From d9aba9ca7ec34439681b78a971f2112ffcb163ed Mon Sep 17 00:00:00 2001 From: Inhwan Bae Date: Tue, 11 Jun 2024 15:59:11 +0900 Subject: [PATCH] Initial public release --- LICENSE | 429 +- README.md | 100 +- datasets/eth/test/biwi_eth.txt | 5492 ++++ datasets/eth/train/biwi_hotel_train.txt | 4946 ++++ datasets/eth/train/crowds_zara01_train.txt | 4307 +++ datasets/eth/train/crowds_zara02_train.txt | 7621 ++++++ datasets/eth/train/crowds_zara03_train.txt | 3708 +++ datasets/eth/train/students001_train.txt | 18353 +++++++++++++ datasets/eth/train/students003_train.txt | 15641 +++++++++++ datasets/eth/train/uni_examples_train.txt | 2266 ++ datasets/eth/val/biwi_hotel_val.txt | 1597 ++ datasets/eth/val/crowds_zara01_val.txt | 846 + datasets/eth/val/crowds_zara02_val.txt | 2101 ++ datasets/eth/val/crowds_zara03_val.txt | 1297 + datasets/eth/val/students001_val.txt | 3460 +++ datasets/eth/val/students003_val.txt | 2312 ++ datasets/eth/val/uni_examples_val.txt | 481 + datasets/homography/biwi_eth_H.txt | 3 + datasets/homography/biwi_hotel_H.txt | 3 + datasets/homography/crowds_zara01_H.txt | 3 + datasets/homography/crowds_zara02_H.txt | 3 + datasets/homography/crowds_zara03_H.txt | 3 + datasets/homography/students001_H.txt | 3 + datasets/homography/students003_H.txt | 3 + datasets/homography/uni_examples_H.txt | 3 + datasets/hotel/test/biwi_hotel.txt | 6543 +++++ datasets/hotel/train/biwi_eth_train.txt | 3666 +++ datasets/hotel/train/crowds_zara01_train.txt | 4307 +++ datasets/hotel/train/crowds_zara02_train.txt | 7621 ++++++ datasets/hotel/train/crowds_zara03_train.txt | 3708 +++ datasets/hotel/train/students001_train.txt | 18353 +++++++++++++ datasets/hotel/train/students003_train.txt | 15641 +++++++++++ datasets/hotel/train/uni_examples_train.txt | 2266 ++ datasets/hotel/val/biwi_eth_val.txt | 1826 ++ datasets/hotel/val/crowds_zara01_val.txt | 846 + datasets/hotel/val/crowds_zara02_val.txt | 2101 ++ datasets/hotel/val/crowds_zara03_val.txt | 1297 + datasets/hotel/val/students001_val.txt | 3460 +++ datasets/hotel/val/students003_val.txt | 2312 ++ datasets/hotel/val/uni_examples_val.txt | 481 + datasets/image/Thumbs.db | Bin 0 -> 154624 bytes datasets/image/crowds_zara01_bg.png | Bin 0 -> 444177 bytes datasets/image/crowds_zara01_caption.txt | 1 + .../image/crowds_zara01_caption_chatgpt4.txt | 17 + .../image/crowds_zara01_caption_minigpt2.txt | 5 + .../image/crowds_zara01_caption_minigpt4.txt | 1 + datasets/image/crowds_zara01_oracle.png | Bin 0 -> 2448 bytes datasets/image/crowds_zara01_reference.png | Bin 0 -> 307217 bytes datasets/image/crowds_zara02_bg.png | Bin 0 -> 381306 bytes datasets/image/crowds_zara02_caption.txt | 1 + .../image/crowds_zara02_caption_chatgpt4.txt | 13 + .../image/crowds_zara02_caption_minigpt2.txt | 3 + .../image/crowds_zara02_caption_minigpt4.txt | 1 + datasets/image/crowds_zara02_oracle.png | Bin 0 -> 2448 bytes datasets/image/crowds_zara02_reference.png | Bin 0 -> 206115 bytes 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datasets/image/students003_oracle.png | Bin 0 -> 2283 bytes datasets/image/students003_reference.png | Bin 0 -> 444168 bytes datasets/preprocessed/.gitkeep | 0 datasets/raw/all_data/biwi_eth.txt | 5492 ++++ datasets/raw/all_data/biwi_hotel.txt | 6543 +++++ datasets/raw/all_data/crowds_zara01.txt | 5153 ++++ datasets/raw/all_data/crowds_zara02.txt | 9722 +++++++ datasets/raw/all_data/crowds_zara03.txt | 5005 ++++ datasets/raw/all_data/students001.txt | 21813 ++++++++++++++++ datasets/raw/all_data/students003.txt | 17953 +++++++++++++ datasets/raw/all_data/uni_examples.txt | 2747 ++ datasets/raw/train/biwi_eth_train.txt | 3666 +++ datasets/raw/train/biwi_hotel_train.txt | 4946 ++++ datasets/raw/train/crowds_zara01_train.txt | 4307 +++ datasets/raw/train/crowds_zara02_train.txt | 7621 ++++++ datasets/raw/train/crowds_zara03_train.txt | 3708 +++ datasets/raw/train/students001_train.txt | 18353 +++++++++++++ datasets/raw/train/students003_train.txt | 15641 +++++++++++ datasets/raw/train/uni_examples_train.txt | 2266 ++ datasets/raw/val/biwi_eth_val.txt | 1826 ++ datasets/raw/val/biwi_hotel_val.txt | 1597 ++ datasets/raw/val/crowds_zara01_val.txt | 846 + datasets/raw/val/crowds_zara02_val.txt | 2101 ++ datasets/raw/val/crowds_zara03_val.txt | 1297 + datasets/raw/val/students001_val.txt | 3460 +++ datasets/raw/val/students003_val.txt | 2312 ++ datasets/raw/val/uni_examples_val.txt | 481 + datasets/univ/test/students001.txt | 21813 ++++++++++++++++ datasets/univ/test/students003.txt | 17953 +++++++++++++ datasets/univ/train/biwi_eth_train.txt | 3666 +++ datasets/univ/train/biwi_hotel_train.txt | 4946 ++++ datasets/univ/train/crowds_zara01_train.txt | 4307 +++ datasets/univ/train/crowds_zara02_train.txt | 7621 ++++++ datasets/univ/train/crowds_zara03_train.txt | 3708 +++ datasets/univ/train/uni_examples_train.txt | 2266 ++ datasets/univ/val/biwi_eth_val.txt | 1826 ++ datasets/univ/val/biwi_hotel_val.txt | 1597 ++ datasets/univ/val/crowds_zara01_val.txt | 846 + datasets/univ/val/crowds_zara02_val.txt | 2101 ++ datasets/univ/val/crowds_zara03_val.txt | 1297 + datasets/univ/val/uni_examples_val.txt | 481 + datasets/zara1/test/crowds_zara01.txt | 5153 ++++ datasets/zara1/train/biwi_eth_train.txt | 3666 +++ datasets/zara1/train/biwi_hotel_train.txt | 4946 ++++ datasets/zara1/train/crowds_zara02_train.txt | 7621 ++++++ datasets/zara1/train/crowds_zara03_train.txt | 3708 +++ datasets/zara1/train/students001_train.txt | 18353 +++++++++++++ datasets/zara1/train/students003_train.txt | 15641 +++++++++++ datasets/zara1/train/uni_examples_train.txt | 2266 ++ datasets/zara1/val/biwi_eth_val.txt | 1826 ++ datasets/zara1/val/biwi_hotel_val.txt | 1597 ++ datasets/zara1/val/crowds_zara02_val.txt | 2101 ++ datasets/zara1/val/crowds_zara03_val.txt | 1297 + datasets/zara1/val/students001_val.txt | 3460 +++ datasets/zara1/val/students003_val.txt | 2312 ++ datasets/zara1/val/uni_examples_val.txt | 481 + datasets/zara2/test/crowds_zara02.txt | 9722 +++++++ datasets/zara2/train/biwi_eth_train.txt | 3666 +++ datasets/zara2/train/biwi_hotel_train.txt | 4946 ++++ datasets/zara2/train/crowds_zara01_train.txt | 4307 +++ datasets/zara2/train/crowds_zara03_train.txt | 3708 +++ datasets/zara2/train/students001_train.txt | 18353 +++++++++++++ datasets/zara2/train/students003_train.txt | 15641 +++++++++++ datasets/zara2/train/uni_examples_train.txt | 2266 ++ datasets/zara2/val/biwi_eth_val.txt | 1826 ++ datasets/zara2/val/biwi_hotel_val.txt | 1597 ++ datasets/zara2/val/crowds_zara01_val.txt | 846 + datasets/zara2/val/crowds_zara03_val.txt | 1297 + datasets/zara2/val/students001_val.txt | 3460 +++ datasets/zara2/val/students003_val.txt | 2312 ++ datasets/zara2/val/uni_examples_val.txt | 481 + zero-shot/algorithmic_model_benchmark.py | 90 + zero-shot/chatgpt_fragmented_dump_combiner.py | 74 + zero-shot/chatgpt_multi_v3.sh | 52 + zero-shot/chatgpt_sequential_v3.sh | 28 + zero-shot/chatgpt_trajectory_predictor_v3.py | 223 + zero-shot/compute_ade_fde_from_dump.py | 87 + zero-shot/output_dump/.gitkeep | 0 zero-shot/utils/compact_json_encoder.py | 90 + zero-shot/utils/trajectory_dataset.py | 240 + 154 files changed, 522514 insertions(+), 25 deletions(-) create mode 100644 datasets/eth/test/biwi_eth.txt create mode 100644 datasets/eth/train/biwi_hotel_train.txt create mode 100644 datasets/eth/train/crowds_zara01_train.txt create mode 100644 datasets/eth/train/crowds_zara02_train.txt create mode 100644 datasets/eth/train/crowds_zara03_train.txt create mode 100644 datasets/eth/train/students001_train.txt create mode 100644 datasets/eth/train/students003_train.txt create mode 100644 datasets/eth/train/uni_examples_train.txt create mode 100644 datasets/eth/val/biwi_hotel_val.txt create mode 100644 datasets/eth/val/crowds_zara01_val.txt create mode 100644 datasets/eth/val/crowds_zara02_val.txt create mode 100644 datasets/eth/val/crowds_zara03_val.txt create mode 100644 datasets/eth/val/students001_val.txt create mode 100644 datasets/eth/val/students003_val.txt create mode 100644 datasets/eth/val/uni_examples_val.txt create mode 100644 datasets/homography/biwi_eth_H.txt create mode 100644 datasets/homography/biwi_hotel_H.txt create mode 100644 datasets/homography/crowds_zara01_H.txt create mode 100644 datasets/homography/crowds_zara02_H.txt create mode 100644 datasets/homography/crowds_zara03_H.txt create mode 100644 datasets/homography/students001_H.txt create mode 100644 datasets/homography/students003_H.txt create mode 100644 datasets/homography/uni_examples_H.txt create mode 100644 datasets/hotel/test/biwi_hotel.txt create mode 100644 datasets/hotel/train/biwi_eth_train.txt create mode 100644 datasets/hotel/train/crowds_zara01_train.txt create mode 100644 datasets/hotel/train/crowds_zara02_train.txt create mode 100644 datasets/hotel/train/crowds_zara03_train.txt create mode 100644 datasets/hotel/train/students001_train.txt create mode 100644 datasets/hotel/train/students003_train.txt create mode 100644 datasets/hotel/train/uni_examples_train.txt create mode 100644 datasets/hotel/val/biwi_eth_val.txt create mode 100644 datasets/hotel/val/crowds_zara01_val.txt create mode 100644 datasets/hotel/val/crowds_zara02_val.txt create mode 100644 datasets/hotel/val/crowds_zara03_val.txt create mode 100644 datasets/hotel/val/students001_val.txt create mode 100644 datasets/hotel/val/students003_val.txt create mode 100644 datasets/hotel/val/uni_examples_val.txt create mode 100644 datasets/image/Thumbs.db create mode 100644 datasets/image/crowds_zara01_bg.png create mode 100644 datasets/image/crowds_zara01_caption.txt create mode 100644 datasets/image/crowds_zara01_caption_chatgpt4.txt create mode 100644 datasets/image/crowds_zara01_caption_minigpt2.txt create mode 100644 datasets/image/crowds_zara01_caption_minigpt4.txt create mode 100644 datasets/image/crowds_zara01_oracle.png create mode 100644 datasets/image/crowds_zara01_reference.png create mode 100644 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create mode 100644 datasets/zara2/train/biwi_hotel_train.txt create mode 100644 datasets/zara2/train/crowds_zara01_train.txt create mode 100644 datasets/zara2/train/crowds_zara03_train.txt create mode 100644 datasets/zara2/train/students001_train.txt create mode 100644 datasets/zara2/train/students003_train.txt create mode 100644 datasets/zara2/train/uni_examples_train.txt create mode 100644 datasets/zara2/val/biwi_eth_val.txt create mode 100644 datasets/zara2/val/biwi_hotel_val.txt create mode 100644 datasets/zara2/val/crowds_zara01_val.txt create mode 100644 datasets/zara2/val/crowds_zara03_val.txt create mode 100644 datasets/zara2/val/students001_val.txt create mode 100644 datasets/zara2/val/students003_val.txt create mode 100644 datasets/zara2/val/uni_examples_val.txt create mode 100644 zero-shot/algorithmic_model_benchmark.py create mode 100644 zero-shot/chatgpt_fragmented_dump_combiner.py create mode 100644 zero-shot/chatgpt_multi_v3.sh create mode 100644 zero-shot/chatgpt_sequential_v3.sh create mode 100644 zero-shot/chatgpt_trajectory_predictor_v3.py create mode 100644 zero-shot/compute_ade_fde_from_dump.py create mode 100644 zero-shot/output_dump/.gitkeep create mode 100644 zero-shot/utils/compact_json_encoder.py create mode 100644 zero-shot/utils/trajectory_dataset.py diff --git a/LICENSE b/LICENSE index 7830546..fe463e0 100644 --- a/LICENSE +++ b/LICENSE @@ -1,21 +1,408 @@ -MIT License - -Copyright (c) 2023 Inhwan Bae - -Permission is hereby granted, free of charge, to any person obtaining a copy -of this software and associated documentation files (the "Software"), to deal -in the Software without restriction, including without limitation the rights -to use, copy, modify, merge, publish, distribute, sublicense, and/or sell -copies of the Software, and to permit persons to whom the Software is -furnished to do so, subject to the following conditions: - -The above copyright notice and this permission notice shall be included in all 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Except for the limited purpose of indicating that +material is shared under a Creative Commons public license or as +otherwise permitted by the Creative Commons policies published at +creativecommons.org/policies, Creative Commons does not authorize the +use of the trademark "Creative Commons" or any other trademark or logo +of Creative Commons without its prior written consent including, +without limitation, in connection with any unauthorized modifications +to any of its public licenses or any other arrangements, +understandings, or agreements concerning use of licensed material. For +the avoidance of doubt, this paragraph does not form part of the +public licenses. + +Creative Commons may be contacted at creativecommons.org. + diff --git a/README.md b/README.md index 2d14ec7..55ee89e 100644 --- a/README.md +++ b/README.md @@ -2,7 +2,7 @@

Inhwan Bae · - Junoh Lee + Junoh Lee · Hae-Gon Jeon
@@ -21,16 +21,108 @@
Traditional vs. Our language-based trajectory prediction, LMTraj. -[//]: # (
This repository contains the code for the EigenTrajectory(𝔼𝕋) space applied to the 10 traditional Euclidean-based trajectory predictors.) -[//]: # (
EigenTrajectory-LB-EBM achieves ADE/FDE of 0.21/0.34 while requiring only 1 hour for training! ) +
This repository contains the code for the LMTrajectory framework. +
**TL;DR**: Language model-based, Multimodal input, Multimodal output, Multi-task training approach for Zero-shot and Supervised human trajectory prediction.
## 💬 LMTrajectory Pipeline 🗨️ +* **Prompt-Based Approach**: Moving away from conventional numerical regression models, we reframe the task into a prompt-based question-answering perspective. +* **Social Reasoning**: Beyond physics-based mathematical interaction modeling, our approach leverages language models to incorporate social reasoning. +* **Multi-Task Training**: Supplementary tasks enhance the model's ability to grasp higher-level context through multi-task training. +* **Numerical Tokenizer**: Our numerical tokenizer effectively separates text and numbers, enabling the model to learn correlations in sequential data. +* **SOTA Performance**: Our holistic solution achieves state-of-the-art results on trajectory prediction benchmarks traditionally dominated by numerical regressors. + +
+ +## Zero-Shot Evaluation +### Setup +**Environment** +
All models were tested on Ubuntu 20.04 with Python 3.10 and PyTorch 2.0.1 with CUDA 11.7. +Dependencies include Python packages such as `scipy`, `simdkalman` and `openai==0.28.0`. + +**Dataset** +
Preprocessed [ETH](https://data.vision.ee.ethz.ch/cvl/aem/ewap_dataset_full.tgz) and [UCY](https://graphics.cs.ucy.ac.cy/research/downloads/crowd-data) datasets are released in this repository. +The train/validation/test splits are the same as those fond in [Social-GAN](https://github.com/agrimgupta92/sgan). + +**Sample** +
We provide our zero-shot prediction results in the [release section](https://github.com/InhwanBae/LMTrajectory/releases). +These results include all multimodal trajectories and are available for use in future zero-shot research. + +### Evaluate LMTraj-ZERO +**Preliminary** +
To evaluate our LMTraj-ZERO model, you will need an `OPENAI_API_KEY` to access the OpenAI API. Create the API key using the [instruction](https://platform.openai.com/docs/api-reference/authentication) provided by OpenAI, and then paste the key into `./zero-shot/chatgpt_trajectory_predictor_v3` [line 25](https://github.com/InhwanBae/LMTrajectory/blob/main/zero-shot/chatgpt_trajectory_predictor_v3.py#L25). + +**Prediction** +
We provide scripts to evaluate our LMTraj-ZERO model for all datasets simultaneously. +Two scripts are provided in `./zero-shot/chatgpt_sequential_v3.sh` and `./zero-shot/chatgpt_multi_v3.sh`. The former script is used to evaluate our model step-by-step, and the latter script is used to evaluate our model with a thread pool for faster inference. +```bash +# Choose one of the following scripts to evaluate our LMTraj-ZERO model. +./chatgpt_sequential_v3.sh -d -m +./chatgpt_multi_v3.sh -d -m + +# Supported dataset id: 1 (ETH), 2 (HOTEL), 3 (UNIV), 4 (ZARA1), 5 (ZARA2) +# Supported llm model id: 1 (gpt-3.5-turbo-0301), 2 (gpt-4-0314), 3 (gpt-3.5-turbo-1106), 4 (gpt-4-1106-preview) + +# Examples +cd zero-shot +./chatgpt_multi_v3.sh -d 1 -m 4 +./chatgpt_multi_v3.sh -d 2 -m 4 +``` +If an error is encountered, your progress will be saved. When you rerun the same script, it will skip the parts that were successfully executed and only regenerate the paths where issues occurred. + +If you want to run the model with custom hyperparameters or other models available by [OpenAI](https://platform.openai.com/docs/models), use `./zero-shot/chatgpt_trajectory_predictor_v3.py` instead of the script file. +
*Warning: A misclick could upgrade you to OpenAI Tier 5, as it did for me :(* + +**Evaluation** +As the final step, we provide code to evaluate the trajectories generated by our LMTraj-ZERO. To evaluate, first combine the predicted trajectories into a single JSON file. +```bash +python ./zero-shot/chatgpt-fragmented_dump_combiner.py --dataset --model + +# Supported dataset id: 1 (ETH), 2 (HOTEL), 3 (UNIV), 4 (ZARA1), 5 (ZARA2) +# Supported llm model id: 1 (gpt-3.5-turbo-0301), 2 (gpt-4-0314), 3 (gpt-3.5-turbo-1106), 4 (gpt-4-1106-preview) + +# Examples +python ./zero-shot/chatgpt-fragmented_dump_combiner.py --dataset 1 --model 4 +python ./zero-shot/chatgpt-fragmented_dump_combiner.py --dataset 2 --model 4 +``` + +Next, evaluate the combined trajectories using ADE and FDE metrics. +```bash +python ./zero-shot/compute_ade_fde_from_dump.py + +# Supported dataset id: 1 (ETH), 2 (HOTEL), 3 (UNIV), 4 (ZARA1), 5 (ZARA2) +# Supported llm model id: 1 (gpt-3.5-turbo-0301), 2 (gpt-4-0314), 3 (gpt-3.5-turbo-1106), 4 (gpt-4-1106-preview) + +# Examples +python ./zero-shot/compute_ade_fde_from_dump.py --dataset 1 --model 4 +python ./zero-shot/compute_ade_fde_from_dump.py --dataset 2 --model 4 +``` + +### Evaluate Algorithmic Models +We provide four algorithmic models for comparison in zero-shot trajectory prediction task, available in `./zero-shot/algorithmic_model_benchmark.py`. +The source code supports four extrapolation methods: stop, linear extrapolation, cubic extrapolation and Kalman filter. +```bash +python ./zero-shot/algorithmic_model_benchmark.py --model + +# Examples +python ./zero-shot/algorithmic_model_benchmark.py --model stop +python ./zero-shot/algorithmic_model_benchmark.py --model linear +python ./zero-shot/algorithmic_model_benchmark.py --model cubic +python ./zero-shot/algorithmic_model_benchmark.py --model kalman +``` + +
+ +[//]: # (## Supervised Training) +[//]: # (## Supervised Evaluation) +## Supervised Training & Evaluation - [x] 3/27 Paper [released](https://arxiv.org/abs/2403.18447)! -- [ ] Source code will be released shortly. (Please check our [project page](https://inhwanbae.github.io/publication/lmtrajectory/) :) +- [x] LMTraj-ZERO released! +- [ ] LMTraj-SUP will be released shortly (before conference) :) +
## 📖 Citation If you find this code useful for your research, please cite our trajectory prediction papers :) diff --git a/datasets/eth/test/biwi_eth.txt b/datasets/eth/test/biwi_eth.txt new file mode 100644 index 0000000..7a8cad3 --- /dev/null +++ b/datasets/eth/test/biwi_eth.txt @@ -0,0 +1,5492 @@ +780 1.0 8.46 3.59 +790 1.0 9.57 3.79 +800 1.0 10.67 3.99 +800 2.0 13.64 5.8 +810 1.0 11.73 4.32 +810 2.0 12.09 5.75 +820 1.0 12.81 4.61 +820 2.0 11.37 5.8 +830 2.0 10.31 5.97 +830 3.0 12.49 6.6 +840 2.0 9.57 6.24 +840 3.0 11.94 6.77 +850 2.0 8.73 6.34 +850 3.0 11.03 6.84 +850 4.0 -1.32 5.11 +850 5.0 -1.48 4.43 +850 6.0 11.84 5.82 +860 2.0 7.94 6.5 +860 3.0 10.21 6.81 +860 4.0 -0.33 5.06 +860 5.0 -0.49 4.38 +860 6.0 10.91 5.92 +870 2.0 7.17 6.62 +870 3.0 9.36 6.85 +870 4.0 0.76 5.0 +870 5.0 0.6 4.23 +870 6.0 10.0 5.89 +880 2.0 6.47 6.68 +880 3.0 8.59 6.85 +880 4.0 1.76 4.89 +880 5.0 1.6 4.13 +880 6.0 9.09 6.02 +890 2.0 5.86 6.82 +890 3.0 7.78 6.84 +890 4.0 2.81 4.83 +890 5.0 2.67 4.07 +890 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a/datasets/eth/train/uni_examples_train.txt b/datasets/eth/train/uni_examples_train.txt new file mode 100644 index 0000000..74a02a2 --- /dev/null +++ b/datasets/eth/train/uni_examples_train.txt @@ -0,0 +1,2266 @@ +0.0 1.0 0.294651153476 8.09056721029 +10.0 1.0 1.03127903717 7.85190741057 +10.0 2.0 0.279287200473 9.98910591701 +20.0 1.0 1.76790692085 7.61324761086 +20.0 2.0 1.06390112916 9.85879766636 +30.0 1.0 2.51547899024 7.36408677996 +30.0 2.0 1.84830459273 9.72872807552 +40.0 1.0 3.27925687308 7.09869708268 +40.0 2.0 2.6106092198 9.56739405091 +50.0 1.0 4.04324522102 6.8335460452 +50.0 2.0 3.36344291693 9.39317239712 +60.0 1.0 4.85079984665 6.61803624605 +60.0 2.0 4.11185684675 9.20176723775 +70.0 1.0 5.67708586704 6.42352850929 +70.0 2.0 4.82112426619 8.85690382717 +80.0 1.0 6.50337188743 6.22902077252 +80.0 2.0 5.53060215074 8.51227907638 +80.0 3.0 0.0782930207807 8.75213217509 +90.0 1.0 7.32355441964 6.04787798454 +90.0 2.0 6.24365794215 8.15070947981 +90.0 3.0 0.659176723347 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b/datasets/homography/biwi_hotel_H.txt new file mode 100644 index 0000000..0baf3dc --- /dev/null +++ b/datasets/homography/biwi_hotel_H.txt @@ -0,0 +1,3 @@ + 6.6958900e-04 1.1048200e-02 -3.3295300e+00 + 1.1632400e-02 -1.5966000e-03 -5.3951400e+00 + 1.3617400e-05 1.1190700e-04 5.4276600e-01 \ No newline at end of file diff --git a/datasets/homography/crowds_zara01_H.txt b/datasets/homography/crowds_zara01_H.txt new file mode 100644 index 0000000..a521556 --- /dev/null +++ b/datasets/homography/crowds_zara01_H.txt @@ -0,0 +1,3 @@ +0.02174104 0 -0.15 +0 -0.02461883 13.77429807 +0 0 1 \ No newline at end of file diff --git a/datasets/homography/crowds_zara02_H.txt b/datasets/homography/crowds_zara02_H.txt new file mode 100644 index 0000000..a07f6c6 --- /dev/null +++ b/datasets/homography/crowds_zara02_H.txt @@ -0,0 +1,3 @@ +0.02174104 0 -0.4 +0 -0.02386598 14.98401686 +0 0 1 diff --git a/datasets/homography/crowds_zara03_H.txt b/datasets/homography/crowds_zara03_H.txt new file mode 100644 index 0000000..a07f6c6 --- /dev/null +++ b/datasets/homography/crowds_zara03_H.txt @@ -0,0 +1,3 @@ +0.02174104 0 -0.4 +0 -0.02386598 14.98401686 +0 0 1 diff --git a/datasets/homography/students001_H.txt b/datasets/homography/students001_H.txt new file mode 100644 index 0000000..68e4136 --- /dev/null +++ b/datasets/homography/students001_H.txt @@ -0,0 +1,3 @@ +0.02220407 0 -0.48 +0 -0.02477289 13.92551292 +0 0 1 diff --git a/datasets/homography/students003_H.txt b/datasets/homography/students003_H.txt new file mode 100644 index 0000000..3301289 --- /dev/null +++ b/datasets/homography/students003_H.txt @@ -0,0 +1,3 @@ +0.02220407 0 -0.48 +0 -0.02477289 13.92551292 +0 0 1 diff --git a/datasets/homography/uni_examples_H.txt b/datasets/homography/uni_examples_H.txt new file mode 100644 index 0000000..3301289 --- /dev/null +++ b/datasets/homography/uni_examples_H.txt @@ -0,0 +1,3 @@ +0.02220407 0 -0.48 +0 -0.02477289 13.92551292 +0 0 1 diff --git a/datasets/hotel/test/biwi_hotel.txt 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