bytetrack / deploy /ncnn /cpp /src /BYTETracker.cpp
AK391
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7734d5b
#include "BYTETracker.h"
#include <fstream>
BYTETracker::BYTETracker(int frame_rate, int track_buffer)
{
track_thresh = 0.5;
high_thresh = 0.6;
match_thresh = 0.8;
frame_id = 0;
max_time_lost = int(frame_rate / 30.0 * track_buffer);
cout << "Init ByteTrack!" << endl;
}
BYTETracker::~BYTETracker()
{
}
vector<STrack> BYTETracker::update(const vector<Object>& objects)
{
////////////////// Step 1: Get detections //////////////////
this->frame_id++;
vector<STrack> activated_stracks;
vector<STrack> refind_stracks;
vector<STrack> removed_stracks;
vector<STrack> lost_stracks;
vector<STrack> detections;
vector<STrack> detections_low;
vector<STrack> detections_cp;
vector<STrack> tracked_stracks_swap;
vector<STrack> resa, resb;
vector<STrack> output_stracks;
vector<STrack*> unconfirmed;
vector<STrack*> tracked_stracks;
vector<STrack*> strack_pool;
vector<STrack*> r_tracked_stracks;
if (objects.size() > 0)
{
for (int i = 0; i < objects.size(); i++)
{
vector<float> tlbr_;
tlbr_.resize(4);
tlbr_[0] = objects[i].rect.x;
tlbr_[1] = objects[i].rect.y;
tlbr_[2] = objects[i].rect.x + objects[i].rect.width;
tlbr_[3] = objects[i].rect.y + objects[i].rect.height;
float score = objects[i].prob;
STrack strack(STrack::tlbr_to_tlwh(tlbr_), score);
if (score >= track_thresh)
{
detections.push_back(strack);
}
else
{
detections_low.push_back(strack);
}
}
}
// Add newly detected tracklets to tracked_stracks
for (int i = 0; i < this->tracked_stracks.size(); i++)
{
if (!this->tracked_stracks[i].is_activated)
unconfirmed.push_back(&this->tracked_stracks[i]);
else
tracked_stracks.push_back(&this->tracked_stracks[i]);
}
////////////////// Step 2: First association, with IoU //////////////////
strack_pool = joint_stracks(tracked_stracks, this->lost_stracks);
STrack::multi_predict(strack_pool, this->kalman_filter);
vector<vector<float> > dists;
int dist_size = 0, dist_size_size = 0;
dists = iou_distance(strack_pool, detections, dist_size, dist_size_size);
vector<vector<int> > matches;
vector<int> u_track, u_detection;
linear_assignment(dists, dist_size, dist_size_size, match_thresh, matches, u_track, u_detection);
for (int i = 0; i < matches.size(); i++)
{
STrack *track = strack_pool[matches[i][0]];
STrack *det = &detections[matches[i][1]];
if (track->state == TrackState::Tracked)
{
track->update(*det, this->frame_id);
activated_stracks.push_back(*track);
}
else
{
track->re_activate(*det, this->frame_id, false);
refind_stracks.push_back(*track);
}
}
////////////////// Step 3: Second association, using low score dets //////////////////
for (int i = 0; i < u_detection.size(); i++)
{
detections_cp.push_back(detections[u_detection[i]]);
}
detections.clear();
detections.assign(detections_low.begin(), detections_low.end());
for (int i = 0; i < u_track.size(); i++)
{
if (strack_pool[u_track[i]]->state == TrackState::Tracked)
{
r_tracked_stracks.push_back(strack_pool[u_track[i]]);
}
}
dists.clear();
dists = iou_distance(r_tracked_stracks, detections, dist_size, dist_size_size);
matches.clear();
u_track.clear();
u_detection.clear();
linear_assignment(dists, dist_size, dist_size_size, 0.5, matches, u_track, u_detection);
for (int i = 0; i < matches.size(); i++)
{
STrack *track = r_tracked_stracks[matches[i][0]];
STrack *det = &detections[matches[i][1]];
if (track->state == TrackState::Tracked)
{
track->update(*det, this->frame_id);
activated_stracks.push_back(*track);
}
else
{
track->re_activate(*det, this->frame_id, false);
refind_stracks.push_back(*track);
}
}
for (int i = 0; i < u_track.size(); i++)
{
STrack *track = r_tracked_stracks[u_track[i]];
if (track->state != TrackState::Lost)
{
track->mark_lost();
lost_stracks.push_back(*track);
}
}
// Deal with unconfirmed tracks, usually tracks with only one beginning frame
detections.clear();
detections.assign(detections_cp.begin(), detections_cp.end());
dists.clear();
dists = iou_distance(unconfirmed, detections, dist_size, dist_size_size);
matches.clear();
vector<int> u_unconfirmed;
u_detection.clear();
linear_assignment(dists, dist_size, dist_size_size, 0.7, matches, u_unconfirmed, u_detection);
for (int i = 0; i < matches.size(); i++)
{
unconfirmed[matches[i][0]]->update(detections[matches[i][1]], this->frame_id);
activated_stracks.push_back(*unconfirmed[matches[i][0]]);
}
for (int i = 0; i < u_unconfirmed.size(); i++)
{
STrack *track = unconfirmed[u_unconfirmed[i]];
track->mark_removed();
removed_stracks.push_back(*track);
}
////////////////// Step 4: Init new stracks //////////////////
for (int i = 0; i < u_detection.size(); i++)
{
STrack *track = &detections[u_detection[i]];
if (track->score < this->high_thresh)
continue;
track->activate(this->kalman_filter, this->frame_id);
activated_stracks.push_back(*track);
}
////////////////// Step 5: Update state //////////////////
for (int i = 0; i < this->lost_stracks.size(); i++)
{
if (this->frame_id - this->lost_stracks[i].end_frame() > this->max_time_lost)
{
this->lost_stracks[i].mark_removed();
removed_stracks.push_back(this->lost_stracks[i]);
}
}
for (int i = 0; i < this->tracked_stracks.size(); i++)
{
if (this->tracked_stracks[i].state == TrackState::Tracked)
{
tracked_stracks_swap.push_back(this->tracked_stracks[i]);
}
}
this->tracked_stracks.clear();
this->tracked_stracks.assign(tracked_stracks_swap.begin(), tracked_stracks_swap.end());
this->tracked_stracks = joint_stracks(this->tracked_stracks, activated_stracks);
this->tracked_stracks = joint_stracks(this->tracked_stracks, refind_stracks);
//std::cout << activated_stracks.size() << std::endl;
this->lost_stracks = sub_stracks(this->lost_stracks, this->tracked_stracks);
for (int i = 0; i < lost_stracks.size(); i++)
{
this->lost_stracks.push_back(lost_stracks[i]);
}
this->lost_stracks = sub_stracks(this->lost_stracks, this->removed_stracks);
for (int i = 0; i < removed_stracks.size(); i++)
{
this->removed_stracks.push_back(removed_stracks[i]);
}
remove_duplicate_stracks(resa, resb, this->tracked_stracks, this->lost_stracks);
this->tracked_stracks.clear();
this->tracked_stracks.assign(resa.begin(), resa.end());
this->lost_stracks.clear();
this->lost_stracks.assign(resb.begin(), resb.end());
for (int i = 0; i < this->tracked_stracks.size(); i++)
{
if (this->tracked_stracks[i].is_activated)
{
output_stracks.push_back(this->tracked_stracks[i]);
}
}
return output_stracks;
}