox/mask in the list jointly using the same transformation.
+                         Otherwise each tuple (images, coords, bbox, mask) will be transformed independently using
+                         different random rolls. Default: True.
+        new_roll [Bool]  -  If False, then no new random roll is performed, and the saved result from the previous roll
+                            is used instead. Default: True.
+
+    Check the DiMPProcessing class for examples.
+    """
+
+    def __init__(self, *transforms):
+        if len(transforms) == 1 and isinstance(transforms[0], (list, tuple)):
+            transforms = transforms[0]
+        self.transforms = transforms
+        self._valid_inputs = ['image', 'coords', 'bbox', 'mask', 'att']
+        self._valid_args = ['joint', 'new_roll']
+        self._valid_all = self._valid_inputs + self._valid_args
+
+    def __call__(self, **inputs):
+        var_names = [k for k in inputs.keys() if k in self._valid_inputs]
+        for v in inputs.keys():
+            if v not in self._valid_all:
+                raise ValueError('Incorrect input \"{}\" to transform. Only supports inputs {} and arguments {}.'.format(v, self._valid_inputs, self._valid_args))
+
+        joint_mode = inputs.get('joint', True)
+        new_roll = inputs.get('new_roll', True)
+
+        if not joint_mode:
+            out = zip(*[self(**inp) for inp in self._split_inputs(inputs)])
+            return tuple(list(o) for o in out)
+
+        out = {k: v for k, v in inputs.items() if k in self._valid_inputs}
+
+        for t in self.transforms:
+            out = t(**out, joint=joint_mode, new_roll=new_roll)
+        if len(var_names) == 1:
+            return out[var_names[0]]
+        # Make sure order is correct
+        return tuple(out[v] for v in var_names)
+
+    def _split_inputs(self, inputs):
+        var_names = [k for k in inputs.keys() if k in self._valid_inputs]
+        split_inputs = [{k: v for k, v in zip(var_names, vals)} for vals in zip(*[inputs[vn] for vn in var_names])]
+        for arg_name, arg_val in filter(lambda it: it[0]!='joint' and it[0] in self._valid_args, inputs.items()):
+            if isinstance(arg_val, list):
+                for inp, av in zip(split_inputs, arg_val):
+                    inp[arg_name] = av
+            else:
+                for inp in split_inputs:
+                    inp[arg_name] = arg_val
+        return split_inputs
+
+    def __repr__(self):
+        format_string = self.__class__.__name__ + '('
+        for t in self.transforms:
+            format_string += '\n'
+            format_string += '    {0}'.format(t)
+        format_string += '\n)'
+        return format_string
+
+
+class TransformBase:
+    """Base class for transformation objects. See the Transform class for details."""
+    def __init__(self):
+        """2020.12.24 Add 'att' to valid inputs"""
+        self._valid_inputs = ['image', 'coords', 'bbox', 'mask', 'att']
+        self._valid_args = ['new_roll']
+        self._valid_all = self._valid_inputs + self._valid_args
+        self._rand_params = None
+
+    def __call__(self, **inputs):
+        # Split input
+        input_vars = {k: v for k, v in inputs.items() if k in self._valid_inputs}
+        input_args = {k: v for k, v in inputs.items() if k in self._valid_args}
+
+        # Roll random parameters for the transform
+        if input_args.get('new_roll', True):
+            rand_params = self.roll()
+            if rand_params is None:
+                rand_params = ()
+            elif not isinstance(rand_params, tuple):
+                rand_params = (rand_params,)
+            self._rand_params = rand_params
+
+        outputs = dict()
+        for var_name, var in input_vars.items():
+            if var is not None:
+                transform_func = getattr(self, 'transform_' + var_name)
+                if var_name in ['coords', 'bbox']:
+                    params = (self._get_image_size(input_vars),) + self._rand_params
+                else:
+                    params = self._rand_params
+                if isinstance(var, (list, tuple)):
+                    outputs[var_name] = [transform_func(x, *params) for x in var]
+                else:
+                    outputs[var_name] = transform_func(var, *params)
+        return outputs
+
+    def _get_image_size(self, inputs):
+        im = None
+        for var_name in ['image', 'mask']:
+            if inputs.get(var_name) is not None:
+                im = inputs[var_name]
+                break
+        if im is None:
+            return None
+        if isinstance(im, (list, tuple)):
+            im = im[0]
+        if isinstance(im, np.ndarray):
+            return im.shape[:2]
+        if torch.is_tensor(im):
+            return (im.shape[-2], im.shape[-1])
+        raise Exception('Unknown image type')
+
+    def roll(self):
+        return None
+
+    def transform_image(self, image, *rand_params):
+        """Must be deterministic"""
+        return image
+
+    def transform_coords(self, coords, image_shape, *rand_params):
+        """Must be deterministic"""
+        return coords
+
+    def transform_bbox(self, bbox, image_shape, *rand_params):
+        """Assumes [x, y, w, h]"""
+        # Check if not overloaded
+        if self.transform_coords.__code__ == TransformBase.transform_coords.__code__:
+            return bbox
+
+        coord = bbox.clone().view(-1,2).t().flip(0)
+
+        x1 = coord[1, 0]
+        x2 = coord[1, 0] + coord[1, 1]
+
+        y1 = coord[0, 0]
+        y2 = coord[0, 0] + coord[0, 1]
+
+        coord_all = torch.tensor([[y1, y1, y2, y2], [x1, x2, x2, x1]])
+
+        coord_transf = self.transform_coords(coord_all, image_shape, *rand_params).flip(0)
+        tl = torch.min(coord_transf, dim=1)[0]
+        sz = torch.max(coord_transf, dim=1)[0] - tl
+        bbox_out = torch.cat((tl, sz), dim=-1).reshape(bbox.shape)
+        return bbox_out
+
+    def transform_mask(self, mask, *rand_params):
+        """Must be deterministic"""
+        return mask
+
+    def transform_att(self, att, *rand_params):
+        """2020.12.24 Added to deal with attention masks"""
+        return att
+
+
+class ToTensor(TransformBase):
+    """Convert to a Tensor"""
+
+    def transform_image(self, image):
+        # handle numpy array
+        if image.ndim == 2:
+            image = image[:, :, None]
+
+        image = torch.from_numpy(image.transpose((2, 0, 1)))
+        # backward compatibility
+        if isinstance(image, torch.ByteTensor):
+            return image.float().div(255)
+        else:
+            return image
+
+    def transfrom_mask(self, mask):
+        if isinstance(mask, np.ndarray):
+            return torch.from_numpy(mask)
+
+    def transform_att(self, att):
+        if isinstance(att, np.ndarray):
+            return torch.from_numpy(att).to(torch.bool)
+        elif isinstance(att, torch.Tensor):
+            return att.to(torch.bool)
+        else:
+            raise ValueError ("dtype must be np.ndarray or torch.Tensor")
+
+
+class ToTensorAndJitter(TransformBase):
+    """Convert to a Tensor and jitter brightness"""
+    def __init__(self, brightness_jitter=0.0, normalize=True):
+        super().__init__()
+        self.brightness_jitter = brightness_jitter
+        self.normalize = normalize
+
+    def roll(self):
+        return np.random.uniform(max(0, 1 - self.brightness_jitter), 1 + self.brightness_jitter)
+
+    def transform_image(self, image, brightness_factor):
+        # handle numpy array
+        image = torch.from_numpy(image.transpose((2, 0, 1)))
+
+        # backward compatibility
+        if self.normalize:
+            return image.float().mul(brightness_factor/255.0).clamp(0.0, 1.0)
+        else:
+            return image.float().mul(brightness_factor).clamp(0.0, 255.0)
+
+    def transform_mask(self, mask, brightness_factor):
+        if isinstance(mask, np.ndarray):
+            return torch.from_numpy(mask)
+        else:
+            return mask
+    def transform_att(self, att, brightness_factor):
+        if isinstance(att, np.ndarray):
+            return torch.from_numpy(att).to(torch.bool)
+        elif isinstance(att, torch.Tensor):
+            return att.to(torch.bool)
+        else:
+            raise ValueError ("dtype must be np.ndarray or torch.Tensor")
+
+
+class Normalize(TransformBase):
+    """Normalize image"""
+    def __init__(self, mean, std, inplace=False):
+        super().__init__()
+        self.mean = mean
+        self.std = std
+        self.inplace = inplace
+
+    def transform_image(self, image):
+        return tvisf.normalize(image, self.mean, self.std, self.inplace)
+
+
+class ToGrayscale(TransformBase):
+    """Converts image to grayscale with probability"""
+    def __init__(self, probability = 0.5):
+        super().__init__()
+        self.probability = probability
+        self.color_weights = np.array([0.2989, 0.5870, 0.1140], dtype=np.float32)
+
+    def roll(self):
+        return random.random() < self.probability
+
+    def transform_image(self, image, do_grayscale):
+        if do_grayscale:
+            if torch.is_tensor(image):
+                raise NotImplementedError('Implement torch variant.')
+            img_gray = cv.cvtColor(image, cv.COLOR_RGB2GRAY)
+            return np.stack([img_gray, img_gray, img_gray], axis=2)
+            # return np.repeat(np.sum(img * self.color_weights, axis=2, keepdims=True).astype(np.uint8), 3, axis=2)
+        return image
+
+
+class ToBGR(TransformBase):
+    """Converts image to BGR"""
+    def transform_image(self, image):
+        if torch.is_tensor(image):
+            raise NotImplementedError('Implement torch variant.')
+        img_bgr = cv.cvtColor(image, cv.COLOR_RGB2BGR)
+        return img_bgr
+
+
+class RandomHorizontalFlip(TransformBase):
+    """Horizontally flip image randomly with a probability p."""
+    def __init__(self, probability = 0.5):
+        super().__init__()
+        self.probability = probability
+
+    def roll(self):
+        return random.random() < self.probability
+
+    def transform_image(self, image, do_flip):
+        if do_flip:
+            if torch.is_tensor(image):
+                return image.flip((2,))
+            return np.fliplr(image).copy()
+        return image
+
+    def transform_coords(self, coords, image_shape, do_flip):
+        if do_flip:
+            coords_flip = coords.clone()
+            coords_flip[1,:] = (image_shape[1] - 1) - coords[1,:]
+            return coords_flip
+        return coords
+
+    def transform_mask(self, mask, do_flip):
+        if do_flip:
+            if torch.is_tensor(mask):
+                return mask.flip((-1,))
+            return np.fliplr(mask).copy()
+        return mask
+
+    def transform_att(self, att, do_flip):
+        if do_flip:
+            if torch.is_tensor(att):
+                return att.flip((-1,))
+            return np.fliplr(att).copy()
+        return att
+
+
+class RandomHorizontalFlip_Norm(RandomHorizontalFlip):
+    """Horizontally flip image randomly with a probability p.
+    The difference is that the coord is normalized to [0,1]"""
+    def __init__(self, probability = 0.5):
+        super().__init__()
+        self.probability = probability
+
+    def transform_coords(self, coords, image_shape, do_flip):
+        """we should use 1 rather than image_shape"""
+        if do_flip:
+            coords_flip = coords.clone()
+            coords_flip[1,:] = 1 - coords[1,:]
+            return coords_flip
+        return coords

lib/train/data/wandb_logger.py

@@ -0,0 +1,33 @@
+from collections import OrderedDict
+
+try:
+    import wandb
+except ImportError:
+    raise ImportError(
+        'Please run "pip install wandb" to install wandb')
+
+
+class WandbWriter:
+    def __init__(self, exp_name, cfg, output_dir, cur_step=0, step_interval=0):
+        self.wandb = wandb
+        self.step = cur_step
+        self.interval = step_interval
+        wandb.init(project="tracking", name=exp_name, config=cfg, dir=output_dir)
+
+    def write_log(self, stats: OrderedDict, epoch=-1):
+        self.step += 1
+        for loader_name, loader_stats in stats.items():
+            if loader_stats is None:
+                continue
+
+            log_dict = {}
+            for var_name, val in loader_stats.items():
+                if hasattr(val, 'avg'):
+                    log_dict.update({loader_name + '/' + var_name: val.avg})
+                else:
+                    log_dict.update({loader_name + '/' + var_name: val.val})
+
+                if epoch >= 0:
+                    log_dict.update({loader_name + '/epoch': epoch})
+
+            self.wandb.log(log_dict, step=self.step*self.interval)

lib/train/data_specs/README.md

@@ -0,0 +1,16 @@
+# README
+
+## Description for different text files
+GOT10K
+- got10k_train_full_split.txt: the complete GOT-10K training set. (9335 videos)
+- got10k_train_split.txt: part of videos from the GOT-10K training set
+- got10k_val_split.txt: another part of videos from the GOT-10K training set
+- got10k_vot_exclude.txt: 1k videos that are forbidden from "using to train models then testing on VOT" (as required by [VOT Challenge](https://www.votchallenge.net/vot2020/participation.html))
+- got10k_vot_train_split.txt: part of videos from the "VOT-permitted" GOT-10K training set
+- got10k_vot_val_split.txt: another part of videos from the "VOT-permitted" GOT-10K training set
+
+LaSOT
+- lasot_train_split.txt: the complete LaSOT training set
+
+TrackingNnet
+- trackingnet_classmap.txt: The map from the sequence name to the target class for the TrackingNet

lib/train/dataset/COCO_tool.py

@@ -0,0 +1,437 @@
+__author__ = 'tylin'
+__version__ = '2.0'
+# Interface for accessing the Microsoft COCO dataset.
+
+# Microsoft COCO is a large image dataset designed for object detection,
+# segmentation, and caption generation. pycocotools is a Python API that
+# assists in loading, parsing and visualizing the annotations in COCO.
+# Please visit http://mscoco.org/ for more information on COCO, including
+# for the data, paper, and tutorials. The exact format of the annotations
+# is also described on the COCO website. For example usage of the pycocotools
+# please see pycocotools_demo.ipynb. In addition to this API, please download both
+# the COCO images and annotations in order to run the demo.
+
+# An alternative to using the API is to load the annotations directly
+# into Python dictionary
+# Using the API provides additional utility functions. Note that this API
+# supports both *instance* and *caption* annotations. In the case of
+# captions not all functions are defined (e.g. categories are undefined).
+
+# The following API functions are defined:
+#  COCO       - COCO api class that loads COCO annotation file and prepare data structures.
+#  decodeMask - Decode binary mask M encoded via run-length encoding.
+#  encodeMask - Encode binary mask M using run-length encoding.
+#  getAnnIds  - Get ann ids that satisfy given filter conditions.
+#  getCatIds  - Get cat ids that satisfy given filter conditions.
+#  getImgIds  - Get img ids that satisfy given filter conditions.
+#  loadAnns   - Load anns with the specified ids.
+#  loadCats   - Load cats with the specified ids.
+#  loadImgs   - Load imgs with the specified ids.
+#  annToMask  - Convert segmentation in an annotation to binary mask.
+#  showAnns   - Display the specified annotations.
+#  loadRes    - Load algorithm results and create API for accessing them.
+#  download   - Download COCO images from mscoco.org server.
+# Throughout the API "ann"=annotation, "cat"=category, and "img"=image.
+# Help on each functions can be accessed by: "help COCO>function".
+
+# See also COCO>decodeMask,
+# COCO>encodeMask, COCO>getAnnIds, COCO>getCatIds,
+# COCO>getImgIds, COCO>loadAnns, COCO>loadCats,
+# COCO>loadImgs, COCO>annToMask, COCO>showAnns
+
+# Microsoft COCO Toolbox.      version 2.0
+# Data, paper, and tutorials available at:  http://mscoco.org/
+# Code written by Piotr Dollar and Tsung-Yi Lin, 2014.
+# Licensed under the Simplified BSD License [see bsd.txt]
+
+import json
+import time
+import matplotlib.pyplot as plt
+from matplotlib.collections import PatchCollection
+from matplotlib.patches import Polygon
+import numpy as np
+import copy
+import itertools
+from pycocotools import mask as maskUtils
+import os
+from collections import defaultdict
+import sys
+PYTHON_VERSION = sys.version_info[0]
+if PYTHON_VERSION == 2:
+    from urllib import urlretrieve
+elif PYTHON_VERSION == 3:
+    from urllib.request import urlretrieve
+
+
+def _isArrayLike(obj):
+    return hasattr(obj, '__iter__') and hasattr(obj, '__len__')
+
+
+class COCO:
+    def __init__(self, dataset):
+        """
+        Constructor of Microsoft COCO helper class for reading and visualizing annotations.
+        :param annotation_file (str): location of annotation file
+        :param image_folder (str): location to the folder that hosts images.
+        :return:
+        """
+        # load dataset
+        self.dataset,self.anns,self.cats,self.imgs = dict(),dict(),dict(),dict()
+        self.imgToAnns, self.catToImgs = defaultdict(list), defaultdict(list)
+        assert type(dataset)==dict, 'annotation file format {} not supported'.format(type(dataset))
+        self.dataset = dataset
+        self.createIndex()
+
+    def createIndex(self):
+        # create index
+        print('creating index...')
+        anns, cats, imgs = {}, {}, {}
+        imgToAnns,catToImgs = defaultdict(list),defaultdict(list)
+        if 'annotations' in self.dataset:
+            for ann in self.dataset['annotations']:
+                imgToAnns[ann['image_id']].append(ann)
+                anns[ann['id']] = ann
+
+        if 'images' in self.dataset:
+            for img in self.dataset['images']:
+                imgs[img['id']] = img
+
+        if 'categories' in self.dataset:
+            for cat in self.dataset['categories']:
+                cats[cat['id']] = cat
+
+        if 'annotations' in self.dataset and 'categories' in self.dataset:
+            for ann in self.dataset['annotations']:
+                catToImgs[ann['category_id']].append(ann['image_id'])
+
+        print('index created!')
+
+        # create class members
+        self.anns = anns
+        self.imgToAnns = imgToAnns
+        self.catToImgs = catToImgs
+        self.imgs = imgs
+        self.cats = cats
+
+    def info(self):
+        """
+        Print information about the annotation file.
+        :return:
+        """
+        for key, value in self.dataset['info'].items():
+            print('{}: {}'.format(key, value))
+
+    def getAnnIds(self, imgIds=[], catIds=[], areaRng=[], iscrowd=None):
+        """
+        Get ann ids that satisfy given filter conditions. default skips that filter
+        :param imgIds  (int array)     : get anns for given imgs
+               catIds  (int array)     : get anns for given cats
+               areaRng (float array)   : get anns for given area range (e.g. [0 inf])
+               iscrowd (boolean)       : get anns for given crowd label (False or True)
+        :return: ids (int array)       : integer array of ann ids
+        """
+        imgIds = imgIds if _isArrayLike(imgIds) else [imgIds]
+        catIds = catIds if _isArrayLike(catIds) else [catIds]
+
+        if len(imgIds) == len(catIds) == len(areaRng) == 0:
+            anns = self.dataset['annotations']
+        else:
+            if not len(imgIds) == 0:
+                lists = [self.imgToAnns[imgId] for imgId in imgIds if imgId in self.imgToAnns]
+                anns = list(itertools.chain.from_iterable(lists))
+            else:
+                anns = self.dataset['annotations']
+            anns = anns if len(catIds)  == 0 else [ann for ann in anns if ann['category_id'] in catIds]
+            anns = anns if len(areaRng) == 0 else [ann for ann in anns if ann['area'] > areaRng[0] and ann['area'] < areaRng[1]]
+        if not iscrowd == None:
+            ids = [ann['id'] for ann in anns if ann['iscrowd'] == iscrowd]
+        else:
+            ids = [ann['id'] for ann in anns]
+        return ids
+
+    def getCatIds(self, catNms=[], supNms=[], catIds=[]):
+        """
+        filtering parameters. default skips that filter.
+        :param catNms (str array)  : get cats for given cat names
+        :param supNms (str array)  : get cats for given supercategory names
+        :param catIds (int array)  : get cats for given cat ids
+        :return: ids (int array)   : integer array of cat ids
+        """
+        catNms = catNms if _isArrayLike(catNms) else [catNms]
+        supNms = supNms if _isArrayLike(supNms) else [supNms]
+        catIds = catIds if _isArrayLike(catIds) else [catIds]
+
+        if len(catNms) == len(supNms) == len(catIds) == 0:
+            cats = self.dataset['categories']
+        else:
+            cats = self.dataset['categories']
+            cats = cats if len(catNms) == 0 else [cat for cat in cats if cat['name']          in catNms]
+            cats = cats if len(supNms) == 0 else [cat for cat in cats if cat['supercategory'] in supNms]
+            cats = cats if len(catIds) == 0 else [cat for cat in cats if cat['id']            in catIds]
+        ids = [cat['id'] for cat in cats]
+        return ids
+
+    def getImgIds(self, imgIds=[], catIds=[]):
+        '''
+        Get img ids that satisfy given filter conditions.
+        :param imgIds (int array) : get imgs for given ids
+        :param catIds (int array) : get imgs with all given cats
+        :return: ids (int array)  : integer array of img ids
+        '''
+        imgIds = imgIds if _isArrayLike(imgIds) else [imgIds]
+        catIds = catIds if _isArrayLike(catIds) else [catIds]
+
+        if len(imgIds) == len(catIds) == 0:
+            ids = self.imgs.keys()
+        else:
+            ids = set(imgIds)
+            for i, catId in enumerate(catIds):
+                if i == 0 and len(ids) == 0:
+                    ids = set(self.catToImgs[catId])
+                else:
+                    ids &= set(self.catToImgs[catId])
+        return list(ids)
+
+    def loadAnns(self, ids=[]):
+        """
+        Load anns with the specified ids.
+        :param ids (int array)       : integer ids specifying anns
+        :return: anns (object array) : loaded ann objects
+        """
+        if _isArrayLike(ids):
+            return [self.anns[id] for id in ids]
+        elif type(ids) == int:
+            return [self.anns[ids]]
+
+    def loadCats(self, ids=[]):
+        """
+        Load cats with the specified ids.
+        :param ids (int array)       : integer ids specifying cats
+        :return: cats (object array) : loaded cat objects
+        """
+        if _isArrayLike(ids):
+            return [self.cats[id] for id in ids]
+        elif type(ids) == int:
+            return [self.cats[ids]]
+
+    def loadImgs(self, ids=[]):
+        """
+        Load anns with the specified ids.
+        :param ids (int array)       : integer ids specifying img
+        :return: imgs (object array) : loaded img objects
+        """
+        if _isArrayLike(ids):
+            return [self.imgs[id] for id in ids]
+        elif type(ids) == int:
+            return [self.imgs[ids]]
+
+    def showAnns(self, anns, draw_bbox=False):
+        """
+        Display the specified annotations.
+        :param anns (array of object): annotations to display
+        :return: None
+        """
+        if len(anns) == 0:
+            return 0
+        if 'segmentation' in anns[0] or 'keypoints' in anns[0]:
+            datasetType = 'instances'
+        elif 'caption' in anns[0]:
+            datasetType = 'captions'
+        else:
+            raise Exception('datasetType not supported')
+        if datasetType == 'instances':
+            ax = plt.gca()
+            ax.set_autoscale_on(False)
+            polygons = []
+            color = []
+            for ann in anns:
+                c = (np.random.random((1, 3))*0.6+0.4).tolist()[0]
+                if 'segmentation' in ann:
+                    if type(ann['segmentation']) == list:
+                        # polygon
+                        for seg in ann['segmentation']:
+                            poly = np.array(seg).reshape((int(len(seg)/2), 2))
+                            polygons.append(Polygon(poly))
+                            color.append(c)
+                    else:
+                        # mask
+                        t = self.imgs[ann['image_id']]
+                        if type(ann['segmentation']['counts']) == list:
+                            rle = maskUtils.frPyObjects([ann['segmentation']], t['height'], t['width'])
+                        else:
+                            rle = [ann['segmentation']]
+                        m = maskUtils.decode(rle)
+                        img = np.ones( (m.shape[0], m.shape[1], 3) )
+                        if ann['iscrowd'] == 1:
+                            color_mask = np.array([2.0,166.0,101.0])/255
+                        if ann['iscrowd'] == 0:
+                            color_mask = np.random.random((1, 3)).tolist()[0]
+                        for i in range(3):
+                            img[:,:,i] = color_mask[i]
+                        ax.imshow(np.dstack( (img, m*0.5) ))
+                if 'keypoints' in ann and type(ann['keypoints']) == list:
+                    # turn skeleton into zero-based index
+                    sks = np.array(self.loadCats(ann['category_id'])[0]['skeleton'])-1
+                    kp = np.array(ann['keypoints'])
+                    x = kp[0::3]
+                    y = kp[1::3]
+                    v = kp[2::3]
+                    for sk in sks:
+                        if np.all(v[sk]>0):
+                            plt.plot(x[sk],y[sk], linewidth=3, color=c)
+                    plt.plot(x[v>0], y[v>0],'o',markersize=8, markerfacecolor=c, markeredgecolor='k',markeredgewidth=2)
+                    plt.plot(x[v>1], y[v>1],'o',markersize=8, markerfacecolor=c, markeredgecolor=c, markeredgewidth=2)
+
+                if draw_bbox:
+                    [bbox_x, bbox_y, bbox_w, bbox_h] = ann['bbox']
+                    poly = [[bbox_x, bbox_y], [bbox_x, bbox_y+bbox_h], [bbox_x+bbox_w, bbox_y+bbox_h], [bbox_x+bbox_w, bbox_y]]
+                    np_poly = np.array(poly).reshape((4,2))
+                    polygons.append(Polygon(np_poly))
+                    color.append(c)
+
+            p = PatchCollection(polygons, facecolor=color, linewidths=0, alpha=0.4)
+            ax.add_collection(p)
+            p = PatchCollection(polygons, facecolor='none', edgecolors=color, linewidths=2)
+            ax.add_collection(p)
+        elif datasetType == 'captions':
+            for ann in anns:
+                print(ann['caption'])
+
+    def loadRes(self, resFile):
+        """
+        Load result file and return a result api object.
+        :param   resFile (str)     : file name of result file
+        :return: res (obj)         : result api object
+        """
+        res = COCO()
+        res.dataset['images'] = [img for img in self.dataset['images']]
+
+        print('Loading and preparing results...')
+        tic = time.time()
+        if type(resFile) == str or (PYTHON_VERSION == 2 and type(resFile) == unicode):
+            with open(resFile) as f:
+                anns = json.load(f)
+        elif type(resFile) == np.ndarray:
+            anns = self.loadNumpyAnnotations(resFile)
+        else:
+            anns = resFile
+        assert type(anns) == list, 'results in not an array of objects'
+        annsImgIds = [ann['image_id'] for ann in anns]
+        assert set(annsImgIds) == (set(annsImgIds) & set(self.getImgIds())), \
+               'Results do not correspond to current coco set'
+        if 'caption' in anns[0]:
+            imgIds = set([img['id'] for img in res.dataset['images']]) & set([ann['image_id'] for ann in anns])
+            res.dataset['images'] = [img for img in res.dataset['images'] if img['id'] in imgIds]
+            for id, ann in enumerate(anns):
+                ann['id'] = id+1
+        elif 'bbox' in anns[0] and not anns[0]['bbox'] == []:
+            res.dataset['categories'] = copy.deepcopy(self.dataset['categories'])
+            for id, ann in enumerate(anns):
+                bb = ann['bbox']
+                x1, x2, y1, y2 = [bb[0], bb[0]+bb[2], bb[1], bb[1]+bb[3]]
+                if not 'segmentation' in ann:
+                    ann['segmentation'] = [[x1, y1, x1, y2, x2, y2, x2, y1]]
+                ann['area'] = bb[2]*bb[3]
+                ann['id'] = id+1
+                ann['iscrowd'] = 0
+        elif 'segmentation' in anns[0]:
+            res.dataset['categories'] = copy.deepcopy(self.dataset['categories'])
+            for id, ann in enumerate(anns):
+                # now only support compressed RLE format as segmentation results
+                ann['area'] = maskUtils.area(ann['segmentation'])
+                if not 'bbox' in ann:
+                    ann['bbox'] = maskUtils.toBbox(ann['segmentation'])
+                ann['id'] = id+1
+                ann['iscrowd'] = 0
+        elif 'keypoints' in anns[0]:
+            res.dataset['categories'] = copy.deepcopy(self.dataset['categories'])
+            for id, ann in enumerate(anns):
+                s = ann['keypoints']
+                x = s[0::3]
+                y = s[1::3]
+                x0,x1,y0,y1 = np.min(x), np.max(x), np.min(y), np.max(y)
+                ann['area'] = (x1-x0)*(y1-y0)
+                ann['id'] = id + 1
+                ann['bbox'] = [x0,y0,x1-x0,y1-y0]
+        print('DONE (t={:0.2f}s)'.format(time.time()- tic))
+
+        res.dataset['annotations'] = anns
+        res.createIndex()
+        return res
+
+    def download(self, tarDir = None, imgIds = [] ):
+        '''
+        Download COCO images from mscoco.org server.
+        :param tarDir (str): COCO results directory name
+               imgIds (list): images to be downloaded
+        :return:
+        '''
+        if tarDir is None:
+            print('Please specify target directory')
+            return -1
+        if len(imgIds) == 0:
+            imgs = self.imgs.values()
+        else:
+            imgs = self.loadImgs(imgIds)
+        N = len(imgs)
+        if not os.path.exists(tarDir):
+            os.makedirs(tarDir)
+        for i, img in enumerate(imgs):
+            tic = time.time()
+            fname = os.path.join(tarDir, img['file_name'])
+            if not os.path.exists(fname):
+                urlretrieve(img['coco_url'], fname)
+            print('downloaded {}/{} images (t={:0.1f}s)'.format(i, N, time.time()- tic))
+
+    def loadNumpyAnnotations(self, data):
+        """
+        Convert result data from a numpy array [Nx7] where each row contains {imageID,x1,y1,w,h,score,class}
+        :param  data (numpy.ndarray)
+        :return: annotations (python nested list)
+        """
+        print('Converting ndarray to lists...')
+        assert(type(data) == np.ndarray)
+        print(data.shape)
+        assert(data.shape[1] == 7)
+        N = data.shape[0]
+        ann = []
+        for i in range(N):
+            if i % 1000000 == 0:
+                print('{}/{}'.format(i,N))
+            ann += [{
+                'image_id'  : int(data[i, 0]),
+                'bbox'  : [ data[i, 1], data[i, 2], data[i, 3], data[i, 4] ],
+                'score' : data[i, 5],
+                'category_id': int(data[i, 6]),
+                }]
+        return ann
+
+    def annToRLE(self, ann):
+        """
+        Convert annotation which can be polygons, uncompressed RLE to RLE.
+        :return: binary mask (numpy 2D array)
+        """
+        t = self.imgs[ann['image_id']]
+        h, w = t['height'], t['width']
+        segm = ann['segmentation']
+        if type(segm) == list:
+            # polygon -- a single object might consist of multiple parts
+            # we merge all parts into one mask rle code
+            rles = maskUtils.frPyObjects(segm, h, w)
+            rle = maskUtils.merge(rles)
+        elif type(segm['counts']) == list:
+            # uncompressed RLE
+            rle = maskUtils.frPyObjects(segm, h, w)
+        else:
+            # rle
+            rle = ann['segmentation']
+        return rle
+
+    def annToMask(self, ann):
+        """
+        Convert annotation which can be polygons, uncompressed RLE, or RLE to binary mask.
+        :return: binary mask (numpy 2D array)
+        """
+        rle = self.annToRLE(ann)
+        m = maskUtils.decode(rle)
+        return m

lib/train/dataset/__init__.py

@@ -0,0 +1,11 @@
+from .lasot import Lasot
+from .got10k import Got10k
+from .tracking_net import TrackingNet
+from .imagenetvid import ImagenetVID
+from .coco import MSCOCO
+from .coco_seq import MSCOCOSeq
+from .got10k_lmdb import Got10k_lmdb
+from .lasot_lmdb import Lasot_lmdb
+from .imagenetvid_lmdb import ImagenetVID_lmdb
+from .coco_seq_lmdb import MSCOCOSeq_lmdb
+from .tracking_net_lmdb import TrackingNet_lmdb

lib/train/dataset/base_image_dataset.py

@@ -0,0 +1,92 @@
+import torch.utils.data
+from lib.train.data.image_loader import jpeg4py_loader
+
+
+class BaseImageDataset(torch.utils.data.Dataset):
+    """ Base class for image datasets """
+
+    def __init__(self, name, root, image_loader=jpeg4py_loader):
+        """
+        args:
+            root - The root path to the dataset
+            image_loader (jpeg4py_loader) -  The function to read the images. jpeg4py (https://github.com/ajkxyz/jpeg4py)
+                                            is used by default.
+        """
+        self.name = name
+        self.root = root
+        self.image_loader = image_loader
+
+        self.image_list = []     # Contains the list of sequences.
+        self.class_list = []
+
+    def __len__(self):
+        """ Returns size of the dataset
+        returns:
+            int - number of samples in the dataset
+        """
+        return self.get_num_images()
+
+    def __getitem__(self, index):
+        """ Not to be used! Check get_frames() instead.
+        """
+        return None
+
+    def get_name(self):
+        """ Name of the dataset
+
+        returns:
+            string - Name of the dataset
+        """
+        raise NotImplementedError
+
+    def get_num_images(self):
+        """ Number of sequences in a dataset
+
+        returns:
+            int - number of sequences in the dataset."""
+        return len(self.image_list)
+
+    def has_class_info(self):
+        return False
+
+    def get_class_name(self, image_id):
+        return None
+
+    def get_num_classes(self):
+        return len(self.class_list)
+
+    def get_class_list(self):
+        return self.class_list
+
+    def get_images_in_class(self, class_name):
+        raise NotImplementedError
+
+    def has_segmentation_info(self):
+        return False
+
+    def get_image_info(self, seq_id):
+        """ Returns information about a particular image,
+
+        args:
+            seq_id - index of the image
+
+        returns:
+            Dict
+            """
+        raise NotImplementedError
+
+    def get_image(self, image_id, anno=None):
+        """ Get a image
+
+        args:
+            image_id      - index of image
+            anno(None)  - The annotation for the sequence (see get_sequence_info). If None, they will be loaded.
+
+        returns:
+            image -
+            anno -
+            dict - A dict containing meta information about the sequence, e.g. class of the target object.
+
+        """
+        raise NotImplementedError
+

lib/train/dataset/base_video_dataset.py

@@ -0,0 +1,110 @@
+import torch.utils.data
+# 2021.1.5 use jpeg4py_loader_w_failsafe as default
+from lib.train.data.image_loader import jpeg4py_loader_w_failsafe
+
+
+class BaseVideoDataset(torch.utils.data.Dataset):
+    """ Base class for video datasets """
+
+    def __init__(self, name, root, image_loader=jpeg4py_loader_w_failsafe):
+        """
+        args:
+            root - The root path to the dataset
+            image_loader (jpeg4py_loader) -  The function to read the images. jpeg4py (https://github.com/ajkxyz/jpeg4py)
+                                            is used by default.
+        """
+        self.name = name
+        self.root = root
+        self.image_loader = image_loader
+
+        self.sequence_list = []     # Contains the list of sequences.
+        self.class_list = []
+
+    def __len__(self):
+        """ Returns size of the dataset
+        returns:
+            int - number of samples in the dataset
+        """
+        return self.get_num_sequences()
+
+    def __getitem__(self, index):
+        """ Not to be used! Check get_frames() instead.
+        """
+        return None
+
+    def is_video_sequence(self):
+        """ Returns whether the dataset is a video dataset or an image dataset
+
+        returns:
+            bool - True if a video dataset
+        """
+        return True
+
+    def is_synthetic_video_dataset(self):
+        """ Returns whether the dataset contains real videos or synthetic
+
+        returns:
+            bool - True if a video dataset
+        """
+        return False
+
+    def get_name(self):
+        """ Name of the dataset
+
+        returns:
+            string - Name of the dataset
+        """
+        raise NotImplementedError
+
+    def get_num_sequences(self):
+        """ Number of sequences in a dataset
+
+        returns:
+            int - number of sequences in the dataset."""
+        return len(self.sequence_list)
+
+    def has_class_info(self):
+        return False
+
+    def has_occlusion_info(self):
+        return False
+
+    def get_num_classes(self):
+        return len(self.class_list)
+
+    def get_class_list(self):
+        return self.class_list
+
+    def get_sequences_in_class(self, class_name):
+        raise NotImplementedError
+
+    def has_segmentation_info(self):
+        return False
+
+    def get_sequence_info(self, seq_id):
+        """ Returns information about a particular sequences,
+
+        args:
+            seq_id - index of the sequence
+
+        returns:
+            Dict
+            """
+        raise NotImplementedError
+
+    def get_frames(self, seq_id, frame_ids, anno=None):
+        """ Get a set of frames from a particular sequence
+
+        args:
+            seq_id      - index of sequence
+            frame_ids   - a list of frame numbers
+            anno(None)  - The annotation for the sequence (see get_sequence_info). If None, they will be loaded.
+
+        returns:
+            list - List of frames corresponding to frame_ids
+            list - List of dicts for each frame
+            dict - A dict containing meta information about the sequence, e.g. class of the target object.
+
+        """
+        raise NotImplementedError
+

lib/train/dataset/coco.py

@@ -0,0 +1,156 @@
+import os
+from .base_image_dataset import BaseImageDataset
+import torch
+import random
+from collections import OrderedDict
+from lib.train.data import jpeg4py_loader
+from lib.train.admin import env_settings
+from pycocotools.coco import COCO
+
+
+class MSCOCO(BaseImageDataset):
+    """ The COCO object detection dataset.
+
+    Publication:
+        Microsoft COCO: Common Objects in Context.
+        Tsung-Yi Lin, Michael Maire, Serge J. Belongie, Lubomir D. Bourdev, Ross B. Girshick, James Hays, Pietro Perona,
+        Deva Ramanan, Piotr Dollar and C. Lawrence Zitnick
+        ECCV, 2014
+        https://arxiv.org/pdf/1405.0312.pdf
+
+    Download the images along with annotations from http://cocodataset.org/#download. The root folder should be
+    organized as follows.
+        - coco_root
+            - annotations
+                - instances_train2014.json
+                - instances_train2017.json
+            - images
+                - train2014
+                - train2017
+
+    Note: You also have to install the coco pythonAPI from https://github.com/cocodataset/cocoapi.
+    """
+
+    def __init__(self, root=None, image_loader=jpeg4py_loader, data_fraction=None, min_area=None,
+                 split="train", version="2014"):
+        """
+        args:
+            root - path to coco root folder
+            image_loader (jpeg4py_loader) - The function to read the images. jpeg4py (https://github.com/ajkxyz/jpeg4py)
+                                            is used by default.
+            data_fraction - Fraction of dataset to be used. The complete dataset is used by default
+            min_area - Objects with area less than min_area are filtered out. Default is 0.0
+            split - 'train' or 'val'.
+            version - version of coco dataset (2014 or 2017)
+        """
+
+        root = env_settings().coco_dir if root is None else root
+        super().__init__('COCO', root, image_loader)
+
+        self.img_pth = os.path.join(root, 'images/{}{}/'.format(split, version))
+        self.anno_path = os.path.join(root, 'annotations/instances_{}{}.json'.format(split, version))
+
+        self.coco_set = COCO(self.anno_path)
+
+        self.cats = self.coco_set.cats
+
+        self.class_list = self.get_class_list()  # the parent class thing would happen in the sampler
+
+        self.image_list = self._get_image_list(min_area=min_area)
+
+        if data_fraction is not None:
+            self.image_list = random.sample(self.image_list, int(len(self.image_list) * data_fraction))
+        self.im_per_class = self._build_im_per_class()
+
+    def _get_image_list(self, min_area=None):
+        ann_list = list(self.coco_set.anns.keys())
+        image_list = [a for a in ann_list if self.coco_set.anns[a]['iscrowd'] == 0]
+
+        if min_area is not None:
+            image_list = [a for a in image_list if self.coco_set.anns[a]['area'] > min_area]
+
+        return image_list
+
+    def get_num_classes(self):
+        return len(self.class_list)
+
+    def get_name(self):
+        return 'coco'
+
+    def has_class_info(self):
+        return True
+
+    def has_segmentation_info(self):
+        return True
+
+    def get_class_list(self):
+        class_list = []
+        for cat_id in self.cats.keys():
+            class_list.append(self.cats[cat_id]['name'])
+        return class_list
+
+    def _build_im_per_class(self):
+        im_per_class = {}
+        for i, im in enumerate(self.image_list):
+            class_name = self.cats[self.coco_set.anns[im]['category_id']]['name']
+            if class_name not in im_per_class:
+                im_per_class[class_name] = [i]
+            else:
+                im_per_class[class_name].append(i)
+
+        return im_per_class
+
+    def get_images_in_class(self, class_name):
+        return self.im_per_class[class_name]
+
+    def get_image_info(self, im_id):
+        anno = self._get_anno(im_id)
+
+        bbox = torch.Tensor(anno['bbox']).view(4,)
+
+        mask = torch.Tensor(self.coco_set.annToMask(anno))
+
+        valid = (bbox[2] > 0) & (bbox[3] > 0)
+        visible = valid.clone().byte()
+
+        return {'bbox': bbox, 'mask': mask, 'valid': valid, 'visible': visible}
+
+    def _get_anno(self, im_id):
+        anno = self.coco_set.anns[self.image_list[im_id]]
+
+        return anno
+
+    def _get_image(self, im_id):
+        path = self.coco_set.loadImgs([self.coco_set.anns[self.image_list[im_id]]['image_id']])[0]['file_name']
+        img = self.image_loader(os.path.join(self.img_pth, path))
+        return img
+
+    def get_meta_info(self, im_id):
+        try:
+            cat_dict_current = self.cats[self.coco_set.anns[self.image_list[im_id]]['category_id']]
+            object_meta = OrderedDict({'object_class_name': cat_dict_current['name'],
+                                       'motion_class': None,
+                                       'major_class': cat_dict_current['supercategory'],
+                                       'root_class': None,
+                                       'motion_adverb': None})
+        except:
+            object_meta = OrderedDict({'object_class_name': None,
+                                       'motion_class': None,
+                                       'major_class': None,
+                                       'root_class': None,
+                                       'motion_adverb': None})
+        return object_meta
+
+    def get_class_name(self, im_id):
+        cat_dict_current = self.cats[self.coco_set.anns[self.image_list[im_id]]['category_id']]
+        return cat_dict_current['name']
+
+    def get_image(self, image_id, anno=None):
+        frame = self._get_image(image_id)
+
+        if anno is None:
+            anno = self.get_image_info(image_id)
+
+        object_meta = self.get_meta_info(image_id)
+
+        return frame, anno, object_meta

lib/train/dataset/coco_seq.py

@@ -0,0 +1,170 @@
+import os
+from .base_video_dataset import BaseVideoDataset
+from lib.train.data import jpeg4py_loader
+import torch
+import random
+from pycocotools.coco import COCO
+from collections import OrderedDict
+from lib.train.admin import env_settings
+
+
+class MSCOCOSeq(BaseVideoDataset):
+    """ The COCO dataset. COCO is an image dataset. Thus, we treat each image as a sequence of length 1.
+
+    Publication:
+        Microsoft COCO: Common Objects in Context.
+        Tsung-Yi Lin, Michael Maire, Serge J. Belongie, Lubomir D. Bourdev, Ross B. Girshick, James Hays, Pietro Perona,
+        Deva Ramanan, Piotr Dollar and C. Lawrence Zitnick
+        ECCV, 2014
+        https://arxiv.org/pdf/1405.0312.pdf
+
+    Download the images along with annotations from http://cocodataset.org/#download. The root folder should be
+    organized as follows.
+        - coco_root
+            - annotations
+                - instances_train2014.json
+                - instances_train2017.json
+            - images
+                - train2014
+                - train2017
+
+    Note: You also have to install the coco pythonAPI from https://github.com/cocodataset/cocoapi.
+    """
+
+    def __init__(self, root=None, image_loader=jpeg4py_loader, data_fraction=None, split="train", version="2014"):
+        """
+        args:
+            root - path to the coco dataset.
+            image_loader (default_image_loader) -  The function to read the images. If installed,
+                                                   jpeg4py (https://github.com/ajkxyz/jpeg4py) is used by default. Else,
+                                                   opencv's imread is used.
+            data_fraction (None) - Fraction of images to be used. The images are selected randomly. If None, all the
+                                  images  will be used
+            split - 'train' or 'val'.
+            version - version of coco dataset (2014 or 2017)
+        """
+        root = env_settings().coco_dir if root is None else root
+        super().__init__('COCO', root, image_loader)
+
+        self.img_pth = os.path.join(root, 'images/{}{}/'.format(split, version))
+        self.anno_path = os.path.join(root, 'annotations/instances_{}{}.json'.format(split, version))
+
+        # Load the COCO set.
+        self.coco_set = COCO(self.anno_path)
+
+        self.cats = self.coco_set.cats
+
+        self.class_list = self.get_class_list()
+
+        self.sequence_list = self._get_sequence_list()
+
+        if data_fraction is not None:
+            self.sequence_list = random.sample(self.sequence_list, int(len(self.sequence_list)*data_fraction))
+        self.seq_per_class = self._build_seq_per_class()
+
+    def _get_sequence_list(self):
+        ann_list = list(self.coco_set.anns.keys())
+        seq_list = [a for a in ann_list if self.coco_set.anns[a]['iscrowd'] == 0]
+
+        return seq_list
+
+    def is_video_sequence(self):
+        return False
+
+    def get_num_classes(self):
+        return len(self.class_list)
+
+    def get_name(self):
+        return 'coco'
+
+    def has_class_info(self):
+        return True
+
+    def get_class_list(self):
+        class_list = []
+        for cat_id in self.cats.keys():
+            class_list.append(self.cats[cat_id]['name'])
+        return class_list
+
+    def has_segmentation_info(self):
+        return True
+
+    def get_num_sequences(self):
+        return len(self.sequence_list)
+
+    def _build_seq_per_class(self):
+        seq_per_class = {}
+        for i, seq in enumerate(self.sequence_list):
+            class_name = self.cats[self.coco_set.anns[seq]['category_id']]['name']
+            if class_name not in seq_per_class:
+                seq_per_class[class_name] = [i]
+            else:
+                seq_per_class[class_name].append(i)
+
+        return seq_per_class
+
+    def get_sequences_in_class(self, class_name):
+        return self.seq_per_class[class_name]
+
+    def get_sequence_info(self, seq_id):
+        anno = self._get_anno(seq_id)
+
+        bbox = torch.Tensor(anno['bbox']).view(1, 4)
+
+        mask = torch.Tensor(self.coco_set.annToMask(anno)).unsqueeze(dim=0)
+
+        '''2021.1.3 To avoid too small bounding boxes. Here we change the threshold to 50 pixels'''
+        valid = (bbox[:, 2] > 50) & (bbox[:, 3] > 50)
+
+        visible = valid.clone().byte()
+
+        return {'bbox': bbox, 'mask': mask, 'valid': valid, 'visible': visible}
+
+    def _get_anno(self, seq_id):
+        anno = self.coco_set.anns[self.sequence_list[seq_id]]
+
+        return anno
+
+    def _get_frames(self, seq_id):
+        path = self.coco_set.loadImgs([self.coco_set.anns[self.sequence_list[seq_id]]['image_id']])[0]['file_name']
+        img = self.image_loader(os.path.join(self.img_pth, path))
+        return img
+
+    def get_meta_info(self, seq_id):
+        try:
+            cat_dict_current = self.cats[self.coco_set.anns[self.sequence_list[seq_id]]['category_id']]
+            object_meta = OrderedDict({'object_class_name': cat_dict_current['name'],
+                                       'motion_class': None,
+                                       'major_class': cat_dict_current['supercategory'],
+                                       'root_class': None,
+                                       'motion_adverb': None})
+        except:
+            object_meta = OrderedDict({'object_class_name': None,
+                                       'motion_class': None,
+                                       'major_class': None,
+                                       'root_class': None,
+                                       'motion_adverb': None})
+        return object_meta
+
+
+    def get_class_name(self, seq_id):
+        cat_dict_current = self.cats[self.coco_set.anns[self.sequence_list[seq_id]]['category_id']]
+        return cat_dict_current['name']
+
+    def get_frames(self, seq_id=None, frame_ids=None, anno=None):
+        # COCO is an image dataset. Thus we replicate the image denoted by seq_id len(frame_ids) times, and return a
+        # list containing these replicated images.
+        frame = self._get_frames(seq_id)
+
+        frame_list = [frame.copy() for _ in frame_ids]
+
+        if anno is None:
+            anno = self.get_sequence_info(seq_id)
+
+        anno_frames = {}
+        for key, value in anno.items():
+            anno_frames[key] = [value[0, ...] for _ in frame_ids]
+
+        object_meta = self.get_meta_info(seq_id)
+
+        return frame_list, anno_frames, object_meta

lib/train/dataset/coco_seq_lmdb.py

@@ -0,0 +1,177 @@
+import os
+from .base_video_dataset import BaseVideoDataset
+from lib.train.data import jpeg4py_loader
+import torch
+import random
+from collections import OrderedDict
+from lib.train.admin import env_settings
+from lib.train.dataset.COCO_tool import COCO
+from lib.utils.lmdb_utils import decode_img, decode_json
+import time
+
+class MSCOCOSeq_lmdb(BaseVideoDataset):
+    """ The COCO dataset. COCO is an image dataset. Thus, we treat each image as a sequence of length 1.
+
+    Publication:
+        Microsoft COCO: Common Objects in Context.
+        Tsung-Yi Lin, Michael Maire, Serge J. Belongie, Lubomir D. Bourdev, Ross B. Girshick, James Hays, Pietro Perona,
+        Deva Ramanan, Piotr Dollar and C. Lawrence Zitnick
+        ECCV, 2014
+        https://arxiv.org/pdf/1405.0312.pdf
+
+    Download the images along with annotations from http://cocodataset.org/#download. The root folder should be
+    organized as follows.
+        - coco_root
+            - annotations
+                - instances_train2014.json
+                - instances_train2017.json
+            - images
+                - train2014
+                - train2017
+
+    Note: You also have to install the coco pythonAPI from https://github.com/cocodataset/cocoapi.
+    """
+
+    def __init__(self, root=None, image_loader=jpeg4py_loader, data_fraction=None, split="train", version="2014"):
+        """
+        args:
+            root - path to the coco dataset.
+            image_loader (default_image_loader) -  The function to read the images. If installed,
+                                                   jpeg4py (https://github.com/ajkxyz/jpeg4py) is used by default. Else,
+                                                   opencv's imread is used.
+            data_fraction (None) - Fraction of images to be used. The images are selected randomly. If None, all the
+                                  images  will be used
+            split - 'train' or 'val'.
+            version - version of coco dataset (2014 or 2017)
+        """
+        root = env_settings().coco_dir if root is None else root
+        super().__init__('COCO_lmdb', root, image_loader)
+        self.root = root
+        self.img_pth = 'images/{}{}/'.format(split, version)
+        self.anno_path = 'annotations/instances_{}{}.json'.format(split, version)
+
+        # Load the COCO set.
+        print('loading annotations into memory...')
+        tic = time.time()
+        coco_json = decode_json(root, self.anno_path)
+        print('Done (t={:0.2f}s)'.format(time.time() - tic))
+
+        self.coco_set = COCO(coco_json)
+
+        self.cats = self.coco_set.cats
+
+        self.class_list = self.get_class_list()
+
+        self.sequence_list = self._get_sequence_list()
+
+        if data_fraction is not None:
+            self.sequence_list = random.sample(self.sequence_list, int(len(self.sequence_list)*data_fraction))
+        self.seq_per_class = self._build_seq_per_class()
+
+    def _get_sequence_list(self):
+        ann_list = list(self.coco_set.anns.keys())
+        seq_list = [a for a in ann_list if self.coco_set.anns[a]['iscrowd'] == 0]
+
+        return seq_list
+
+    def is_video_sequence(self):
+        return False
+
+    def get_num_classes(self):
+        return len(self.class_list)
+
+    def get_name(self):
+        return 'coco_lmdb'
+
+    def has_class_info(self):
+        return True
+
+    def get_class_list(self):
+        class_list = []
+        for cat_id in self.cats.keys():
+            class_list.append(self.cats[cat_id]['name'])
+        return class_list
+
+    def has_segmentation_info(self):
+        return True
+
+    def get_num_sequences(self):
+        return len(self.sequence_list)
+
+    def _build_seq_per_class(self):
+        seq_per_class = {}
+        for i, seq in enumerate(self.sequence_list):
+            class_name = self.cats[self.coco_set.anns[seq]['category_id']]['name']
+            if class_name not in seq_per_class:
+                seq_per_class[class_name] = [i]
+            else:
+                seq_per_class[class_name].append(i)
+
+        return seq_per_class
+
+    def get_sequences_in_class(self, class_name):
+        return self.seq_per_class[class_name]
+
+    def get_sequence_info(self, seq_id):
+        anno = self._get_anno(seq_id)
+
+        bbox = torch.Tensor(anno['bbox']).view(1, 4)
+
+        mask = torch.Tensor(self.coco_set.annToMask(anno)).unsqueeze(dim=0)
+
+        '''2021.1.3 To avoid too small bounding boxes. Here we change the threshold to 50 pixels'''
+        valid = (bbox[:, 2] > 50) & (bbox[:, 3] > 50)
+
+        visible = valid.clone().byte()
+
+        return {'bbox': bbox, 'mask': mask, 'valid': valid, 'visible': visible}
+
+    def _get_anno(self, seq_id):
+        anno = self.coco_set.anns[self.sequence_list[seq_id]]
+
+        return anno
+
+    def _get_frames(self, seq_id):
+        path = self.coco_set.loadImgs([self.coco_set.anns[self.sequence_list[seq_id]]['image_id']])[0]['file_name']
+        # img = self.image_loader(os.path.join(self.img_pth, path))
+        img = decode_img(self.root, os.path.join(self.img_pth, path))
+        return img
+
+    def get_meta_info(self, seq_id):
+        try:
+            cat_dict_current = self.cats[self.coco_set.anns[self.sequence_list[seq_id]]['category_id']]
+            object_meta = OrderedDict({'object_class_name': cat_dict_current['name'],
+                                       'motion_class': None,
+                                       'major_class': cat_dict_current['supercategory'],
+                                       'root_class': None,
+                                       'motion_adverb': None})
+        except:
+            object_meta = OrderedDict({'object_class_name': None,
+                                       'motion_class': None,
+                                       'major_class': None,
+                                       'root_class': None,
+                                       'motion_adverb': None})
+        return object_meta
+
+
+    def get_class_name(self, seq_id):
+        cat_dict_current = self.cats[self.coco_set.anns[self.sequence_list[seq_id]]['category_id']]
+        return cat_dict_current['name']
+
+    def get_frames(self, seq_id=None, frame_ids=None, anno=None):
+        # COCO is an image dataset. Thus we replicate the image denoted by seq_id len(frame_ids) times, and return a
+        # list containing these replicated images.
+        frame = self._get_frames(seq_id)
+
+        frame_list = [frame.copy() for _ in frame_ids]
+
+        if anno is None:
+            anno = self.get_sequence_info(seq_id)
+
+        anno_frames = {}
+        for key, value in anno.items():
+            anno_frames[key] = [value[0, ...] for _ in frame_ids]
+
+        object_meta = self.get_meta_info(seq_id)
+
+        return frame_list, anno_frames, object_meta

lib/train/dataset/got10k.py

@@ -0,0 +1,186 @@
+import os
+import os.path
+import numpy as np
+import torch
+import csv
+import pandas
+import random
+from collections import OrderedDict
+from .base_video_dataset import BaseVideoDataset
+from lib.train.data import jpeg4py_loader
+from lib.train.admin import env_settings
+
+
+class Got10k(BaseVideoDataset):
+    """ GOT-10k dataset.
+
+    Publication:
+        GOT-10k: A Large High-Diversity Benchmark for Generic Object Tracking in the Wild
+        Lianghua Huang, Xin Zhao, and Kaiqi Huang
+        arXiv:1810.11981, 2018
+        https://arxiv.org/pdf/1810.11981.pdf
+
+    Download dataset from http://got-10k.aitestunion.com/downloads
+    """
+
+    def __init__(self, root=None, image_loader=jpeg4py_loader, split=None, seq_ids=None, data_fraction=None):
+        """
+        args:
+            root - path to the got-10k training data. Note: This should point to the 'train' folder inside GOT-10k
+            image_loader (jpeg4py_loader) -  The function to read the images. jpeg4py (https://github.com/ajkxyz/jpeg4py)
+                                            is used by default.
+            split - 'train' or 'val'. Note: The validation split here is a subset of the official got-10k train split,
+                    not NOT the official got-10k validation split. To use the official validation split, provide that as
+                    the root folder instead.
+            seq_ids - List containing the ids of the videos to be used for training. Note: Only one of 'split' or 'seq_ids'
+                        options can be used at the same time.
+            data_fraction - Fraction of dataset to be used. The complete dataset is used by default
+        """
+        root = env_settings().got10k_dir if root is None else root
+        super().__init__('GOT10k', root, image_loader)
+
+        # all folders inside the root
+        self.sequence_list = self._get_sequence_list()
+
+        # seq_id is the index of the folder inside the got10k root path
+        if split is not None:
+            if seq_ids is not None:
+                raise ValueError('Cannot set both split_name and seq_ids.')
+            ltr_path = os.path.join(os.path.dirname(os.path.realpath(__file__)), '..')
+            if split == 'train':
+                file_path = os.path.join(ltr_path, 'data_specs', 'got10k_train_split.txt')
+            elif split == 'val':
+                file_path = os.path.join(ltr_path, 'data_specs', 'got10k_val_split.txt')
+            elif split == 'train_full':
+                file_path = os.path.join(ltr_path, 'data_specs', 'got10k_train_full_split.txt')
+            elif split == 'vottrain':
+                file_path = os.path.join(ltr_path, 'data_specs', 'got10k_vot_train_split.txt')
+            elif split == 'votval':
+                file_path = os.path.join(ltr_path, 'data_specs', 'got10k_vot_val_split.txt')
+            else:
+                raise ValueError('Unknown split name.')
+            # seq_ids = pandas.read_csv(file_path, header=None, squeeze=True, dtype=np.int64).values.tolist()
+            seq_ids = pandas.read_csv(file_path, header=None, dtype=np.int64).squeeze("columns").values.tolist()
+        elif seq_ids is None:
+            seq_ids = list(range(0, len(self.sequence_list)))
+
+        self.sequence_list = [self.sequence_list[i] for i in seq_ids]
+
+        if data_fraction is not None:
+            self.sequence_list = random.sample(self.sequence_list, int(len(self.sequence_list)*data_fraction))
+
+        self.sequence_meta_info = self._load_meta_info()
+        self.seq_per_class = self._build_seq_per_class()
+
+        self.class_list = list(self.seq_per_class.keys())
+        self.class_list.sort()
+
+    def get_name(self):
+        return 'got10k'
+
+    def has_class_info(self):
+        return True
+
+    def has_occlusion_info(self):
+        return True
+
+    def _load_meta_info(self):
+        sequence_meta_info = {s: self._read_meta(os.path.join(self.root, s)) for s in self.sequence_list}
+        return sequence_meta_info
+
+    def _read_meta(self, seq_path):
+        try:
+            with open(os.path.join(seq_path, 'meta_info.ini')) as f:
+                meta_info = f.readlines()
+            object_meta = OrderedDict({'object_class_name': meta_info[5].split(': ')[-1][:-1],
+                                       'motion_class': meta_info[6].split(': ')[-1][:-1],
+                                       'major_class': meta_info[7].split(': ')[-1][:-1],
+                                       'root_class': meta_info[8].split(': ')[-1][:-1],
+                                       'motion_adverb': meta_info[9].split(': ')[-1][:-1]})
+        except:
+            object_meta = OrderedDict({'object_class_name': None,
+                                       'motion_class': None,
+                                       'major_class': None,
+                                       'root_class': None,
+                                       'motion_adverb': None})
+        return object_meta
+
+    def _build_seq_per_class(self):
+        seq_per_class = {}
+
+        for i, s in enumerate(self.sequence_list):
+            object_class = self.sequence_meta_info[s]['object_class_name']
+            if object_class in seq_per_class:
+                seq_per_class[object_class].append(i)
+            else:
+                seq_per_class[object_class] = [i]
+
+        return seq_per_class
+
+    def get_sequences_in_class(self, class_name):
+        return self.seq_per_class[class_name]
+
+    def _get_sequence_list(self):
+        with open(os.path.join(self.root, 'list.txt')) as f:
+            dir_list = list(csv.reader(f))
+        dir_list = [dir_name[0] for dir_name in dir_list]
+        return dir_list
+
+    def _read_bb_anno(self, seq_path):
+        bb_anno_file = os.path.join(seq_path, "groundtruth.txt")
+        gt = pandas.read_csv(bb_anno_file, delimiter=',', header=None, dtype=np.float32, na_filter=False, low_memory=False).values
+        return torch.tensor(gt)
+
+    def _read_target_visible(self, seq_path):
+        # Read full occlusion and out_of_view
+        occlusion_file = os.path.join(seq_path, "absence.label")
+        cover_file = os.path.join(seq_path, "cover.label")
+
+        with open(occlusion_file, 'r', newline='') as f:
+            occlusion = torch.ByteTensor([int(v[0]) for v in csv.reader(f)])
+        with open(cover_file, 'r', newline='') as f:
+            cover = torch.ByteTensor([int(v[0]) for v in csv.reader(f)])
+
+        target_visible = ~occlusion & (cover>0).byte()
+
+        visible_ratio = cover.float() / 8
+        return target_visible, visible_ratio
+
+    def _get_sequence_path(self, seq_id):
+        return os.path.join(self.root, self.sequence_list[seq_id])
+
+    def get_sequence_info(self, seq_id):
+        seq_path = self._get_sequence_path(seq_id)
+        bbox = self._read_bb_anno(seq_path)
+
+        valid = (bbox[:, 2] > 0) & (bbox[:, 3] > 0)
+        visible, visible_ratio = self._read_target_visible(seq_path)
+        visible = visible & valid.byte()
+
+        return {'bbox': bbox, 'valid': valid, 'visible': visible, 'visible_ratio': visible_ratio}
+
+    def _get_frame_path(self, seq_path, frame_id):
+        return os.path.join(seq_path, '{:08}.jpg'.format(frame_id+1))    # frames start from 1
+
+    def _get_frame(self, seq_path, frame_id):
+        return self.image_loader(self._get_frame_path(seq_path, frame_id))
+
+    def get_class_name(self, seq_id):
+        obj_meta = self.sequence_meta_info[self.sequence_list[seq_id]]
+
+        return obj_meta['object_class_name']
+
+    def get_frames(self, seq_id, frame_ids, anno=None):
+        seq_path = self._get_sequence_path(seq_id)
+        obj_meta = self.sequence_meta_info[self.sequence_list[seq_id]]
+
+        frame_list = [self._get_frame(seq_path, f_id) for f_id in frame_ids]
+
+        if anno is None:
+            anno = self.get_sequence_info(seq_id)
+
+        anno_frames = {}
+        for key, value in anno.items():
+            anno_frames[key] = [value[f_id, ...].clone() for f_id in frame_ids]
+
+        return frame_list, anno_frames, obj_meta

lib/train/dataset/got10k_lmdb.py

@@ -0,0 +1,183 @@
+import os
+import os.path
+import numpy as np
+import torch
+import csv
+import pandas
+import random
+from collections import OrderedDict
+from .base_video_dataset import BaseVideoDataset
+from lib.train.data import jpeg4py_loader
+from lib.train.admin import env_settings
+
+'''2021.1.16 Gok10k for loading lmdb dataset'''
+from lib.utils.lmdb_utils import *
+
+
+class Got10k_lmdb(BaseVideoDataset):
+
+    def __init__(self, root=None, image_loader=jpeg4py_loader, split=None, seq_ids=None, data_fraction=None):
+        """
+        args:
+            root - path to the got-10k training data. Note: This should point to the 'train' folder inside GOT-10k
+            image_loader (jpeg4py_loader) -  The function to read the images. jpeg4py (https://github.com/ajkxyz/jpeg4py)
+                                            is used by default.
+            split - 'train' or 'val'. Note: The validation split here is a subset of the official got-10k train split,
+                    not NOT the official got-10k validation split. To use the official validation split, provide that as
+                    the root folder instead.
+            seq_ids - List containing the ids of the videos to be used for training. Note: Only one of 'split' or 'seq_ids'
+                        options can be used at the same time.
+            data_fraction - Fraction of dataset to be used. The complete dataset is used by default
+            use_lmdb - whether the dataset is stored in lmdb format
+        """
+        root = env_settings().got10k_lmdb_dir if root is None else root
+        super().__init__('GOT10k_lmdb', root, image_loader)
+
+        # all folders inside the root
+        self.sequence_list = self._get_sequence_list()
+
+        # seq_id is the index of the folder inside the got10k root path
+        if split is not None:
+            if seq_ids is not None:
+                raise ValueError('Cannot set both split_name and seq_ids.')
+            train_lib_path = os.path.join(os.path.dirname(os.path.realpath(__file__)), '..')
+            if split == 'train':
+                file_path = os.path.join(train_lib_path, 'data_specs', 'got10k_train_split.txt')
+            elif split == 'val':
+                file_path = os.path.join(train_lib_path, 'data_specs', 'got10k_val_split.txt')
+            elif split == 'train_full':
+                file_path = os.path.join(train_lib_path, 'data_specs', 'got10k_train_full_split.txt')
+            elif split == 'vottrain':
+                file_path = os.path.join(train_lib_path, 'data_specs', 'got10k_vot_train_split.txt')
+            elif split == 'votval':
+                file_path = os.path.join(train_lib_path, 'data_specs', 'got10k_vot_val_split.txt')
+            else:
+                raise ValueError('Unknown split name.')
+            seq_ids = pandas.read_csv(file_path, header=None, squeeze=True, dtype=np.int64).values.tolist()
+        elif seq_ids is None:
+            seq_ids = list(range(0, len(self.sequence_list)))
+
+        self.sequence_list = [self.sequence_list[i] for i in seq_ids]
+
+        if data_fraction is not None:
+            self.sequence_list = random.sample(self.sequence_list, int(len(self.sequence_list)*data_fraction))
+
+        self.sequence_meta_info = self._load_meta_info()
+        self.seq_per_class = self._build_seq_per_class()
+
+        self.class_list = list(self.seq_per_class.keys())
+        self.class_list.sort()
+
+    def get_name(self):
+        return 'got10k_lmdb'
+
+    def has_class_info(self):
+        return True
+
+    def has_occlusion_info(self):
+        return True
+
+    def _load_meta_info(self):
+        def _read_meta(meta_info):
+
+            object_meta = OrderedDict({'object_class_name': meta_info[5].split(': ')[-1],
+                                       'motion_class': meta_info[6].split(': ')[-1],
+                                       'major_class': meta_info[7].split(': ')[-1],
+                                       'root_class': meta_info[8].split(': ')[-1],
+                                       'motion_adverb': meta_info[9].split(': ')[-1]})
+
+            return object_meta
+        sequence_meta_info = {}
+        for s in self.sequence_list:
+            try:
+                meta_str = decode_str(self.root, "train/%s/meta_info.ini" %s)
+                sequence_meta_info[s] = _read_meta(meta_str.split('\n'))
+            except:
+                sequence_meta_info[s] = OrderedDict({'object_class_name': None,
+                                                     'motion_class': None,
+                                                     'major_class': None,
+                                                     'root_class': None,
+                                                     'motion_adverb': None})
+        return sequence_meta_info
+
+    def _build_seq_per_class(self):
+        seq_per_class = {}
+
+        for i, s in enumerate(self.sequence_list):
+            object_class = self.sequence_meta_info[s]['object_class_name']
+            if object_class in seq_per_class:
+                seq_per_class[object_class].append(i)
+            else:
+                seq_per_class[object_class] = [i]
+
+        return seq_per_class
+
+    def get_sequences_in_class(self, class_name):
+        return self.seq_per_class[class_name]
+
+    def _get_sequence_list(self):
+        dir_str = decode_str(self.root, 'train/list.txt')
+        dir_list = dir_str.split('\n')
+        return dir_list
+
+    def _read_bb_anno(self, seq_path):
+        bb_anno_file = os.path.join(seq_path, "groundtruth.txt")
+        gt_str_list = decode_str(self.root, bb_anno_file).split('\n')[:-1]  # the last line in got10k is empty
+        gt_list = [list(map(float, line.split(','))) for line in gt_str_list]
+        gt_arr = np.array(gt_list).astype(np.float32)
+
+        return torch.tensor(gt_arr)
+
+    def _read_target_visible(self, seq_path):
+        # full occlusion and out_of_view files
+        occlusion_file = os.path.join(seq_path, "absence.label")
+        cover_file = os.path.join(seq_path, "cover.label")
+        # Read these files
+        occ_list = list(map(int, decode_str(self.root, occlusion_file).split('\n')[:-1]))  # the last line in got10k is empty
+        occlusion = torch.ByteTensor(occ_list)
+        cover_list = list(map(int, decode_str(self.root, cover_file).split('\n')[:-1]))  # the last line in got10k is empty
+        cover = torch.ByteTensor(cover_list)
+
+        target_visible = ~occlusion & (cover>0).byte()
+
+        visible_ratio = cover.float() / 8
+        return target_visible, visible_ratio
+
+    def _get_sequence_path(self, seq_id):
+        return os.path.join("train", self.sequence_list[seq_id])
+
+    def get_sequence_info(self, seq_id):
+        seq_path = self._get_sequence_path(seq_id)
+        bbox = self._read_bb_anno(seq_path)
+
+        valid = (bbox[:, 2] > 0) & (bbox[:, 3] > 0)
+        visible, visible_ratio = self._read_target_visible(seq_path)
+        visible = visible & valid.byte()
+
+        return {'bbox': bbox, 'valid': valid, 'visible': visible, 'visible_ratio': visible_ratio}
+
+    def _get_frame_path(self, seq_path, frame_id):
+        return os.path.join(seq_path, '{:08}.jpg'.format(frame_id+1))    # frames start from 1
+
+    def _get_frame(self, seq_path, frame_id):
+        return decode_img(self.root, self._get_frame_path(seq_path, frame_id))
+
+    def get_class_name(self, seq_id):
+        obj_meta = self.sequence_meta_info[self.sequence_list[seq_id]]
+
+        return obj_meta['object_class_name']
+
+    def get_frames(self, seq_id, frame_ids, anno=None):
+        seq_path = self._get_sequence_path(seq_id)
+        obj_meta = self.sequence_meta_info[self.sequence_list[seq_id]]
+
+        frame_list = [self._get_frame(seq_path, f_id) for f_id in frame_ids]
+
+        if anno is None:
+            anno = self.get_sequence_info(seq_id)
+
+        anno_frames = {}
+        for key, value in anno.items():
+            anno_frames[key] = [value[f_id, ...].clone() for f_id in frame_ids]
+
+        return frame_list, anno_frames, obj_meta

lib/train/dataset/imagenetvid.py

@@ -0,0 +1,159 @@
+import os
+from .base_video_dataset import BaseVideoDataset
+from lib.train.data import jpeg4py_loader
+import xml.etree.ElementTree as ET
+import json
+import torch
+from collections import OrderedDict
+from lib.train.admin import env_settings
+
+
+def get_target_to_image_ratio(seq):
+    anno = torch.Tensor(seq['anno'])
+    img_sz = torch.Tensor(seq['image_size'])
+    return (anno[0, 2:4].prod() / (img_sz.prod())).sqrt()
+
+
+class ImagenetVID(BaseVideoDataset):
+    """ Imagenet VID dataset.
+
+    Publication:
+        ImageNet Large Scale Visual Recognition Challenge
+        Olga Russakovsky, Jia Deng, Hao Su, Jonathan Krause, Sanjeev Satheesh, Sean Ma, Zhiheng Huang, Andrej Karpathy,
+        Aditya Khosla, Michael Bernstein, Alexander C. Berg and Li Fei-Fei
+        IJCV, 2015
+        https://arxiv.org/pdf/1409.0575.pdf
+
+    Download the dataset from http://image-net.org/
+    """
+    def __init__(self, root=None, image_loader=jpeg4py_loader, min_length=0, max_target_area=1):
+        """
+        args:
+            root - path to the imagenet vid dataset.
+            image_loader (default_image_loader) -  The function to read the images. If installed,
+                                                   jpeg4py (https://github.com/ajkxyz/jpeg4py) is used by default. Else,
+                                                   opencv's imread is used.
+            min_length - Minimum allowed sequence length.
+            max_target_area - max allowed ratio between target area and image area. Can be used to filter out targets
+                                which cover complete image.
+        """
+        root = env_settings().imagenet_dir if root is None else root
+        super().__init__("imagenetvid", root, image_loader)
+
+        cache_file = os.path.join(root, 'cache.json')
+        if os.path.isfile(cache_file):
+            # If available, load the pre-processed cache file containing meta-info for each sequence
+            with open(cache_file, 'r') as f:
+                sequence_list_dict = json.load(f)
+
+            self.sequence_list = sequence_list_dict
+        else:
+            # Else process the imagenet annotations and generate the cache file
+            self.sequence_list = self._process_anno(root)
+
+            with open(cache_file, 'w') as f:
+                json.dump(self.sequence_list, f)
+
+        # Filter the sequences based on min_length and max_target_area in the first frame
+        self.sequence_list = [x for x in self.sequence_list if len(x['anno']) >= min_length and
+                              get_target_to_image_ratio(x) < max_target_area]
+
+    def get_name(self):
+        return 'imagenetvid'
+
+    def get_num_sequences(self):
+        return len(self.sequence_list)
+
+    def get_sequence_info(self, seq_id):
+        bb_anno = torch.Tensor(self.sequence_list[seq_id]['anno'])
+        valid = (bb_anno[:, 2] > 0) & (bb_anno[:, 3] > 0)
+        visible = torch.ByteTensor(self.sequence_list[seq_id]['target_visible']) & valid.byte()
+        return {'bbox': bb_anno, 'valid': valid, 'visible': visible}
+
+    def _get_frame(self, sequence, frame_id):
+        set_name = 'ILSVRC2015_VID_train_{:04d}'.format(sequence['set_id'])
+        vid_name = 'ILSVRC2015_train_{:08d}'.format(sequence['vid_id'])
+        frame_number = frame_id + sequence['start_frame']
+        frame_path = os.path.join(self.root, 'Data', 'VID', 'train', set_name, vid_name,
+                                  '{:06d}.JPEG'.format(frame_number))
+        return self.image_loader(frame_path)
+
+    def get_frames(self, seq_id, frame_ids, anno=None):
+        sequence = self.sequence_list[seq_id]
+
+        frame_list = [self._get_frame(sequence, f) for f in frame_ids]
+
+        if anno is None:
+            anno = self.get_sequence_info(seq_id)
+
+        # Create anno dict
+        anno_frames = {}
+        for key, value in anno.items():
+            anno_frames[key] = [value[f_id, ...].clone() for f_id in frame_ids]
+
+        # added the class info to the meta info
+        object_meta = OrderedDict({'object_class': sequence['class_name'],
+                                   'motion_class': None,
+                                   'major_class': None,
+                                   'root_class': None,
+                                   'motion_adverb': None})
+
+        return frame_list, anno_frames, object_meta
+
+    def _process_anno(self, root):
+        # Builds individual tracklets
+        base_vid_anno_path = os.path.join(root, 'Annotations', 'VID', 'train')
+
+        all_sequences = []
+        for set in sorted(os.listdir(base_vid_anno_path)):
+            set_id = int(set.split('_')[-1])
+            for vid in sorted(os.listdir(os.path.join(base_vid_anno_path, set))):
+
+                vid_id = int(vid.split('_')[-1])
+                anno_files = sorted(os.listdir(os.path.join(base_vid_anno_path, set, vid)))
+
+                frame1_anno = ET.parse(os.path.join(base_vid_anno_path, set, vid, anno_files[0]))
+                image_size = [int(frame1_anno.find('size/width').text), int(frame1_anno.find('size/height').text)]
+
+                objects = [ET.ElementTree(file=os.path.join(base_vid_anno_path, set, vid, f)).findall('object')
+                           for f in anno_files]
+
+                tracklets = {}
+
+                # Find all tracklets along with start frame
+                for f_id, all_targets in enumerate(objects):
+                    for target in all_targets:
+                        tracklet_id = target.find('trackid').text
+                        if tracklet_id not in tracklets:
+                            tracklets[tracklet_id] = f_id
+
+                for tracklet_id, tracklet_start in tracklets.items():
+                    tracklet_anno = []
+                    target_visible = []
+                    class_name_id = None
+
+                    for f_id in range(tracklet_start, len(objects)):
+                        found = False
+                        for target in objects[f_id]:
+                            if target.find('trackid').text == tracklet_id:
+                                if not class_name_id:
+                                    class_name_id = target.find('name').text
+                                x1 = int(target.find('bndbox/xmin').text)
+                                y1 = int(target.find('bndbox/ymin').text)
+                                x2 = int(target.find('bndbox/xmax').text)
+                                y2 = int(target.find('bndbox/ymax').text)
+
+                                tracklet_anno.append([x1, y1, x2 - x1, y2 - y1])
+                                target_visible.append(target.find('occluded').text == '0')
+
+                                found = True
+                                break
+                        if not found:
+                            break
+
+                    new_sequence = {'set_id': set_id, 'vid_id': vid_id, 'class_name': class_name_id,
+                                    'start_frame': tracklet_start, 'anno': tracklet_anno,
+                                    'target_visible': target_visible, 'image_size': image_size}
+                    all_sequences.append(new_sequence)
+
+        return all_sequences

lib/train/dataset/imagenetvid_lmdb.py

@@ -0,0 +1,90 @@
+import os
+from .base_video_dataset import BaseVideoDataset
+from lib.train.data import jpeg4py_loader
+import torch
+from collections import OrderedDict
+from lib.train.admin import env_settings
+from lib.utils.lmdb_utils import decode_img, decode_json
+
+
+def get_target_to_image_ratio(seq):
+    anno = torch.Tensor(seq['anno'])
+    img_sz = torch.Tensor(seq['image_size'])
+    return (anno[0, 2:4].prod() / (img_sz.prod())).sqrt()
+
+
+class ImagenetVID_lmdb(BaseVideoDataset):
+    """ Imagenet VID dataset.
+
+    Publication:
+        ImageNet Large Scale Visual Recognition Challenge
+        Olga Russakovsky, Jia Deng, Hao Su, Jonathan Krause, Sanjeev Satheesh, Sean Ma, Zhiheng Huang, Andrej Karpathy,
+        Aditya Khosla, Michael Bernstein, Alexander C. Berg and Li Fei-Fei
+        IJCV, 2015
+        https://arxiv.org/pdf/1409.0575.pdf
+
+    Download the dataset from http://image-net.org/
+    """
+    def __init__(self, root=None, image_loader=jpeg4py_loader, min_length=0, max_target_area=1):
+        """
+        args:
+            root - path to the imagenet vid dataset.
+            image_loader (default_image_loader) -  The function to read the images. If installed,
+                                                   jpeg4py (https://github.com/ajkxyz/jpeg4py) is used by default. Else,
+                                                   opencv's imread is used.
+            min_length - Minimum allowed sequence length.
+            max_target_area - max allowed ratio between target area and image area. Can be used to filter out targets
+                                which cover complete image.
+        """
+        root = env_settings().imagenet_dir if root is None else root
+        super().__init__("imagenetvid_lmdb", root, image_loader)
+
+        sequence_list_dict = decode_json(root, "cache.json")
+        self.sequence_list = sequence_list_dict
+
+        # Filter the sequences based on min_length and max_target_area in the first frame
+        self.sequence_list = [x for x in self.sequence_list if len(x['anno']) >= min_length and
+                              get_target_to_image_ratio(x) < max_target_area]
+
+    def get_name(self):
+        return 'imagenetvid_lmdb'
+
+    def get_num_sequences(self):
+        return len(self.sequence_list)
+
+    def get_sequence_info(self, seq_id):
+        bb_anno = torch.Tensor(self.sequence_list[seq_id]['anno'])
+        valid = (bb_anno[:, 2] > 0) & (bb_anno[:, 3] > 0)
+        visible = torch.ByteTensor(self.sequence_list[seq_id]['target_visible']) & valid.byte()
+        return {'bbox': bb_anno, 'valid': valid, 'visible': visible}
+
+    def _get_frame(self, sequence, frame_id):
+        set_name = 'ILSVRC2015_VID_train_{:04d}'.format(sequence['set_id'])
+        vid_name = 'ILSVRC2015_train_{:08d}'.format(sequence['vid_id'])
+        frame_number = frame_id + sequence['start_frame']
+        frame_path = os.path.join('Data', 'VID', 'train', set_name, vid_name,
+                                  '{:06d}.JPEG'.format(frame_number))
+        return decode_img(self.root, frame_path)
+
+    def get_frames(self, seq_id, frame_ids, anno=None):
+        sequence = self.sequence_list[seq_id]
+
+        frame_list = [self._get_frame(sequence, f) for f in frame_ids]
+
+        if anno is None:
+            anno = self.get_sequence_info(seq_id)
+
+        # Create anno dict
+        anno_frames = {}
+        for key, value in anno.items():
+            anno_frames[key] = [value[f_id, ...].clone() for f_id in frame_ids]
+
+        # added the class info to the meta info
+        object_meta = OrderedDict({'object_class': sequence['class_name'],
+                                   'motion_class': None,
+                                   'major_class': None,
+                                   'root_class': None,
+                                   'motion_adverb': None})
+
+        return frame_list, anno_frames, object_meta
+

lib/train/dataset/lasot.py

@@ -0,0 +1,169 @@
+import os
+import os.path
+import torch
+import numpy as np
+import pandas
+import csv
+import random
+from collections import OrderedDict
+from .base_video_dataset import BaseVideoDataset
+from lib.train.data import jpeg4py_loader
+from lib.train.admin import env_settings
+
+
+class Lasot(BaseVideoDataset):
+    """ LaSOT dataset.
+
+    Publication:
+        LaSOT: A High-quality Benchmark for Large-scale Single Object Tracking
+        Heng Fan, Liting Lin, Fan Yang, Peng Chu, Ge Deng, Sijia Yu, Hexin Bai, Yong Xu, Chunyuan Liao and Haibin Ling
+        CVPR, 2019
+        https://arxiv.org/pdf/1809.07845.pdf
+
+    Download the dataset from https://cis.temple.edu/lasot/download.html
+    """
+
+    def __init__(self, root=None, image_loader=jpeg4py_loader, vid_ids=None, split=None, data_fraction=None):
+        """
+        args:
+            root - path to the lasot dataset.
+            image_loader (jpeg4py_loader) -  The function to read the images. jpeg4py (https://github.com/ajkxyz/jpeg4py)
+                                            is used by default.
+            vid_ids - List containing the ids of the videos (1 - 20) used for training. If vid_ids = [1, 3, 5], then the
+                    videos with subscripts -1, -3, and -5 from each class will be used for training.
+            split - If split='train', the official train split (protocol-II) is used for training. Note: Only one of
+                    vid_ids or split option can be used at a time.
+            data_fraction - Fraction of dataset to be used. The complete dataset is used by default
+        """
+        root = env_settings().lasot_dir if root is None else root
+        super().__init__('LaSOT', root, image_loader)
+
+        # Keep a list of all classes
+        self.class_list = [f for f in os.listdir(self.root)]
+        self.class_to_id = {cls_name: cls_id for cls_id, cls_name in enumerate(self.class_list)}
+
+        self.sequence_list = self._build_sequence_list(vid_ids, split)
+
+        if data_fraction is not None:
+            self.sequence_list = random.sample(self.sequence_list, int(len(self.sequence_list)*data_fraction))
+
+        self.seq_per_class = self._build_class_list()
+
+    def _build_sequence_list(self, vid_ids=None, split=None):
+        if split is not None:
+            if vid_ids is not None:
+                raise ValueError('Cannot set both split_name and vid_ids.')
+            ltr_path = os.path.join(os.path.dirname(os.path.realpath(__file__)), '..')
+            if split == 'train':
+                file_path = os.path.join(ltr_path, 'data_specs', 'lasot_train_split.txt')
+            else:
+                raise ValueError('Unknown split name.')
+            # sequence_list = pandas.read_csv(file_path, header=None, squeeze=True).values.tolist()
+            sequence_list = pandas.read_csv(file_path, header=None).squeeze("columns").values.tolist()
+        elif vid_ids is not None:
+            sequence_list = [c+'-'+str(v) for c in self.class_list for v in vid_ids]
+        else:
+            raise ValueError('Set either split_name or vid_ids.')
+
+        return sequence_list
+
+    def _build_class_list(self):
+        seq_per_class = {}
+        for seq_id, seq_name in enumerate(self.sequence_list):
+            class_name = seq_name.split('-')[0]
+            if class_name in seq_per_class:
+                seq_per_class[class_name].append(seq_id)
+            else:
+                seq_per_class[class_name] = [seq_id]
+
+        return seq_per_class
+
+    def get_name(self):
+        return 'lasot'
+
+    def has_class_info(self):
+        return True
+
+    def has_occlusion_info(self):
+        return True
+
+    def get_num_sequences(self):
+        return len(self.sequence_list)
+
+    def get_num_classes(self):
+        return len(self.class_list)
+
+    def get_sequences_in_class(self, class_name):
+        return self.seq_per_class[class_name]
+
+    def _read_bb_anno(self, seq_path):
+        bb_anno_file = os.path.join(seq_path, "groundtruth.txt")
+        gt = pandas.read_csv(bb_anno_file, delimiter=',', header=None, dtype=np.float32, na_filter=False, low_memory=False).values
+        return torch.tensor(gt)
+
+    def _read_target_visible(self, seq_path):
+        # Read full occlusion and out_of_view
+        occlusion_file = os.path.join(seq_path, "full_occlusion.txt")
+        out_of_view_file = os.path.join(seq_path, "out_of_view.txt")
+
+        with open(occlusion_file, 'r', newline='') as f:
+            occlusion = torch.ByteTensor([int(v) for v in list(csv.reader(f))[0]])
+        with open(out_of_view_file, 'r') as f:
+            out_of_view = torch.ByteTensor([int(v) for v in list(csv.reader(f))[0]])
+
+        target_visible = ~occlusion & ~out_of_view
+
+        return target_visible
+
+    def _get_sequence_path(self, seq_id):
+        seq_name = self.sequence_list[seq_id]
+        class_name = seq_name.split('-')[0]
+        vid_id = seq_name.split('-')[1]
+
+        return os.path.join(self.root, class_name, class_name + '-' + vid_id)
+
+    def get_sequence_info(self, seq_id):
+        seq_path = self._get_sequence_path(seq_id)
+        bbox = self._read_bb_anno(seq_path)
+
+        valid = (bbox[:, 2] > 0) & (bbox[:, 3] > 0)
+        visible = self._read_target_visible(seq_path) & valid.byte()
+
+        return {'bbox': bbox, 'valid': valid, 'visible': visible}
+
+    def _get_frame_path(self, seq_path, frame_id):
+        return os.path.join(seq_path, 'img', '{:08}.jpg'.format(frame_id+1))    # frames start from 1
+
+    def _get_frame(self, seq_path, frame_id):
+        return self.image_loader(self._get_frame_path(seq_path, frame_id))
+
+    def _get_class(self, seq_path):
+        raw_class = seq_path.split('/')[-2]
+        return raw_class
+
+    def get_class_name(self, seq_id):
+        seq_path = self._get_sequence_path(seq_id)
+        obj_class = self._get_class(seq_path)
+
+        return obj_class
+
+    def get_frames(self, seq_id, frame_ids, anno=None):
+        seq_path = self._get_sequence_path(seq_id)
+
+        obj_class = self._get_class(seq_path)
+        frame_list = [self._get_frame(seq_path, f_id) for f_id in frame_ids]
+
+        if anno is None:
+            anno = self.get_sequence_info(seq_id)
+
+        anno_frames = {}
+        for key, value in anno.items():
+            anno_frames[key] = [value[f_id, ...].clone() for f_id in frame_ids]
+
+        object_meta = OrderedDict({'object_class_name': obj_class,
+                                   'motion_class': None,
+                                   'major_class': None,
+                                   'root_class': None,
+                                   'motion_adverb': None})
+
+        return frame_list, anno_frames, object_meta

lib/train/dataset/lasot_lmdb.py

@@ -0,0 +1,165 @@
+import os
+import os.path
+import torch
+import numpy as np
+import pandas
+import csv
+import random
+from collections import OrderedDict
+from .base_video_dataset import BaseVideoDataset
+from lib.train.data import jpeg4py_loader
+from lib.train.admin import env_settings
+'''2021.1.16 Lasot for loading lmdb dataset'''
+from lib.utils.lmdb_utils import *
+
+
+class Lasot_lmdb(BaseVideoDataset):
+
+    def __init__(self, root=None, image_loader=jpeg4py_loader, vid_ids=None, split=None, data_fraction=None):
+        """
+        args:
+            root - path to the lasot dataset.
+            image_loader (jpeg4py_loader) -  The function to read the images. jpeg4py (https://github.com/ajkxyz/jpeg4py)
+                                            is used by default.
+            vid_ids - List containing the ids of the videos (1 - 20) used for training. If vid_ids = [1, 3, 5], then the
+                    videos with subscripts -1, -3, and -5 from each class will be used for training.
+            split - If split='train', the official train split (protocol-II) is used for training. Note: Only one of
+                    vid_ids or split option can be used at a time.
+            data_fraction - Fraction of dataset to be used. The complete dataset is used by default
+        """
+        root = env_settings().lasot_lmdb_dir if root is None else root
+        super().__init__('LaSOT_lmdb', root, image_loader)
+
+        self.sequence_list = self._build_sequence_list(vid_ids, split)
+        class_list = [seq_name.split('-')[0] for seq_name in self.sequence_list]
+        self.class_list = []
+        for ele in class_list:
+            if ele not in self.class_list:
+                self.class_list.append(ele)
+        # Keep a list of all classes
+        self.class_to_id = {cls_name: cls_id for cls_id, cls_name in enumerate(self.class_list)}
+
+        if data_fraction is not None:
+            self.sequence_list = random.sample(self.sequence_list, int(len(self.sequence_list)*data_fraction))
+
+        self.seq_per_class = self._build_class_list()
+
+    def _build_sequence_list(self, vid_ids=None, split=None):
+        if split is not None:
+            if vid_ids is not None:
+                raise ValueError('Cannot set both split_name and vid_ids.')
+            ltr_path = os.path.join(os.path.dirname(os.path.realpath(__file__)), '..')
+            if split == 'train':
+                file_path = os.path.join(ltr_path, 'data_specs', 'lasot_train_split.txt')
+            else:
+                raise ValueError('Unknown split name.')
+            sequence_list = pandas.read_csv(file_path, header=None, squeeze=True).values.tolist()
+        elif vid_ids is not None:
+            sequence_list = [c+'-'+str(v) for c in self.class_list for v in vid_ids]
+        else:
+            raise ValueError('Set either split_name or vid_ids.')
+
+        return sequence_list
+
+    def _build_class_list(self):
+        seq_per_class = {}
+        for seq_id, seq_name in enumerate(self.sequence_list):
+            class_name = seq_name.split('-')[0]
+            if class_name in seq_per_class:
+                seq_per_class[class_name].append(seq_id)
+            else:
+                seq_per_class[class_name] = [seq_id]
+
+        return seq_per_class
+
+    def get_name(self):
+        return 'lasot_lmdb'
+
+    def has_class_info(self):
+        return True
+
+    def has_occlusion_info(self):
+        return True
+
+    def get_num_sequences(self):
+        return len(self.sequence_list)
+
+    def get_num_classes(self):
+        return len(self.class_list)
+
+    def get_sequences_in_class(self, class_name):
+        return self.seq_per_class[class_name]
+
+    def _read_bb_anno(self, seq_path):
+        bb_anno_file = os.path.join(seq_path, "groundtruth.txt")
+        gt_str_list = decode_str(self.root, bb_anno_file).split('\n')[:-1]  # the last line is empty
+        gt_list = [list(map(float, line.split(','))) for line in gt_str_list]
+        gt_arr = np.array(gt_list).astype(np.float32)
+        return torch.tensor(gt_arr)
+
+    def _read_target_visible(self, seq_path):
+        # Read full occlusion and out_of_view
+        occlusion_file = os.path.join(seq_path, "full_occlusion.txt")
+        out_of_view_file = os.path.join(seq_path, "out_of_view.txt")
+
+        occ_list = list(map(int, decode_str(self.root, occlusion_file).split(',')))
+        occlusion = torch.ByteTensor(occ_list)
+        out_view_list = list(map(int, decode_str(self.root, out_of_view_file).split(',')))
+        out_of_view = torch.ByteTensor(out_view_list)
+
+        target_visible = ~occlusion & ~out_of_view
+
+        return target_visible
+
+    def _get_sequence_path(self, seq_id):
+        seq_name = self.sequence_list[seq_id]
+        class_name = seq_name.split('-')[0]
+        vid_id = seq_name.split('-')[1]
+
+        return os.path.join(class_name, class_name + '-' + vid_id)
+
+    def get_sequence_info(self, seq_id):
+        seq_path = self._get_sequence_path(seq_id)
+        bbox = self._read_bb_anno(seq_path)
+
+        valid = (bbox[:, 2] > 0) & (bbox[:, 3] > 0)
+        visible = self._read_target_visible(seq_path) & valid.byte()
+
+        return {'bbox': bbox, 'valid': valid, 'visible': visible}
+
+    def _get_frame_path(self, seq_path, frame_id):
+        return os.path.join(seq_path, 'img', '{:08}.jpg'.format(frame_id+1))    # frames start from 1
+
+    def _get_frame(self, seq_path, frame_id):
+        return decode_img(self.root, self._get_frame_path(seq_path, frame_id))
+
+    def _get_class(self, seq_path):
+        raw_class = seq_path.split('/')[-2]
+        return raw_class
+
+    def get_class_name(self, seq_id):
+        seq_path = self._get_sequence_path(seq_id)
+        obj_class = self._get_class(seq_path)
+
+        return obj_class
+
+    def get_frames(self, seq_id, frame_ids, anno=None):
+        seq_path = self._get_sequence_path(seq_id)
+
+        obj_class = self._get_class(seq_path)
+        frame_list = [self._get_frame(seq_path, f_id) for f_id in frame_ids]
+
+        if anno is None:
+            anno = self.get_sequence_info(seq_id)
+
+        anno_frames = {}
+        for key, value in anno.items():
+            anno_frames[key] = [value[f_id, ...].clone() for f_id in frame_ids]
+
+        object_meta = OrderedDict({'object_class_name': obj_class,
+                                   'motion_class': None,
+                                   'major_class': None,
+                                   'root_class': None,
+                                   'motion_adverb': None})
+
+        return frame_list, anno_frames, object_meta

lib/train/dataset/tracking_net.py

@@ -0,0 +1,151 @@
+import torch
+import os
+import os.path
+import numpy as np
+import pandas
+import random
+from collections import OrderedDict
+
+from lib.train.data import jpeg4py_loader
+from .base_video_dataset import BaseVideoDataset
+from lib.train.admin import env_settings
+
+
+def list_sequences(root, set_ids):
+    """ Lists all the videos in the input set_ids. Returns a list of tuples (set_id, video_name)
+
+    args:
+        root: Root directory to TrackingNet
+        set_ids: Sets (0-11) which are to be used
+
+    returns:
+        list - list of tuples (set_id, video_name) containing the set_id and video_name for each sequence
+    """
+    sequence_list = []
+
+    for s in set_ids:
+        anno_dir = os.path.join(root, "TRAIN_" + str(s), "anno")
+
+        sequences_cur_set = [(s, os.path.splitext(f)[0]) for f in os.listdir(anno_dir) if f.endswith('.txt')]
+        sequence_list += sequences_cur_set
+
+    return sequence_list
+
+
+class TrackingNet(BaseVideoDataset):
+    """ TrackingNet dataset.
+
+    Publication:
+        TrackingNet: A Large-Scale Dataset and Benchmark for Object Tracking in the Wild.
+        Matthias Mueller,Adel Bibi, Silvio Giancola, Salman Al-Subaihi and Bernard Ghanem
+        ECCV, 2018
+        https://ivul.kaust.edu.sa/Documents/Publications/2018/TrackingNet%20A%20Large%20Scale%20Dataset%20and%20Benchmark%20for%20Object%20Tracking%20in%20the%20Wild.pdf
+
+    Download the dataset using the toolkit https://github.com/SilvioGiancola/TrackingNet-devkit.
+    """
+    def __init__(self, root=None, image_loader=jpeg4py_loader, set_ids=None, data_fraction=None):
+        """
+        args:
+            root        - The path to the TrackingNet folder, containing the training sets.
+            image_loader (jpeg4py_loader) -  The function to read the images. jpeg4py (https://github.com/ajkxyz/jpeg4py)
+                                            is used by default.
+            set_ids (None) - List containing the ids of the TrackingNet sets to be used for training. If None, all the
+                            sets (0 - 11) will be used.
+            data_fraction - Fraction of dataset to be used. The complete dataset is used by default
+        """
+        root = env_settings().trackingnet_dir if root is None else root
+        super().__init__('TrackingNet', root, image_loader)
+
+        if set_ids is None:
+            set_ids = [i for i in range(12)]
+
+        self.set_ids = set_ids
+
+        # Keep a list of all videos. Sequence list is a list of tuples (set_id, video_name) containing the set_id and
+        # video_name for each sequence
+        self.sequence_list = list_sequences(self.root, self.set_ids)
+
+        if data_fraction is not None:
+            self.sequence_list = random.sample(self.sequence_list, int(len(self.sequence_list) * data_fraction))
+
+        self.seq_to_class_map, self.seq_per_class = self._load_class_info()
+
+        # we do not have the class_lists for the tracking net
+        self.class_list = list(self.seq_per_class.keys())
+        self.class_list.sort()
+
+    def _load_class_info(self):
+        ltr_path = os.path.join(os.path.dirname(os.path.realpath(__file__)), '..')
+        class_map_path = os.path.join(ltr_path, 'data_specs', 'trackingnet_classmap.txt')
+
+        with open(class_map_path, 'r') as f:
+            seq_to_class_map = {seq_class.split('\t')[0]: seq_class.rstrip().split('\t')[1] for seq_class in f}
+
+        seq_per_class = {}
+        for i, seq in enumerate(self.sequence_list):
+            class_name = seq_to_class_map.get(seq[1], 'Unknown')
+            if class_name not in seq_per_class:
+                seq_per_class[class_name] = [i]
+            else:
+                seq_per_class[class_name].append(i)
+
+        return seq_to_class_map, seq_per_class
+
+    def get_name(self):
+        return 'trackingnet'
+
+    def has_class_info(self):
+        return True
+
+    def get_sequences_in_class(self, class_name):
+        return self.seq_per_class[class_name]
+
+    def _read_bb_anno(self, seq_id):
+        set_id = self.sequence_list[seq_id][0]
+        vid_name = self.sequence_list[seq_id][1]
+        bb_anno_file = os.path.join(self.root, "TRAIN_" + str(set_id), "anno", vid_name + ".txt")
+        gt = pandas.read_csv(bb_anno_file, delimiter=',', header=None, dtype=np.float32, na_filter=False,
+                             low_memory=False).values
+        return torch.tensor(gt)
+
+    def get_sequence_info(self, seq_id):
+        bbox = self._read_bb_anno(seq_id)
+
+        valid = (bbox[:, 2] > 0) & (bbox[:, 3] > 0)
+        visible = valid.clone().byte()
+        return {'bbox': bbox, 'valid': valid, 'visible': visible}
+
+    def _get_frame(self, seq_id, frame_id):
+        set_id = self.sequence_list[seq_id][0]
+        vid_name = self.sequence_list[seq_id][1]
+        frame_path = os.path.join(self.root, "TRAIN_" + str(set_id), "frames", vid_name, str(frame_id) + ".jpg")
+        return self.image_loader(frame_path)
+
+    def _get_class(self, seq_id):
+        seq_name = self.sequence_list[seq_id][1]
+        return self.seq_to_class_map[seq_name]
+
+    def get_class_name(self, seq_id):
+        obj_class = self._get_class(seq_id)
+
+        return obj_class
+
+    def get_frames(self, seq_id, frame_ids, anno=None):
+        frame_list = [self._get_frame(seq_id, f) for f in frame_ids]
+
+        if anno is None:
+            anno = self.get_sequence_info(seq_id)
+
+        anno_frames = {}
+        for key, value in anno.items():
+            anno_frames[key] = [value[f_id, ...].clone() for f_id in frame_ids]
+
+        obj_class = self._get_class(seq_id)
+
+        object_meta = OrderedDict({'object_class_name': obj_class,
+                                   'motion_class': None,
+                                   'major_class': None,
+                                   'root_class': None,
+                                   'motion_adverb': None})
+
+        return frame_list, anno_frames, object_meta

lib/train/dataset/tracking_net_lmdb.py

@@ -0,0 +1,147 @@
+import torch
+import os
+import os.path
+import numpy as np
+import random
+from collections import OrderedDict
+
+from lib.train.data import jpeg4py_loader
+from .base_video_dataset import BaseVideoDataset
+from lib.train.admin import env_settings
+import json
+from lib.utils.lmdb_utils import decode_img, decode_str
+
+
+def list_sequences(root):
+    """ Lists all the videos in the input set_ids. Returns a list of tuples (set_id, video_name)
+
+    args:
+        root: Root directory to TrackingNet
+
+    returns:
+        list - list of tuples (set_id, video_name) containing the set_id and video_name for each sequence
+    """
+    fname = os.path.join(root, "seq_list.json")
+    with open(fname, "r") as f:
+        sequence_list = json.loads(f.read())
+    return sequence_list
+
+
+class TrackingNet_lmdb(BaseVideoDataset):
+    """ TrackingNet dataset.
+
+    Publication:
+        TrackingNet: A Large-Scale Dataset and Benchmark for Object Tracking in the Wild.
+        Matthias Mueller,Adel Bibi, Silvio Giancola, Salman Al-Subaihi and Bernard Ghanem
+        ECCV, 2018
+        https://ivul.kaust.edu.sa/Documents/Publications/2018/TrackingNet%20A%20Large%20Scale%20Dataset%20and%20Benchmark%20for%20Object%20Tracking%20in%20the%20Wild.pdf
+
+    Download the dataset using the toolkit https://github.com/SilvioGiancola/TrackingNet-devkit.
+    """
+    def __init__(self, root=None, image_loader=jpeg4py_loader, set_ids=None, data_fraction=None):
+        """
+        args:
+            root        - The path to the TrackingNet folder, containing the training sets.
+            image_loader (jpeg4py_loader) -  The function to read the images. jpeg4py (https://github.com/ajkxyz/jpeg4py)
+                                            is used by default.
+            set_ids (None) - List containing the ids of the TrackingNet sets to be used for training. If None, all the
+                            sets (0 - 11) will be used.
+            data_fraction - Fraction of dataset to be used. The complete dataset is used by default
+        """
+        root = env_settings().trackingnet_lmdb_dir if root is None else root
+        super().__init__('TrackingNet_lmdb', root, image_loader)
+
+        if set_ids is None:
+            set_ids = [i for i in range(12)]
+
+        self.set_ids = set_ids
+
+        # Keep a list of all videos. Sequence list is a list of tuples (set_id, video_name) containing the set_id and
+        # video_name for each sequence
+        self.sequence_list = list_sequences(self.root)
+
+        if data_fraction is not None:
+            self.sequence_list = random.sample(self.sequence_list, int(len(self.sequence_list) * data_fraction))
+
+        self.seq_to_class_map, self.seq_per_class = self._load_class_info()
+
+        # we do not have the class_lists for the tracking net
+        self.class_list = list(self.seq_per_class.keys())
+        self.class_list.sort()
+
+    def _load_class_info(self):
+        ltr_path = os.path.join(os.path.dirname(os.path.realpath(__file__)), '..')
+        class_map_path = os.path.join(ltr_path, 'data_specs', 'trackingnet_classmap.txt')
+
+        with open(class_map_path, 'r') as f:
+            seq_to_class_map = {seq_class.split('\t')[0]: seq_class.rstrip().split('\t')[1] for seq_class in f}
+
+        seq_per_class = {}
+        for i, seq in enumerate(self.sequence_list):
+            class_name = seq_to_class_map.get(seq[1], 'Unknown')
+            if class_name not in seq_per_class:
+                seq_per_class[class_name] = [i]
+            else:
+                seq_per_class[class_name].append(i)
+
+        return seq_to_class_map, seq_per_class
+
+    def get_name(self):
+        return 'trackingnet_lmdb'
+
+    def has_class_info(self):
+        return True
+
+    def get_sequences_in_class(self, class_name):
+        return self.seq_per_class[class_name]
+
+    def _read_bb_anno(self, seq_id):
+        set_id = self.sequence_list[seq_id][0]
+        vid_name = self.sequence_list[seq_id][1]
+        gt_str_list = decode_str(os.path.join(self.root, "TRAIN_%d_lmdb" % set_id),
+                                 os.path.join("anno", vid_name + ".txt")).split('\n')[:-1]
+        gt_list = [list(map(float, line.split(','))) for line in gt_str_list]
+        gt_arr = np.array(gt_list).astype(np.float32)
+        return torch.tensor(gt_arr)
+
+    def get_sequence_info(self, seq_id):
+        bbox = self._read_bb_anno(seq_id)
+
+        valid = (bbox[:, 2] > 0) & (bbox[:, 3] > 0)
+        visible = valid.clone().byte()
+        return {'bbox': bbox, 'valid': valid, 'visible': visible}
+
+    def _get_frame(self, seq_id, frame_id):
+        set_id = self.sequence_list[seq_id][0]
+        vid_name = self.sequence_list[seq_id][1]
+        return decode_img(os.path.join(self.root, "TRAIN_%d_lmdb" % set_id),
+                          os.path.join("frames", vid_name, str(frame_id) + ".jpg"))
+
+    def _get_class(self, seq_id):
+        seq_name = self.sequence_list[seq_id][1]
+        return self.seq_to_class_map[seq_name]
+
+    def get_class_name(self, seq_id):
+        obj_class = self._get_class(seq_id)
+
+        return obj_class
+
+    def get_frames(self, seq_id, frame_ids, anno=None):
+        frame_list = [self._get_frame(seq_id, f) for f in frame_ids]
+
+        if anno is None:
+            anno = self.get_sequence_info(seq_id)
+
+        anno_frames = {}
+        for key, value in anno.items():
+            anno_frames[key] = [value[f_id, ...].clone() for f_id in frame_ids]
+
+        obj_class = self._get_class(seq_id)
+
+        object_meta = OrderedDict({'object_class_name': obj_class,
+                                   'motion_class': None,
+                                   'major_class': None,
+                                   'root_class': None,
+                                   'motion_adverb': None})
+
+        return frame_list, anno_frames, object_meta

lib/train/run_training.py

@@ -0,0 +1,113 @@
+import os
+import sys
+import argparse
+import importlib
+import cv2 as cv
+import torch.backends.cudnn
+import torch.distributed as dist
+import torch
+import random
+import numpy as np
+torch.backends.cudnn.benchmark = False
+
+import _init_paths
+import lib.train.admin.settings as ws_settings
+
+
+def init_seeds(seed):
+    random.seed(seed)
+    np.random.seed(seed)
+    torch.manual_seed(seed)
+    torch.cuda.manual_seed(seed)
+    torch.backends.cudnn.deterministic = True
+    torch.backends.cudnn.benchmark = False
+    torch.set_num_threads(4)
+    cv.setNumThreads(1)
+    cv.ocl.setUseOpenCL(False)
+
+
+def run_training(script_name, config_name, cudnn_benchmark=True, local_rank=-1, save_dir=None, base_seed=None,
+                 use_lmdb=False, script_name_prv=None, config_name_prv=None, use_wandb=False,
+                 distill=None, script_teacher=None, config_teacher=None):
+    """Run the train script.
+    args:
+        script_name: Name of emperiment in the "experiments/" folder.
+        config_name: Name of the yaml file in the "experiments/<script_name>".
+        cudnn_benchmark: Use cudnn benchmark or not (default is True).
+    """
+    if save_dir is None:
+        print("save_dir dir is not given. Use the default dir instead.")
+    # This is needed to avoid strange crashes related to opencv
+    torch.set_num_threads(4)
+    cv.setNumThreads(4)
+
+    torch.backends.cudnn.benchmark = cudnn_benchmark
+
+    print('script_name: {}.py  config_name: {}.yaml'.format(script_name, config_name))
+
+    '''2021.1.5 set seed for different process'''
+    if base_seed is not None:
+        if local_rank != -1:
+            init_seeds(base_seed + local_rank)
+        else:
+            init_seeds(base_seed)
+
+    settings = ws_settings.Settings()
+    settings.script_name = script_name
+    settings.config_name = config_name
+    settings.project_path = 'train/{}/{}'.format(script_name, config_name)
+    if script_name_prv is not None and config_name_prv is not None:
+        settings.project_path_prv = 'train/{}/{}'.format(script_name_prv, config_name_prv)
+    settings.local_rank = local_rank
+    settings.save_dir = os.path.abspath(save_dir)
+    settings.use_lmdb = use_lmdb
+    prj_dir = os.path.abspath(os.path.join(os.path.dirname(__file__), "../.."))
+    settings.cfg_file = os.path.join(prj_dir, 'experiments/%s/%s.yaml' % (script_name, config_name))
+    settings.use_wandb = use_wandb
+    if distill:
+        settings.distill = distill
+        settings.script_teacher = script_teacher
+        settings.config_teacher = config_teacher
+        if script_teacher is not None and config_teacher is not None:
+            settings.project_path_teacher = 'train/{}/{}'.format(script_teacher, config_teacher)
+        settings.cfg_file_teacher = os.path.join(prj_dir, 'experiments/%s/%s.yaml' % (script_teacher, config_teacher))
+        expr_module = importlib.import_module('lib.train.train_script_distill')
+    else:
+        expr_module = importlib.import_module('lib.train.train_script')
+    expr_func = getattr(expr_module, 'run')
+
+    expr_func(settings)
+
+
+def main():
+    parser = argparse.ArgumentParser(description='Run a train scripts in train_settings.')
+    parser.add_argument('--script', type=str, required=True, help='Name of the train script.')
+    parser.add_argument('--config', type=str, required=True, help="Name of the config file.")
+    parser.add_argument('--cudnn_benchmark', type=bool, default=False, help='Set cudnn benchmark on (1) or off (0) (default is on).')
+    parser.add_argument('--local_rank', default=-1, type=int, help='node rank for distributed training')
+    parser.add_argument('--save_dir', type=str, help='the directory to save checkpoints and logs')
+    parser.add_argument('--seed', type=int, default=42, help='seed for random numbers')
+    parser.add_argument('--use_lmdb', type=int, choices=[0, 1], default=0)  # whether datasets are in lmdb format
+    parser.add_argument('--script_prv', type=str, default=None, help='Name of the train script of previous model.')
+    parser.add_argument('--config_prv', type=str, default=None, help="Name of the config file of previous model.")
+    parser.add_argument('--use_wandb', type=int, choices=[0, 1], default=0)  # whether to use wandb
+    # for knowledge distillation
+    parser.add_argument('--distill', type=int, choices=[0, 1], default=0)  # whether to use knowledge distillation
+    parser.add_argument('--script_teacher', type=str, help='teacher script name')
+    parser.add_argument('--config_teacher', type=str, help='teacher yaml configure file name')
+
+    args = parser.parse_args()
+    if args.local_rank != -1:
+        dist.init_process_group(backend='nccl')
+        torch.cuda.set_device(args.local_rank)
+    else:
+        torch.cuda.set_device(0)
+    run_training(args.script, args.config, cudnn_benchmark=args.cudnn_benchmark,
+                 local_rank=args.local_rank, save_dir=args.save_dir, base_seed=args.seed,
+                 use_lmdb=args.use_lmdb, script_name_prv=args.script_prv, config_name_prv=args.config_prv,
+                 use_wandb=args.use_wandb,
+                 distill=args.distill, script_teacher=args.script_teacher, config_teacher=args.config_teacher)
+
+
+if __name__ == '__main__':
+    main()

lib/train/train_script.py

@@ -0,0 +1,203 @@
+import os
+# loss function related
+from lib.utils.box_ops import giou_loss
+from torch.nn.functional import l1_loss
+from torch.nn import BCEWithLogitsLoss
+# train pipeline related
+from lib.train.trainers import LTRTrainer, LTRSeqTrainer
+from lib.train.dataset import Lasot, Got10k, MSCOCOSeq, ImagenetVID, TrackingNet
+from lib.train.dataset import Lasot_lmdb, Got10k_lmdb, MSCOCOSeq_lmdb, ImagenetVID_lmdb, TrackingNet_lmdb
+from lib.train.data import sampler, opencv_loader, processing, LTRLoader, sequence_sampler
+# distributed training related
+from torch.nn.parallel import DistributedDataParallel as DDP
+# some more advanced functions
+from .base_functions import *
+# network related
+from lib.models.artrack import build_artrack
+from lib.models.artrack_seq import build_artrack_seq
+# forward propagation related
+from lib.train.actors import ARTrackActor, ARTrackSeqActor
+# for import modules
+import importlib
+
+from ..utils.focal_loss import FocalLoss
+
+def names2datasets(name_list: list, settings, image_loader):
+    assert isinstance(name_list, list)
+    datasets = []
+    #settings.use_lmdb = True
+    for name in name_list:
+        assert name in ["LASOT", "GOT10K_vottrain", "GOT10K_votval", "GOT10K_train_full", "GOT10K_official_val",
+                        "COCO17", "VID", "TRACKINGNET"]
+        if name == "LASOT":
+            if settings.use_lmdb:
+                print("Building lasot dataset from lmdb")
+                datasets.append(Lasot_lmdb(settings.env.lasot_lmdb_dir, split='train', image_loader=image_loader))
+            else:
+                datasets.append(Lasot(settings.env.lasot_dir, split='train', image_loader=image_loader))
+        if name == "GOT10K_vottrain":
+            if settings.use_lmdb:
+                print("Building got10k from lmdb")
+                datasets.append(Got10k_lmdb(settings.env.got10k_lmdb_dir, split='vottrain', image_loader=image_loader))
+            else:
+                datasets.append(Got10k(settings.env.got10k_dir, split='vottrain', image_loader=image_loader))
+        if name == "GOT10K_train_full":
+            if settings.use_lmdb:
+                print("Building got10k_train_full from lmdb")
+                datasets.append(Got10k_lmdb(settings.env.got10k_lmdb_dir, split='train_full', image_loader=image_loader))
+            else:
+                datasets.append(Got10k(settings.env.got10k_dir, split='train_full', image_loader=image_loader))
+        if name == "GOT10K_votval":
+            if settings.use_lmdb:
+                print("Building got10k from lmdb")
+                datasets.append(Got10k_lmdb(settings.env.got10k_lmdb_dir, split='votval', image_loader=image_loader))
+            else:
+                datasets.append(Got10k(settings.env.got10k_dir, split='votval', image_loader=image_loader))
+        if name == "GOT10K_official_val":
+            if settings.use_lmdb:
+                raise ValueError("Not implement")
+            else:
+                datasets.append(Got10k(settings.env.got10k_val_dir, split=None, image_loader=image_loader))
+        if name == "COCO17":
+            if settings.use_lmdb:
+                print("Building COCO2017 from lmdb")
+                datasets.append(MSCOCOSeq_lmdb(settings.env.coco_lmdb_dir, version="2017", image_loader=image_loader))
+            else:
+                datasets.append(MSCOCOSeq(settings.env.coco_dir, version="2017", image_loader=image_loader))
+        if name == "VID":
+            if settings.use_lmdb:
+                print("Building VID from lmdb")
+                datasets.append(ImagenetVID_lmdb(settings.env.imagenet_lmdb_dir, image_loader=image_loader))
+            else:
+                datasets.append(ImagenetVID(settings.env.imagenet_dir, image_loader=image_loader))
+        if name == "TRACKINGNET":
+            if settings.use_lmdb:
+                print("Building TrackingNet from lmdb")
+                datasets.append(TrackingNet_lmdb(settings.env.trackingnet_lmdb_dir, image_loader=image_loader))
+            else:
+                # raise ValueError("NOW WE CAN ONLY USE TRACKINGNET FROM LMDB")
+                datasets.append(TrackingNet(settings.env.trackingnet_dir, image_loader=image_loader))
+    return datasets
+
+def slt_collate(batch):
+    ret = {}
+    for k in batch[0].keys():
+        here_list = []
+        for ex in batch:
+            here_list.append(ex[k])
+        ret[k] = here_list
+    return ret
+
+class SLTLoader(torch.utils.data.dataloader.DataLoader):
+    """
+    Data loader. Combines a dataset and a sampler, and provides
+    single- or multi-process iterators over the dataset.
+    """
+
+    __initialized = False
+
+    def __init__(self, name, dataset, training=True, batch_size=1, shuffle=False, sampler=None, batch_sampler=None,
+                 num_workers=0, epoch_interval=1, collate_fn=None, stack_dim=0, pin_memory=False, drop_last=False,
+                 timeout=0, worker_init_fn=None):
+
+        if collate_fn is None:
+            collate_fn = slt_collate
+
+        super(SLTLoader, self).__init__(dataset, batch_size, shuffle, sampler, batch_sampler,
+                 num_workers, collate_fn, pin_memory, drop_last,
+                 timeout, worker_init_fn)
+
+        self.name = name
+        self.training = training
+        self.epoch_interval = epoch_interval
+        self.stack_dim = stack_dim
+
+def run(settings):
+    settings.description = 'Training script for STARK-S, STARK-ST stage1, and STARK-ST stage2'
+
+    # update the default configs with config file
+    if not os.path.exists(settings.cfg_file):
+        raise ValueError("%s doesn't exist." % settings.cfg_file)
+    config_module = importlib.import_module("lib.config.%s.config" % settings.script_name)
+    cfg = config_module.cfg
+    config_module.update_config_from_file(settings.cfg_file)
+    if settings.local_rank in [-1, 0]:
+        print("New configuration is shown below.")
+        for key in cfg.keys():
+            print("%s configuration:" % key, cfg[key])
+            print('\n')
+
+    # update settings based on cfg
+    update_settings(settings, cfg)
+
+    # Record the training log
+    log_dir = os.path.join(settings.save_dir, 'logs')
+    if settings.local_rank in [-1, 0]:
+        if not os.path.exists(log_dir):
+            os.makedirs(log_dir)
+    settings.log_file = os.path.join(log_dir, "%s-%s.log" % (settings.script_name, settings.config_name))
+
+    # Build dataloaders
+
+    if "RepVGG" in cfg.MODEL.BACKBONE.TYPE or "swin" in cfg.MODEL.BACKBONE.TYPE or "LightTrack" in cfg.MODEL.BACKBONE.TYPE:
+        cfg.ckpt_dir = settings.save_dir
+    bins = cfg.MODEL.BINS
+    search_size = cfg.DATA.SEARCH.SIZE
+    # Create network
+    if settings.script_name == "artrack":
+        net = build_artrack(cfg)
+        loader_train, loader_val = build_dataloaders(cfg, settings)
+    elif settings.script_name == "artrack_seq":
+        net = build_artrack_seq(cfg)
+        dataset_train = sequence_sampler.SequenceSampler(
+            datasets=names2datasets(cfg.DATA.TRAIN.DATASETS_NAME, settings, opencv_loader),
+            p_datasets=cfg.DATA.TRAIN.DATASETS_RATIO,
+            samples_per_epoch=cfg.DATA.TRAIN.SAMPLE_PER_EPOCH,
+            max_gap=cfg.DATA.MAX_GAP, max_interval=cfg.DATA.MAX_INTERVAL,
+            num_search_frames=cfg.DATA.SEARCH.NUMBER, num_template_frames=1,
+            frame_sample_mode='random_interval',
+            prob=cfg.DATA.INTERVAL_PROB)
+        loader_train = SLTLoader('train', dataset_train, training=True, batch_size=cfg.TRAIN.BATCH_SIZE,
+                                 num_workers=cfg.TRAIN.NUM_WORKER,
+                                 shuffle=False, drop_last=True)
+    else:
+        raise ValueError("illegal script name")
+
+    # wrap networks to distributed one
+    net.cuda()
+    if settings.local_rank != -1:
+        # net = torch.nn.SyncBatchNorm.convert_sync_batchnorm(net)  # add syncBN converter
+        net = DDP(net, device_ids=[settings.local_rank], find_unused_parameters=True)
+        settings.device = torch.device("cuda:%d" % settings.local_rank)
+    else:
+        settings.device = torch.device("cuda:0")
+    settings.deep_sup = getattr(cfg.TRAIN, "DEEP_SUPERVISION", False)
+    settings.distill = getattr(cfg.TRAIN, "DISTILL", False)
+    settings.distill_loss_type = getattr(cfg.TRAIN, "DISTILL_LOSS_TYPE", "KL")
+    # Loss functions and Actors
+    if settings.script_name == "artrack":
+        focal_loss = FocalLoss()
+        objective = {'giou': giou_loss, 'l1': l1_loss, 'focal': focal_loss}
+        loss_weight = {'giou': cfg.TRAIN.GIOU_WEIGHT, 'l1': cfg.TRAIN.L1_WEIGHT, 'focal': 2.}
+        actor = ARTrackActor(net=net, objective=objective, loss_weight=loss_weight, settings=settings, cfg=cfg, bins=bins, search_size=search_size)
+    elif settings.script_name == "artrack_seq":
+        focal_loss = FocalLoss()
+        objective = {'giou': giou_loss, 'l1': l1_loss, 'focal': focal_loss}
+        loss_weight = {'giou': cfg.TRAIN.GIOU_WEIGHT, 'l1': cfg.TRAIN.L1_WEIGHT, 'focal': 2.}
+        actor = ARTrackSeqActor(net=net, objective=objective, loss_weight=loss_weight, settings=settings, cfg=cfg, bins=bins, search_size=search_size)
+    else:
+        raise ValueError("illegal script name")
+
+    # if cfg.TRAIN.DEEP_SUPERVISION:
+    #     raise ValueError("Deep supervision is not supported now.")
+
+    # Optimizer, parameters, and learning rates
+    optimizer, lr_scheduler = get_optimizer_scheduler(net, cfg)
+    use_amp = getattr(cfg.TRAIN, "AMP", False)
+    if settings.script_name == "artrack":
+        trainer = LTRTrainer(actor, [loader_train, loader_val], optimizer, settings, lr_scheduler, use_amp=use_amp)
+    elif settings.script_name == "artrack_seq":
+        trainer = LTRSeqTrainer(actor, [loader_train], optimizer, settings, lr_scheduler, use_amp=use_amp)
+
+    # train process
+    trainer.train(cfg.TRAIN.EPOCH, load_latest=True, fail_safe=True)

lib/train/train_script_distill.py

@@ -0,0 +1,111 @@
+import os
+# loss function related
+from lib.utils.box_ops import giou_loss
+from torch.nn.functional import l1_loss
+from torch.nn import BCEWithLogitsLoss
+# train pipeline related
+from lib.train.trainers import LTRTrainer
+# distributed training related
+from torch.nn.parallel import DistributedDataParallel as DDP
+# some more advanced functions
+from .base_functions import *
+# network related
+from lib.models.stark import build_starks, build_starkst
+from lib.models.stark import build_stark_lightning_x_trt
+# forward propagation related
+from lib.train.actors import STARKLightningXtrtdistillActor
+# for import modules
+import importlib
+
+
+def build_network(script_name, cfg):
+    # Create network
+    if script_name == "stark_s":
+        net = build_starks(cfg)
+    elif script_name == "stark_st1" or script_name == "stark_st2":
+        net = build_starkst(cfg)
+    elif script_name == "stark_lightning_X_trt":
+        net = build_stark_lightning_x_trt(cfg, phase="train")
+    else:
+        raise ValueError("illegal script name")
+    return net
+
+
+def run(settings):
+    settings.description = 'Training script for STARK-S, STARK-ST stage1, and STARK-ST stage2'
+
+    # update the default configs with config file
+    if not os.path.exists(settings.cfg_file):
+        raise ValueError("%s doesn't exist." % settings.cfg_file)
+    config_module = importlib.import_module("lib.config.%s.config" % settings.script_name)
+    cfg = config_module.cfg
+    config_module.update_config_from_file(settings.cfg_file)
+    if settings.local_rank in [-1, 0]:
+        print("New configuration is shown below.")
+        for key in cfg.keys():
+            print("%s configuration:" % key, cfg[key])
+            print('\n')
+
+    # update the default teacher configs with teacher config file
+    if not os.path.exists(settings.cfg_file_teacher):
+        raise ValueError("%s doesn't exist." % settings.cfg_file_teacher)
+    config_module_teacher = importlib.import_module("lib.config.%s.config" % settings.script_teacher)
+    cfg_teacher = config_module_teacher.cfg
+    config_module_teacher.update_config_from_file(settings.cfg_file_teacher)
+    if settings.local_rank in [-1, 0]:
+        print("New teacher configuration is shown below.")
+        for key in cfg_teacher.keys():
+            print("%s configuration:" % key, cfg_teacher[key])
+            print('\n')
+
+    # update settings based on cfg
+    update_settings(settings, cfg)
+
+    # Record the training log
+    log_dir = os.path.join(settings.save_dir, 'logs')
+    if settings.local_rank in [-1, 0]:
+        if not os.path.exists(log_dir):
+            os.makedirs(log_dir)
+    settings.log_file = os.path.join(log_dir, "%s-%s.log" % (settings.script_name, settings.config_name))
+
+    # Build dataloaders
+    loader_train, loader_val = build_dataloaders(cfg, settings)
+
+    if "RepVGG" in cfg.MODEL.BACKBONE.TYPE or "swin" in cfg.MODEL.BACKBONE.TYPE:
+        cfg.ckpt_dir = settings.save_dir
+    """turn on the distillation mode"""
+    cfg.TRAIN.DISTILL = True
+    cfg_teacher.TRAIN.DISTILL = True
+    net = build_network(settings.script_name, cfg)
+    net_teacher = build_network(settings.script_teacher, cfg_teacher)
+
+    # wrap networks to distributed one
+    net.cuda()
+    net_teacher.cuda()
+    net_teacher.eval()
+
+    if settings.local_rank != -1:
+        net = DDP(net, device_ids=[settings.local_rank], find_unused_parameters=True)
+        net_teacher = DDP(net_teacher, device_ids=[settings.local_rank], find_unused_parameters=True)
+        settings.device = torch.device("cuda:%d" % settings.local_rank)
+    else:
+        settings.device = torch.device("cuda:0")
+    # settings.deep_sup = getattr(cfg.TRAIN, "DEEP_SUPERVISION", False)
+    # settings.distill = getattr(cfg.TRAIN, "DISTILL", False)
+    settings.distill_loss_type = getattr(cfg.TRAIN, "DISTILL_LOSS_TYPE", "L1")
+    # Loss functions and Actors
+    if settings.script_name == "stark_lightning_X_trt":
+        objective = {'giou': giou_loss, 'l1': l1_loss}
+        loss_weight = {'giou': cfg.TRAIN.GIOU_WEIGHT, 'l1': cfg.TRAIN.L1_WEIGHT}
+        actor = STARKLightningXtrtdistillActor(net=net, objective=objective, loss_weight=loss_weight, settings=settings,
+                                               net_teacher=net_teacher)
+    else:
+        raise ValueError("illegal script name")
+
+    # Optimizer, parameters, and learning rates
+    optimizer, lr_scheduler = get_optimizer_scheduler(net, cfg)
+    use_amp = getattr(cfg.TRAIN, "AMP", False)
+    trainer = LTRTrainer(actor, [loader_train, loader_val], optimizer, settings, lr_scheduler, use_amp=use_amp)
+
+    # train process
+    trainer.train(cfg.TRAIN.EPOCH, load_latest=True, fail_safe=True, distill=True)

lib/train/trainers/__init__.py

@@ -0,0 +1,3 @@
+from .base_trainer import BaseTrainer
+from .ltr_trainer import LTRTrainer
+from .ltr_seq_trainer import LTRSeqTrainer

lib/train/trainers/base_trainer.py

@@ -0,0 +1,275 @@
+import os
+import glob
+import torch
+import traceback
+from lib.train.admin import multigpu
+from torch.utils.data.distributed import DistributedSampler
+
+
+class BaseTrainer:
+    """Base trainer class. Contains functions for training and saving/loading checkpoints.
+    Trainer classes should inherit from this one and overload the train_epoch function."""
+
+    def __init__(self, actor, loaders, optimizer, settings, lr_scheduler=None):
+        """
+        args:
+            actor - The actor for training the network
+            loaders - list of dataset loaders, e.g. [train_loader, val_loader]. In each epoch, the trainer runs one
+                        epoch for each loader.
+            optimizer - The optimizer used for training, e.g. Adam
+            settings - Training settings
+            lr_scheduler - Learning rate scheduler
+        """
+        self.actor = actor
+        self.optimizer = optimizer
+        self.lr_scheduler = lr_scheduler
+        self.loaders = loaders
+
+        self.update_settings(settings)
+
+        self.epoch = 0
+        self.stats = {}
+
+        self.device = getattr(settings, 'device', None)
+        if self.device is None:
+            self.device = torch.device("cuda:0" if torch.cuda.is_available() and settings.use_gpu else "cpu")
+
+        self.actor.to(self.device)
+        self.settings = settings
+
+    def update_settings(self, settings=None):
+        """Updates the trainer settings. Must be called to update internal settings."""
+        if settings is not None:
+            self.settings = settings
+
+        if self.settings.env.workspace_dir is not None:
+            self.settings.env.workspace_dir = os.path.expanduser(self.settings.env.workspace_dir)
+            '''2021.1.4 New function: specify checkpoint dir'''
+            if self.settings.save_dir is None:
+                self._checkpoint_dir = os.path.join(self.settings.env.workspace_dir, 'checkpoints')
+            else:
+                self._checkpoint_dir = os.path.join(self.settings.save_dir, 'checkpoints')
+            print("checkpoints will be saved to %s" % self._checkpoint_dir)
+
+            if self.settings.local_rank in [-1, 0]:
+                if not os.path.exists(self._checkpoint_dir):
+                    print("Training with multiple GPUs. checkpoints directory doesn't exist. "
+                          "Create checkpoints directory")
+                    os.makedirs(self._checkpoint_dir)
+        else:
+            self._checkpoint_dir = None
+
+    def train(self, max_epochs, load_latest=False, fail_safe=True, load_previous_ckpt=False, distill=False):
+        """Do training for the given number of epochs.
+        args:
+            max_epochs - Max number of training epochs,
+            load_latest - Bool indicating whether to resume from latest epoch.
+            fail_safe - Bool indicating whether the training to automatically restart in case of any crashes.
+        """
+
+        epoch = -1
+        num_tries = 1
+        for i in range(num_tries):
+            try:
+                if load_latest:
+                    self.load_checkpoint()
+                if load_previous_ckpt:
+                    directory = '{}/{}'.format(self._checkpoint_dir, self.settings.project_path_prv)
+                    self.load_state_dict(directory)
+                if distill:
+                    directory_teacher = '{}/{}'.format(self._checkpoint_dir, self.settings.project_path_teacher)
+                    self.load_state_dict(directory_teacher, distill=True)
+                for epoch in range(self.epoch+1, max_epochs+1):
+                    self.epoch = epoch
+
+                    self.train_epoch()
+
+                    if self.lr_scheduler is not None:
+                        if self.settings.scheduler_type != 'cosine':
+                            self.lr_scheduler.step()
+                        else:
+                            self.lr_scheduler.step(epoch - 1)
+                    # only save the last 10 checkpoints
+                    save_every_epoch = getattr(self.settings, "save_every_epoch", False)
+                    save_epochs = []
+                    if epoch > (max_epochs - 1) or save_every_epoch or epoch % 5 == 0 or epoch in save_epochs or epoch > (max_epochs - 5):
+                    # if epoch > (max_epochs - 10) or save_every_epoch or epoch % 100 == 0:
+                        if self._checkpoint_dir:
+                            if self.settings.local_rank in [-1, 0]:
+                                self.save_checkpoint()
+            except:
+                print('Training crashed at epoch {}'.format(epoch))
+                if fail_safe:
+                    self.epoch -= 1
+                    load_latest = True
+                    print('Traceback for the error!')
+                    print(traceback.format_exc())
+                    print('Restarting training from last epoch ...')
+                else:
+                    raise
+
+        print('Finished training!')
+
+    def train_epoch(self):
+        raise NotImplementedError
+
+    def save_checkpoint(self):
+        """Saves a checkpoint of the network and other variables."""
+
+        net = self.actor.net.module if multigpu.is_multi_gpu(self.actor.net) else self.actor.net
+
+        actor_type = type(self.actor).__name__
+        net_type = type(net).__name__
+        state = {
+            'epoch': self.epoch,
+            'actor_type': actor_type,
+            'net_type': net_type,
+            'net': net.state_dict(),
+            'net_info': getattr(net, 'info', None),
+            'constructor': getattr(net, 'constructor', None),
+            'optimizer': self.optimizer.state_dict(),
+            'stats': self.stats,
+            'settings': self.settings
+        }
+
+        directory = '{}/{}'.format(self._checkpoint_dir, self.settings.project_path)
+        print(directory)
+        if not os.path.exists(directory):
+            print("directory doesn't exist. creating...")
+            os.makedirs(directory)
+
+        # First save as a tmp file
+        tmp_file_path = '{}/{}_ep{:04d}.tmp'.format(directory, net_type, self.epoch)
+        torch.save(state, tmp_file_path)
+
+        file_path = '{}/{}_ep{:04d}.pth.tar'.format(directory, net_type, self.epoch)
+
+        # Now rename to actual checkpoint. os.rename seems to be atomic if files are on same filesystem. Not 100% sure
+        os.rename(tmp_file_path, file_path)
+
+    def load_checkpoint(self, checkpoint = None, fields = None, ignore_fields = None, load_constructor = False):
+        """Loads a network checkpoint file.
+
+        Can be called in three different ways:
+            load_checkpoint():
+                Loads the latest epoch from the workspace. Use this to continue training.
+            load_checkpoint(epoch_num):
+                Loads the network at the given epoch number (int).
+            load_checkpoint(path_to_checkpoint):
+                Loads the file from the given absolute path (str).
+        """
+
+        net = self.actor.net.module if multigpu.is_multi_gpu(self.actor.net) else self.actor.net
+
+        actor_type = type(self.actor).__name__
+        net_type = type(net).__name__
+
+        if checkpoint is None:
+            # Load most recent checkpoint
+            checkpoint_list = sorted(glob.glob('{}/{}/{}_ep*.pth.tar'.format(self._checkpoint_dir,
+                                                                             self.settings.project_path, net_type)))
+            if checkpoint_list:
+                checkpoint_path = checkpoint_list[-1]
+            else:
+                print('No matching checkpoint file found')
+                return
+        elif isinstance(checkpoint, int):
+            # Checkpoint is the epoch number
+            checkpoint_path = '{}/{}/{}_ep{:04d}.pth.tar'.format(self._checkpoint_dir, self.settings.project_path,
+                                                                 net_type, checkpoint)
+        elif isinstance(checkpoint, str):
+            # checkpoint is the path
+            if os.path.isdir(checkpoint):
+                checkpoint_list = sorted(glob.glob('{}/*_ep*.pth.tar'.format(checkpoint)))
+                if checkpoint_list:
+                    checkpoint_path = checkpoint_list[-1]
+                else:
+                    raise Exception('No checkpoint found')
+            else:
+                checkpoint_path = os.path.expanduser(checkpoint)
+        else:
+            raise TypeError
+
+        # Load network
+        checkpoint_dict = torch.load(checkpoint_path, map_location='cpu')
+
+        assert net_type == checkpoint_dict['net_type'], 'Network is not of correct type.'
+
+        if fields is None:
+            fields = checkpoint_dict.keys()
+        if ignore_fields is None:
+            ignore_fields = ['settings']
+
+            # Never load the scheduler. It exists in older checkpoints.
+        ignore_fields.extend(['lr_scheduler', 'constructor', 'net_type', 'actor_type', 'net_info'])
+
+        # Load all fields
+        for key in fields:
+            if key in ignore_fields:
+                continue
+            if key == 'net':
+                net.load_state_dict(checkpoint_dict[key])
+            elif key == 'optimizer':
+                self.optimizer.load_state_dict(checkpoint_dict[key])
+            else:
+                setattr(self, key, checkpoint_dict[key])
+
+        # Set the net info
+        if load_constructor and 'constructor' in checkpoint_dict and checkpoint_dict['constructor'] is not None:
+            net.constructor = checkpoint_dict['constructor']
+        if 'net_info' in checkpoint_dict and checkpoint_dict['net_info'] is not None:
+            net.info = checkpoint_dict['net_info']
+
+        # Update the epoch in lr scheduler
+        if 'epoch' in fields:
+            self.lr_scheduler.last_epoch = self.epoch
+        # 2021.1.10 Update the epoch in data_samplers
+            for loader in self.loaders:
+                if isinstance(loader.sampler, DistributedSampler):
+                    loader.sampler.set_epoch(self.epoch)
+        return True
+
+    def load_state_dict(self, checkpoint=None, distill=False):
+        """Loads a network checkpoint file.
+
+        Can be called in three different ways:
+            load_checkpoint():
+                Loads the latest epoch from the workspace. Use this to continue training.
+            load_checkpoint(epoch_num):
+                Loads the network at the given epoch number (int).
+            load_checkpoint(path_to_checkpoint):
+                Loads the file from the given absolute path (str).
+        """
+        if distill:
+            net = self.actor.net_teacher.module if multigpu.is_multi_gpu(self.actor.net_teacher) \
+                else self.actor.net_teacher
+        else:
+            net = self.actor.net.module if multigpu.is_multi_gpu(self.actor.net) else self.actor.net
+
+        net_type = type(net).__name__
+
+        if isinstance(checkpoint, str):
+            # checkpoint is the path
+            if os.path.isdir(checkpoint):
+                checkpoint_list = sorted(glob.glob('{}/*_ep*.pth.tar'.format(checkpoint)))
+                if checkpoint_list:
+                    checkpoint_path = checkpoint_list[-1]
+                else:
+                    raise Exception('No checkpoint found')
+            else:
+                checkpoint_path = os.path.expanduser(checkpoint)
+        else:
+            raise TypeError
+
+        # Load network
+        print("Loading pretrained model from ", checkpoint_path)
+        checkpoint_dict = torch.load(checkpoint_path, map_location='cpu')
+
+        assert net_type == checkpoint_dict['net_type'], 'Network is not of correct type.'
+
+        missing_k, unexpected_k = net.load_state_dict(checkpoint_dict["net"], strict=False)
+        print("previous checkpoint is loaded.")
+        print("missing keys: ", missing_k)
+        print("unexpected keys:", unexpected_k)
+
+        return True

lib/train/trainers/ltr_seq_trainer.py

@@ -0,0 +1,322 @@
+import os
+import datetime
+from collections import OrderedDict
+from torch.nn.utils import clip_grad_norm_
+# from lib.train.data.wandb_logger import WandbWriter
+from lib.train.trainers import BaseTrainer
+from lib.train.admin import AverageMeter, StatValue
+from memory_profiler import profile
+# from lib.train.admin import TensorboardWriter
+import torch
+import time
+import numpy as np
+from torch.utils.data.distributed import DistributedSampler
+from torch.cuda.amp import autocast
+from torch.cuda.amp import GradScaler
+
+from lib.utils.misc import get_world_size
+
+
+class LTRSeqTrainer(BaseTrainer):
+    def __init__(self, actor, loaders, optimizer, settings, lr_scheduler=None, use_amp=False):
+        """
+        args:
+            actor - The actor for training the network
+            loaders - list of dataset loaders, e.g. [train_loader, val_loader]. In each epoch, the trainer runs one
+                        epoch for each loader.
+            optimizer - The optimizer used for training, e.g. Adam
+            settings - Training settings
+            lr_scheduler - Learning rate scheduler
+        """
+        super().__init__(actor, loaders, optimizer, settings, lr_scheduler)
+
+        self._set_default_settings()
+
+        # Initialize statistics variables
+        self.stats = OrderedDict({loader.name: None for loader in self.loaders})
+
+        # Initialize tensorboard and wandb
+        # self.wandb_writer = None
+        # if settings.local_rank in [-1, 0]:
+        #    tensorboard_writer_dir = os.path.join(self.settings.env.tensorboard_dir, self.settings.project_path)
+        #    if not os.path.exists(tensorboard_writer_dir):
+        #        os.makedirs(tensorboard_writer_dir)
+        #    self.tensorboard_writer = TensorboardWriter(tensorboard_writer_dir, [l.name for l in loaders])
+
+        #    if settings.use_wandb:
+        #        world_size = get_world_size()
+        #        cur_train_samples = self.loaders[0].dataset.samples_per_epoch * max(0, self.epoch - 1)
+        #        interval = (world_size * settings.batchsize)  # * interval
+        #        self.wandb_writer = WandbWriter(settings.project_path[6:], {}, tensorboard_writer_dir, cur_train_samples, interval)
+
+        self.move_data_to_gpu = getattr(settings, 'move_data_to_gpu', True)
+        print("move_data", self.move_data_to_gpu)
+        self.settings = settings
+        self.use_amp = use_amp
+        if use_amp:
+            self.scaler = GradScaler()
+
+    def _set_default_settings(self):
+        # Dict of all default values
+        default = {'print_interval': 10,
+                   'print_stats': None,
+                   'description': ''}
+
+        for param, default_value in default.items():
+            if getattr(self.settings, param, None) is None:
+                setattr(self.settings, param, default_value)
+
+        self.miou_list = []
+
+    def cycle_dataset(self, loader):
+        """Do a cycle of training or validation."""
+        torch.autograd.set_detect_anomaly(True)
+        self.actor.train(loader.training)
+        torch.set_grad_enabled(loader.training)
+
+        self._init_timing()
+
+        for i, data in enumerate(loader, 1):
+            self.actor.eval()
+            self.data_read_done_time = time.time()
+            with torch.no_grad():
+                explore_result = self.actor.explore(data)
+            if explore_result == None:
+                print("this time i skip")
+                # self._update_stats(stats, batch_size, loader)
+                continue
+            # get inputs
+            # print(data)
+
+            self.data_to_gpu_time = time.time()
+
+            data['epoch'] = self.epoch
+            data['settings'] = self.settings
+
+            stats = {}
+            reward_record = []
+            miou_record = []
+            e_miou_record = []
+            num_seq = len(data['num_frames'])
+
+            # Calculate reward tensor
+            # reward_tensor = torch.zeros(explore_result['baseline_iou'].size())
+            baseline_iou = explore_result['baseline_iou']
+            # explore_iou = explore_result['explore_iou']
+            for seq_idx in range(num_seq):
+                num_frames = data['num_frames'][seq_idx] - 1
+                b_miou = torch.mean(baseline_iou[:num_frames, seq_idx])
+                #    e_miou = torch.mean(explore_iou[:num_frames, seq_idx])
+                miou_record.append(b_miou.item())
+                #    e_miou_record.append(e_miou.item())
+
+                b_reward = b_miou.item()
+            #    e_reward = e_miou.item()
+            #    iou_gap = e_reward - b_reward
+            #    reward_record.append(iou_gap)
+            #    reward_tensor[:num_frames, seq_idx] = iou_gap
+
+            # Training mode
+            cursor = 0
+            bs_backward = 1
+
+            # print(self.actor.net.module.box_head.decoder.layers[2].mlpx.fc1.weight)
+            self.optimizer.zero_grad()
+            while cursor < num_seq:
+                # print("now is ", cursor , "and all is ", num_seq)
+                model_inputs = {}
+                model_inputs['slt_loss_weight'] = 15
+                if cursor < num_seq:
+                    model_inputs['template_images'] = explore_result['template_images'][
+                                                      cursor:cursor + bs_backward].cuda()
+                else:
+                    model_inputs['template_images'] = explore_result['template_images_reverse'][
+                                                      cursor - num_seq:cursor - num_seq + bs_backward].cuda()
+                model_inputs['search_images'] = explore_result['search_images'][:, cursor:cursor + bs_backward].cuda()
+                model_inputs['search_anno'] = explore_result['search_anno'][:, cursor:cursor + bs_backward].cuda()
+                model_inputs['pre_seq'] = explore_result['pre_seq'][:, cursor:cursor + bs_backward].cuda()
+                model_inputs['x_feat'] = explore_result['x_feat'].squeeze(1)[:, cursor:cursor + bs_backward].cuda()
+                model_inputs['epoch'] = data['epoch']
+                # model_inputs['template_update'] = explore_result['template_update'].squeeze(1)[:,
+                #                                  cursor:cursor + bs_backward].cuda()
+                # print("this is cursor")
+                # print(explore_result['pre_seq'].shape)
+                # print(explore_result['x_feat'].squeeze(1).shape)
+                # model_inputs['action_tensor'] = explore_result['action_tensor'][:, cursor:cursor + bs_backward].cuda()
+                # model_inputs['reward_tensor'] = reward_tensor[:, cursor:cursor + bs_backward].cuda()
+
+                loss, stats_cur = self.actor.compute_sequence_losses(model_inputs)
+                # for name, param in self.actor.net.named_parameters():
+                #    shape, c = (param.grad.shape, param.grad.sum()) if param.grad is not None else (None, None)
+                #    print(f'{name}: {param.shape} \n\t grad: {shape} \n\t {c}')
+                # print("i make this!")
+                loss.backward()
+                # print("i made that?")
+
+                for key, val in stats_cur.items():
+                    if key in stats:
+                        stats[key] += val * (bs_backward / num_seq)
+                    else:
+                        stats[key] = val * (bs_backward / num_seq)
+                cursor += bs_backward
+            grad_norm = clip_grad_norm_(self.actor.net.parameters(), 100)
+            stats['grad_norm'] = grad_norm
+            # print(self.actor.net.module.backbone.blocks[8].mlp.fc1.weight)
+            self.optimizer.step()
+            # print(self.optimizer)
+
+            miou = np.mean(miou_record)
+            self.miou_list.append(miou)
+            # stats['reward'] = np.mean(reward_record)
+            # stats['e_mIoU'] = np.mean(e_miou_record)
+            stats['mIoU'] = miou
+            stats['mIoU10'] = np.mean(self.miou_list[-10:])
+            stats['mIoU100'] = np.mean(self.miou_list[-100:])
+
+            batch_size = num_seq * np.max(data['num_frames'])
+            self._update_stats(stats, batch_size, loader)
+            self._print_stats(i, loader, batch_size)
+            torch.cuda.empty_cache()
+
+            # # forward pass
+            # if not self.use_amp:
+            #     loss, stats = self.actor(data)
+            # else:
+            #     with autocast():
+            #         loss, stats = self.actor(data)
+            #
+            # # backward pass and update weights
+            # if loader.training:
+            #     self.optimizer.zero_grad()
+            #     if not self.use_amp:
+            #         loss.backward()
+            #         if self.settings.grad_clip_norm > 0:
+            #             torch.nn.utils.clip_grad_norm_(self.actor.net.parameters(), self.settings.grad_clip_norm)
+            #         self.optimizer.step()
+            #     else:
+            #         self.scaler.scale(loss).backward()
+            #         self.scaler.step(self.optimizer)
+            #         self.scaler.update()
+
+            # update statistics
+            # batch_size = data['template_images'].shape[loader.stack_dim]
+            # self._update_stats(stats, batch_size, loader)
+
+            # print statistics
+            # self._print_stats(i, loader, batch_size)
+
+            # update wandb status
+            # if self.wandb_writer is not None and i % self.settings.print_interval == 0:
+            #    if self.settings.local_rank in [-1, 0]:
+            #        self.wandb_writer.write_log(self.stats, self.epoch)
+
+        # calculate ETA after every epoch
+        # epoch_time = self.prev_time - self.start_time
+        # print("Epoch Time: " + str(datetime.timedelta(seconds=epoch_time)))
+        # print("Avg Data Time: %.5f" % (self.avg_date_time / self.num_frames * batch_size))
+        # print("Avg GPU Trans Time: %.5f" % (self.avg_gpu_trans_time / self.num_frames * batch_size))
+        # print("Avg Forward Time: %.5f" % (self.avg_forward_time / self.num_frames * batch_size))
+
+    def train_epoch(self):
+        """Do one epoch for each loader."""
+        for loader in self.loaders:
+            if self.epoch % loader.epoch_interval == 0:
+                # 2021.1.10 Set epoch
+                if isinstance(loader.sampler, DistributedSampler):
+                    loader.sampler.set_epoch(self.epoch)
+                self.cycle_dataset(loader)
+
+        self._stats_new_epoch()
+        # if self.settings.local_rank in [-1, 0]:
+        #    self._write_tensorboard()
+
+    def _init_timing(self):
+        self.num_frames = 0
+        self.start_time = time.time()
+        self.prev_time = self.start_time
+        self.avg_date_time = 0
+        self.avg_gpu_trans_time = 0
+        self.avg_forward_time = 0
+
+    def _update_stats(self, new_stats: OrderedDict, batch_size, loader):
+        # Initialize stats if not initialized yet
+        if loader.name not in self.stats.keys() or self.stats[loader.name] is None:
+            self.stats[loader.name] = OrderedDict({name: AverageMeter() for name in new_stats.keys()})
+
+        # add lr state
+        if loader.training:
+            lr_list = self.lr_scheduler.get_last_lr()
+            for i, lr in enumerate(lr_list):
+                var_name = 'LearningRate/group{}'.format(i)
+                if var_name not in self.stats[loader.name].keys():
+                    self.stats[loader.name][var_name] = StatValue()
+                self.stats[loader.name][var_name].update(lr)
+
+        for name, val in new_stats.items():
+            if name not in self.stats[loader.name].keys():
+                self.stats[loader.name][name] = AverageMeter()
+            self.stats[loader.name][name].update(val, batch_size)
+
+    def _print_stats(self, i, loader, batch_size):
+        self.num_frames += batch_size
+        current_time = time.time()
+        batch_fps = batch_size / (current_time - self.prev_time)
+        average_fps = self.num_frames / (current_time - self.start_time)
+        prev_frame_time_backup = self.prev_time
+        self.prev_time = current_time
+
+        self.avg_date_time += (self.data_read_done_time - prev_frame_time_backup)
+        self.avg_gpu_trans_time += (self.data_to_gpu_time - self.data_read_done_time)
+        self.avg_forward_time += current_time - self.data_to_gpu_time
+
+        if i % self.settings.print_interval == 0 or i == loader.__len__():
+            print_str = '[%s: %d, %d / %d] ' % (loader.name, self.epoch, i, loader.__len__())
+            print_str += 'FPS: %.1f (%.1f)  ,  ' % (average_fps, batch_fps)
+
+            # 2021.12.14 add data time print
+            print_str += 'DataTime: %.3f (%.3f)  ,  ' % (
+            self.avg_date_time / self.num_frames * batch_size, self.avg_gpu_trans_time / self.num_frames * batch_size)
+            print_str += 'ForwardTime: %.3f  ,  ' % (self.avg_forward_time / self.num_frames * batch_size)
+            print_str += 'TotalTime: %.3f  ,  ' % ((current_time - self.start_time) / self.num_frames * batch_size)
+            # print_str += 'DataTime: %.3f (%.3f)  ,  ' % (self.data_read_done_time - prev_frame_time_backup, self.data_to_gpu_time - self.data_read_done_time)
+            # print_str += 'ForwardTime: %.3f  ,  ' % (current_time - self.data_to_gpu_time)
+            # print_str += 'TotalTime: %.3f  ,  ' % (current_time - prev_frame_time_backup)
+
+            for name, val in self.stats[loader.name].items():
+                if (self.settings.print_stats is None or name in self.settings.print_stats):
+                    if hasattr(val, 'avg'):
+                        print_str += '%s: %.5f  ,  ' % (name, val.avg)
+                    # else:
+                    #     print_str += '%s: %r  ,  ' % (name, val)
+
+            print(print_str[:-5])
+            log_str = print_str[:-5] + '\n'
+            with open(self.settings.log_file, 'a') as f:
+                f.write(log_str)
+
+    def _stats_new_epoch(self):
+        # Record learning rate
+        for loader in self.loaders:
+            if loader.training:
+                try:
+                    lr_list = self.lr_scheduler.get_last_lr()
+                except:
+                    lr_list = self.lr_scheduler._get_lr(self.epoch)
+                for i, lr in enumerate(lr_list):
+                    var_name = 'LearningRate/group{}'.format(i)
+                    if var_name not in self.stats[loader.name].keys():
+                        self.stats[loader.name][var_name] = StatValue()
+                    self.stats[loader.name][var_name].update(lr)
+
+        for loader_stats in self.stats.values():
+            if loader_stats is None:
+                continue
+            for stat_value in loader_stats.values():
+                if hasattr(stat_value, 'new_epoch'):
+                    stat_value.new_epoch()
+
+    # def _write_tensorboard(self):
+    #    if self.epoch == 1:
+    #        self.tensorboard_writer.write_info(self.settings.script_name, self.settings.description)
+
+    #    self.tensorboard_writer.write_epoch(self.stats, self.epoch)

lib/train/trainers/ltr_trainer.py

@@ -0,0 +1,225 @@
+import os
+import datetime
+from collections import OrderedDict
+
+#from lib.train.data.wandb_logger import WandbWriter
+from lib.train.trainers import BaseTrainer
+from lib.train.admin import AverageMeter, StatValue
+#from lib.train.admin import TensorboardWriter
+import torch
+import time
+from torch.utils.data.distributed import DistributedSampler
+from torch.cuda.amp import autocast
+from torch.cuda.amp import GradScaler
+
+from lib.utils.misc import get_world_size
+
+
+class LTRTrainer(BaseTrainer):
+    def __init__(self, actor, loaders, optimizer, settings, lr_scheduler=None, use_amp=False):
+        """
+        args:
+            actor - The actor for training the network
+            loaders - list of dataset loaders, e.g. [train_loader, val_loader]. In each epoch, the trainer runs one
+                        epoch for each loader.
+            optimizer - The optimizer used for training, e.g. Adam
+            settings - Training settings
+            lr_scheduler - Learning rate scheduler
+        """
+        super().__init__(actor, loaders, optimizer, settings, lr_scheduler)
+
+        self._set_default_settings()
+
+        # Initialize statistics variables
+        self.stats = OrderedDict({loader.name: None for loader in self.loaders})
+
+        # Initialize tensorboard and wandb
+        #self.wandb_writer = None
+        #if settings.local_rank in [-1, 0]:
+        #    tensorboard_writer_dir = os.path.join(self.settings.env.tensorboard_dir, self.settings.project_path)
+        #    if not os.path.exists(tensorboard_writer_dir):
+        #        os.makedirs(tensorboard_writer_dir)
+        #    self.tensorboard_writer = TensorboardWriter(tensorboard_writer_dir, [l.name for l in loaders])
+
+        #    if settings.use_wandb:
+        #        world_size = get_world_size()
+        #        cur_train_samples = self.loaders[0].dataset.samples_per_epoch * max(0, self.epoch - 1)
+        #        interval = (world_size * settings.batchsize)  # * interval
+        #        self.wandb_writer = WandbWriter(settings.project_path[6:], {}, tensorboard_writer_dir, cur_train_samples, interval)
+
+        self.move_data_to_gpu = getattr(settings, 'move_data_to_gpu', True)
+        print("move_data", self.move_data_to_gpu)
+        self.settings = settings
+        self.use_amp = use_amp
+        if use_amp:
+            self.scaler = GradScaler()
+
+    def _set_default_settings(self):
+        # Dict of all default values
+        default = {'print_interval': 10,
+                   'print_stats': None,
+                   'description': ''}
+
+        for param, default_value in default.items():
+            if getattr(self.settings, param, None) is None:
+                setattr(self.settings, param, default_value)
+
+    def cycle_dataset(self, loader):
+        """Do a cycle of training or validation."""
+
+        self.actor.train(loader.training)
+        torch.set_grad_enabled(loader.training)
+
+        self._init_timing()
+
+        for i, data in enumerate(loader, 1):
+            self.data_read_done_time = time.time()
+            # get inputs
+            if self.move_data_to_gpu:
+                data = data.to(self.device)
+
+            self.data_to_gpu_time = time.time()
+
+            data['epoch'] = self.epoch
+            data['settings'] = self.settings
+            # forward pass
+            if not self.use_amp:
+                loss, stats = self.actor(data)
+            else:
+                with autocast():
+                    loss, stats = self.actor(data)
+
+            # backward pass and update weights
+            if loader.training:
+                self.optimizer.zero_grad()
+                if not self.use_amp:
+                    loss.backward()
+                    if self.settings.grad_clip_norm > 0:
+                        torch.nn.utils.clip_grad_norm_(self.actor.net.parameters(), self.settings.grad_clip_norm)
+                    self.optimizer.step()
+                else:
+                    self.scaler.scale(loss).backward()
+                    self.scaler.step(self.optimizer)
+                    self.scaler.update()
+
+            # update statistics
+            batch_size = data['template_images'].shape[loader.stack_dim]
+            self._update_stats(stats, batch_size, loader)
+
+            # print statistics
+            self._print_stats(i, loader, batch_size)
+
+            # update wandb status
+            #if self.wandb_writer is not None and i % self.settings.print_interval == 0:
+            #    if self.settings.local_rank in [-1, 0]:
+            #        self.wandb_writer.write_log(self.stats, self.epoch)
+
+        # calculate ETA after every epoch
+        epoch_time = self.prev_time - self.start_time
+        print("Epoch Time: " + str(datetime.timedelta(seconds=epoch_time)))
+        print("Avg Data Time: %.5f" % (self.avg_date_time / self.num_frames * batch_size))
+        print("Avg GPU Trans Time: %.5f" % (self.avg_gpu_trans_time / self.num_frames * batch_size))
+        print("Avg Forward Time: %.5f" % (self.avg_forward_time / self.num_frames * batch_size))
+
+    def train_epoch(self):
+        """Do one epoch for each loader."""
+        for loader in self.loaders:
+            if self.epoch % loader.epoch_interval == 0:
+                # 2021.1.10 Set epoch
+                if isinstance(loader.sampler, DistributedSampler):
+                    loader.sampler.set_epoch(self.epoch)
+                self.cycle_dataset(loader)
+
+        self._stats_new_epoch()
+        #if self.settings.local_rank in [-1, 0]:
+        #    self._write_tensorboard()
+
+    def _init_timing(self):
+        self.num_frames = 0
+        self.start_time = time.time()
+        self.prev_time = self.start_time
+        self.avg_date_time = 0
+        self.avg_gpu_trans_time = 0
+        self.avg_forward_time = 0
+
+    def _update_stats(self, new_stats: OrderedDict, batch_size, loader):
+        # Initialize stats if not initialized yet
+        if loader.name not in self.stats.keys() or self.stats[loader.name] is None:
+            self.stats[loader.name] = OrderedDict({name: AverageMeter() for name in new_stats.keys()})
+
+        # add lr state
+        if loader.training:
+            lr_list = self.lr_scheduler.get_last_lr()
+            for i, lr in enumerate(lr_list):
+                var_name = 'LearningRate/group{}'.format(i)
+                if var_name not in self.stats[loader.name].keys():
+                    self.stats[loader.name][var_name] = StatValue()
+                self.stats[loader.name][var_name].update(lr)
+
+        for name, val in new_stats.items():
+            if name not in self.stats[loader.name].keys():
+                self.stats[loader.name][name] = AverageMeter()
+            self.stats[loader.name][name].update(val, batch_size)
+
+    def _print_stats(self, i, loader, batch_size):
+        self.num_frames += batch_size
+        current_time = time.time()
+        batch_fps = batch_size / (current_time - self.prev_time)
+        average_fps = self.num_frames / (current_time - self.start_time)
+        prev_frame_time_backup = self.prev_time
+        self.prev_time = current_time
+
+        self.avg_date_time += (self.data_read_done_time - prev_frame_time_backup)
+        self.avg_gpu_trans_time += (self.data_to_gpu_time - self.data_read_done_time)
+        self.avg_forward_time += current_time - self.data_to_gpu_time
+
+        if i % self.settings.print_interval == 0 or i == loader.__len__():
+            print_str = '[%s: %d, %d / %d] ' % (loader.name, self.epoch, i, loader.__len__())
+            print_str += 'FPS: %.1f (%.1f)  ,  ' % (average_fps, batch_fps)
+
+            # 2021.12.14 add data time print
+            print_str += 'DataTime: %.3f (%.3f)  ,  ' % (self.avg_date_time / self.num_frames * batch_size, self.avg_gpu_trans_time / self.num_frames * batch_size)
+            print_str += 'ForwardTime: %.3f  ,  ' % (self.avg_forward_time / self.num_frames * batch_size)
+            print_str += 'TotalTime: %.3f  ,  ' % ((current_time - self.start_time) / self.num_frames * batch_size)
+            # print_str += 'DataTime: %.3f (%.3f)  ,  ' % (self.data_read_done_time - prev_frame_time_backup, self.data_to_gpu_time - self.data_read_done_time)
+            # print_str += 'ForwardTime: %.3f  ,  ' % (current_time - self.data_to_gpu_time)
+            # print_str += 'TotalTime: %.3f  ,  ' % (current_time - prev_frame_time_backup)
+
+            for name, val in self.stats[loader.name].items():
+                if (self.settings.print_stats is None or name in self.settings.print_stats):
+                    if hasattr(val, 'avg'):
+                        print_str += '%s: %.5f  ,  ' % (name, val.avg)
+                    # else:
+                    #     print_str += '%s: %r  ,  ' % (name, val)
+
+            print(print_str[:-5])
+            log_str = print_str[:-5] + '\n'
+            with open(self.settings.log_file, 'a') as f:
+                f.write(log_str)
+
+    def _stats_new_epoch(self):
+        # Record learning rate
+        for loader in self.loaders:
+            if loader.training:
+                try:
+                    lr_list = self.lr_scheduler.get_last_lr()
+                except:
+                    lr_list = self.lr_scheduler._get_lr(self.epoch)
+                for i, lr in enumerate(lr_list):
+                    var_name = 'LearningRate/group{}'.format(i)
+                    if var_name not in self.stats[loader.name].keys():
+                        self.stats[loader.name][var_name] = StatValue()
+                    self.stats[loader.name][var_name].update(lr)
+
+        for loader_stats in self.stats.values():
+            if loader_stats is None:
+                continue
+            for stat_value in loader_stats.values():
+                if hasattr(stat_value, 'new_epoch'):
+                    stat_value.new_epoch()
+
+    #def _write_tensorboard(self):
+    #    if self.epoch == 1:
+    #        self.tensorboard_writer.write_info(self.settings.script_name, self.settings.description)
+
+    #    self.tensorboard_writer.write_epoch(self.stats, self.epoch)

lib/utils/__init__.py

@@ -0,0 +1 @@
+from .tensor import TensorDict, TensorList

lib/utils/box_ops.py

@@ -0,0 +1,106 @@
+import torch
+from torchvision.ops.boxes import box_area
+import numpy as np
+
+
+def box_cxcywh_to_xyxy(x):
+    x_c, y_c, w, h = x.unbind(-1)
+    b = [(x_c - 0.5 * w), (y_c - 0.5 * h),
+         (x_c + 0.5 * w), (y_c + 0.5 * h)]
+    return torch.stack(b, dim=-1)
+
+
+def box_xywh_to_xyxy(x):
+    x1, y1, w, h = x.unbind(-1)
+    b = [x1, y1, x1 + w, y1 + h]
+    return torch.stack(b, dim=-1)
+
+
+def box_xyxy_to_xywh(x):
+    x1, y1, x2, y2 = x.unbind(-1)
+    b = [x1, y1, x2 - x1, y2 - y1]
+    return torch.stack(b, dim=-1)
+
+
+def box_xyxy_to_cxcywh(x):
+    x0, y0, x1, y1 = x.unbind(-1)
+    b = [(x0 + x1) / 2, (y0 + y1) / 2,
+         (x1 - x0), (y1 - y0)]
+    return torch.stack(b, dim=-1)
+
+
+# modified from torchvision to also return the union
+'''Note that this function only supports shape (N,4)'''
+
+
+def box_iou(boxes1, boxes2):
+    """
+
+    :param boxes1: (N, 4) (x1,y1,x2,y2)
+    :param boxes2: (N, 4) (x1,y1,x2,y2)
+    :return:
+    """
+    area1 = box_area(boxes1) # (N,)
+    area2 = box_area(boxes2) # (N,)
+
+    lt = torch.max(boxes1[:, :2], boxes2[:, :2])  # (N,2)
+    rb = torch.min(boxes1[:, 2:], boxes2[:, 2:])  # (N,2)
+
+    wh = (rb - lt).clamp(min=0)  # (N,2)
+    inter = wh[:, 0] * wh[:, 1]  # (N,)
+
+    union = area1 + area2 - inter
+
+    iou = inter / union
+    return iou, union
+
+
+'''Note that this implementation is different from DETR's'''
+
+
+def generalized_box_iou(boxes1, boxes2):
+    """
+    Generalized IoU from https://giou.stanford.edu/
+
+    The boxes should be in [x0, y0, x1, y1] format
+
+    boxes1: (N, 4)
+    boxes2: (N, 4)
+    """
+    # degenerate boxes gives inf / nan results
+    # so do an early check
+    # try:
+    #assert (boxes1[:, 2:] >= boxes1[:, :2]).all()
+    # assert (boxes2[:, 2:] >= boxes2[:, :2]).all()
+    iou, union = box_iou(boxes1, boxes2) # (N,)
+
+    lt = torch.min(boxes1[:, :2], boxes2[:, :2])
+    rb = torch.max(boxes1[:, 2:], boxes2[:, 2:])
+
+    wh = (rb - lt).clamp(min=0)  # (N,2)
+    area = wh[:, 0] * wh[:, 1] # (N,)
+
+    return iou - (area - union) / area, iou
+
+
+def giou_loss(boxes1, boxes2):
+    """
+
+    :param boxes1: (N, 4) (x1,y1,x2,y2)
+    :param boxes2: (N, 4) (x1,y1,x2,y2)
+    :return:
+    """
+    giou, iou = generalized_box_iou(boxes1, boxes2)
+    return (1 - giou).mean(), iou
+
+
+def clip_box(box: list, H, W, margin=0):
+    x1, y1, w, h = box
+    x2, y2 = x1 + w, y1 + h
+    x1 = min(max(0, x1), W-margin)
+    x2 = min(max(margin, x2), W)
+    y1 = min(max(0, y1), H-margin)
+    y2 = min(max(margin, y2), H)
+    w = max(margin, x2-x1)
+    h = max(margin, y2-y1)
+    return [x1, y1, w, h]