def MOT_Global_Association(Trk = None,Obs_grap = None,Obs_info = None,param = None,fr = None,*args,**kwargs):
ILDA = param.ILDA
Refer = []
Test = []
all_indx = [i for i in range(0,len(Trk))]
low_indx,_,_ = Idx2Types(Trk,'Low')
high_indx = np.setdiff1d(all_indx,low_indx)
yidx = np.where(Obs_grap[fr].iso_idx == 1)[0]
yhist = Obs_info.yhist
ystate = Obs_info.ystate
ystates_ids = Obs_info.ystates_ids
High_trk = []
Low_trk = []
Y_set = []
if len(low_indx) !=0:
# For tracklets with low confidence
for ii in range(0,len(low_indx)):
i = low_indx[ii]
temp_Trk_low = Tracklet()
temp_Trk_low.hist = Trk[i].A_Model
temp_Trk_low.FMotion = Trk[i].FMotion
temp_Trk_low.last_update = Trk[i].last_update
temp_Trk_low.h = Trk[i].state[-1][3]
temp_Trk_low.w = Trk[i].state[-1][2]
temp_Trk_low.type = Trk[i].type
temp_Trk_low.end_time = Trk[i].efr
Low_trk.append(temp_Trk_low)
# For tracklet with high confidence
for jj in range(0,len(high_indx)):
j = high_indx[jj]
temp_Trk_high = Tracklet()
temp_Trk_high.hist = Trk[j].A_Model
temp_Trk_high.h = Trk[j].state[-1][3]
temp_Trk_high.w = Trk[j].state[-1][2]
temp_Trk_high.FMotion = Trk[j].FMotion
XX,PP = mot_motion_model_generation(Trk[j],param,'Backward',nargout = 2)
temp_Trk_high.BMotion.X = XX
temp_Trk_high.BMotion.P = PP
temp_Trk_high.last_update = Trk[j].last_update
temp_Trk_high.init_time = Trk[j].ifr
High_trk.append(temp_Trk_high)
iso_label = []
if len(yidx) != 0:
# For detections
for jj in range(0,len(yidx)):
j = yidx[jj]
temp_y_set = Z_item()
temp_y_set.hist = yhist[:,:,j]
temp_y_set.pos = [ystate[j][0],ystate[j][1]]
temp_y_set.h = ystate[j][3]
temp_y_set.w = ystate[j][2]
Y_set.append(temp_y_set)
iso_label = j
thr = param.obs_thr
score_trk = mot_eval_association_matrix(Low_trk,High_trk,param,'Trk',ILDA)
score_obs = mot_eval_association_matrix(Low_trk,Y_set,param,'Obs',ILDA)
score_mat = np.concatenate((score_trk,score_obs),axis=1)
matching,Affinity = mot_association_hungarian(score_mat,thr,nargout = 2)
alpha = param.alpha
rm_idx = []
for m in range(0,len(Affinity)):
mat_idx = matching[1,m]
if mat_idx <= len(high_indx) - 1:
t_idx = low_indx[matching[0,m]]
y_idx = high_indx[matching[1,m]]
Trk[y_idx].ifr = Trk[t_idx].ifr
fr1 = Trk[t_idx].ifr
fr2 = Trk[t_idx].efr
for kk in range(fr1,fr2):
Trk[y_idx].state[kk] = Trk[t_idx].state[kk]
numHyp = len(Trk[t_idx].hyp.score)
for kk in range(fr1,numHyp):
Trk[y_idx].hyp.score[kk] = Trk[t_idx].hyp.score[kk]
Trk[y_idx].hyp.ystate[kk] = Trk[t_idx].hyp.ystate[kk]
Trk[y_idx].hyp.ystates_ids[kk] = Trk[t_idx].hyp.ystates_ids[kk]
for kk in range(numHyp + 1,fr):
Trk[y_idx].hyp.score[kk] = param.init_prob
Trk[y_idx].hyp.ystate[kk] = []
Trk[y_idx].hyp.ystates_ids[kk] = -1
Trk[y_idx].A_Model = alpha*Trk[t_idx].A_Model + (1 - alpha)*Trk[y_idx].A_Model
XX = []
numState = len(Trk[y_idx].state)
XX[1,:] = Trk(y_idx).state[fr1](1)
XX[3,:] = Trk(y_idx).state[fr1](2)
XX[2,:] = 0
XX[4,:] = 0
PP = param.P
for ff in range(fr1,numState):
tState = Trk(y_idx).state[ff]
if logical_not(isempty(tState)):
XX,PP = km_estimation(XX,tState(range(1,2)),param,PP,nargout = 2)
else:
tState = Trk(y_idx).state[fr2]
XX,PP = km_estimation(XX,[],param,PP,nargout = 2)
Trk(y_idx).state[ff][range(1,2),:] = concat([[XX(1)],[XX(3)]])
Trk(y_idx).state[ff][range(3,4),:] = concat([[tState(1)],[tState(3)]])
Trk(y_idx).FMotion.X[:,ff] = XX
Trk(y_idx).FMotion.P[:,:,ff] = PP
Trk(y_idx).label = copy(Trk[t_idx].label)
Trk(y_idx).type = copy('High')
rm_idx = concat([rm_idx,t_idx])
else:
m_idx = matching[1,m] - len(high_indx)
t_idx = low_indx[matching[0,m]]
y_idx = yidx[m_idx]
for i in range(len(Trk[t_idx].hyp.score),fr):
Trk[t_idx].hyp.score.append(0)
Trk[t_idx].hyp.ystate.append([])
Trk[t_idx].hyp.ystates_ids.append(-1)
Trk[t_idx].hyp.score.append(Affinity[m])
Trk[t_idx].hyp.ystate.append(ystate[y_idx])
Trk[t_idx].hyp.ystates_ids.append(ystates_ids[y_idx])
Trk[t_idx].hyp.new_tmpl = yhist[:,:,y_idx]
Trk[t_idx].last_update = fr
Obs_grap[fr].iso_idx[y_idx] = 0
if len(rm_idx) != 0:
Trk[rm_idx] = []
return Trk,Obs_grap
def MOT_Global_Association(Trk = None,Tracklets_window = None,param = None,fr = None,Obs_grap_window = None,detections = None,*args,**kwargs):
obs_grap = Obs_Graph()
Obs_grap_window.append(obs_grap)
Obs_grap_window[fr].iso_idx = np.ones((len(detections[fr])))
ILDA = param.ILDA
Refer = []
Test = []
all_indx = [i for i in range(0,len(Trk))]
all_indx_window = [i for i in range(0,len(Tracklets_window))]
low_indx,_,_ = Idx2Types(Tracklets_window,'Low')
high_indx = np.setdiff1d(all_indx_window,low_indx)
init_indx = all_indx
init_trk = []
High_trk = []
Low_trk = []
window_trk = []
Y_set = []
if len(high_indx) !=0:
# For tracklets with low confidence in the window
for ii in range(0,len(low_indx)):
i = low_indx[ii]
temp_Trk_low = Tracklet()
temp_Trk_low.hist = Tracklets_window[i].A_Model
temp_Trk_low.FMotion = Tracklets_window[i].FMotion
temp_Trk_low.last_update = Tracklets_window[i].last_update
temp_Trk_low.h = Tracklets_window[i].state[-1][3]
temp_Trk_low.w = Tracklets_window[i].state[-1][2]
temp_Trk_low.type = Tracklets_window[i].type
temp_Trk_low.end_time = Tracklets_window[i].efr
Low_trk.append(temp_Trk_low)
# For tracklet with high confidence in the window
for jj in range(0,len(all_indx_window)):
j = all_indx_window[jj]
temp_Trk_high = Tracklet()
temp_Trk_high.hist = Tracklets_window[j].A_model_tail
print(jj,j,len(Tracklets_window[j].state),Tracklets_window[j].state)
temp_Trk_high.h = Tracklets_window[j].state[-1][3]
temp_Trk_high.w = Tracklets_window[j].state[-1][2]
temp_Trk_high.FMotion = Tracklets_window[j].FMotion
XX,PP = mot_motion_model_generation(Tracklets_window[j],param,'Backward',nargout = 2)
temp_Trk_high.BMotion.X = XX
temp_Trk_high.BMotion.P = PP
temp_Trk_high.last_update = Tracklets_window[j].last_update
temp_Trk_high.init_time = Tracklets_window[j].ifr
temp_Trk_high.end_time = Tracklets_window[j].efr
window_trk.append(temp_Trk_high)
iso_label = []
for jj in range(0,len(all_indx)):
j = all_indx[jj]
temp_init_trk = Tracklet()
temp_init_trk.hist = Trk[j].A_model_tail
temp_init_trk.h = Trk[j].state[-1][3]
temp_init_trk.w = Trk[j].state[-1][2]
temp_init_trk.FMotion = Trk[j].FMotion
XX,PP = mot_motion_model_generation(Trk[j],param,'Backward',nargout = 2)
temp_init_trk.BMotion.X = XX
temp_init_trk.BMotion.P = PP
temp_init_trk.last_update = Trk[j].last_update
temp_init_trk.init_time = Trk[j].ifr
temp_init_trk.end_time = Trk[j].last_update
init_trk.append(temp_init_trk)
thr = param.obs_thr
score_trk = mot_eval_association_matrix(init_trk,window_trk,param,'Trk',ILDA)
print("score_trk matrix:",score_trk)
matching,Affinity = mot_association_hungarian(score_trk,thr)
alpha = param.alpha
rm_idx = []
print("matching matrix:",matching)
#association the tracklet in the window to init tracklets
for m in range(0,len(Affinity)):
w_idx = all_indx_window[matching[0,m]]
init_idx = all_indx[matching[1,m]]
fr1 = Tracklets_window[w_idx].ifr
fr2 = Tracklets_window[w_idx].last_update
for kk in range(fr1,fr2):
ListInsert(Trk[init_idx].state,kk,Tracklets_window[w_idx].state[kk],[])
numHyp = len(Tracklets_window[w_idx].hyp.score)
#copy hyp information from window_tracklets to init_tracklets
for kk in range(fr1,numHyp):
mot_tracklets_concat(Trk[init_idx],Tracklets_window[w_idx],kk,param)
XX = np.array([0,0,0,0])
numState = len(Trk[init_idx].state)
XX[0] = Trk[init_idx].state[fr1][0]
XX[2] = Trk[init_idx].state[fr1][1]
PP = param.P
Trk[init_idx].type = 'High'
mot_appearance_model_update(Trk[init_idx])
rm_idx.append(w_idx)
if len(rm_idx) != 0:
print("removed tracklets ids of which are {}".format(rm_idx))
for idx in sorted(rm_idx,reverse=True):
#mot_count_ids(tracklets_window[idx],param)
Tracklets_window.pop(idx)
return Trk
def MOT_Local_Association(Trk=None,
detections=None,
Obs_grap=None,
param=None,
fr=None,
rgbimg=None,
nargout1=None,
*args,
**kwargs):
ILDA = param.ILDA
Z_meas = detections[fr] #represent the detections in current frame
Z_meas = [detection[2:6] for detection in Z_meas
] #choose the location(x,y,w,h) from raw data
ystates_ids = [detection[1] for detection in detections[fr]]
ystate = Z_meas
obs_grap = Obs_Graph()
Obs_grap.append(obs_grap)
Obs_grap[fr].iso_idx = np.ones((len(detections[fr])))
obs_info = Obs_info()
obs_info.ystate = []
obs_info.yhist = []
obs_info.ystates_ids = []
if ~(np.all(ystate == 0)):
yhist = mot_appearance_model_generation(
rgbimg, param, ystate,
True) #get the apperance model of the detections in current frame
obs_info.ystate = ystate
obs_info.yhist = yhist
obs_info.ystates_ids = ystates_ids
tidx, _, _ = Idx2Types(
Trk, 'High') #return the index of high confidence Tracklet
yidx = np.where(Obs_grap[fr].iso_idx == 1)[
0] #return the index of detections in current frame
if len(tidx) != 0 and len(yidx) != 0:
Trk_high = []
Z_set = []
trk_label = []
conf_set = []
#to generate a list of high confidence tracklet
for ii in range(0, len(tidx)):
i = tidx[ii]
temp_Trk_high = Tracklet()
temp_Trk_high.hist = Trk[i].A_Model
temp_Trk_high.FMotion = Trk[i].FMotion
temp_Trk_high.last_update = Trk[i].last_update
temp_Trk_high.h = Trk[i].state[-1][3]
temp_Trk_high.w = Trk[i].state[-1][2]
temp_Trk_high.type = Trk[i].type
Trk_high.append(temp_Trk_high)
trk_label.append(Trk[i].label)
conf_set.append(Trk[i].Conf_prob)
# For detections in current frame
meas_label = []
for jj in range(0, len(yidx)):
j = yidx[
jj] #get the index of the j detection of detections in current frames
z_item = Z_item(
) #generate a object in order to record every detection's information include x,y,w,h, and Apperance model
z_item.hist = yhist[:, :, j]
z_item.pos = [ystate[j][0], ystate[j][1]]
z_item.h = ystate[j][3]
z_item.w = ystate[j][2]
Z_set.append(z_item)
meas_label.append(j)
thr = param.obs_thr
#generate the score matrix between Tracklet with high confidence and Detections in current frame
score_mat = mot_eval_association_matrix(Trk_high, Z_set, param,
'Obs', ILDA)
confidence = []
for i in Trk:
confidence.append(i.Conf_prob)
print(score_mat)
#matching by hungarian Algorithm the the socre matrix shape should be[len(high_trk),len(high_trk]
matching, __ = mot_association_hungarian(score_mat, thr, nargout=2)
print(matching)
if matching.size != 0:
for i in range(0, matching.shape[1]):
ass_idx_row = matching[0, i]
ta_idx = tidx[ass_idx_row]
ass_idx_col = matching[1, i]
ya_idx = yidx[ass_idx_col]
ListInsert(Trk[ta_idx].hyp.score, fr,
score_mat[matching[0, i], matching[1, i]], 0)
ListInsert(Trk[ta_idx].hyp.ystate, fr, ystate[ya_idx], [])
ListInsert(Trk[ta_idx].hyp.ystates_ids, fr,
ystates_ids[ya_idx], -1)
#Trk[ta_idx].hyp.score.append(score_mat[matching[0,i],matching[1,i]])
#Trk[ta_idx].hyp.ystate.append(ystate[ya_idx])
Trk[ta_idx].hyp.new_tmpl = yhist[:, :, ya_idx]
Trk[ta_idx].last_update = fr
Obs_grap[fr].iso_idx[ya_idx] = 0
return Trk, Obs_grap, obs_info
def MOT_Window_Association(Tracklets_window=None,
param=None,
fr=None,
detections=None,
Obs_grap_window=None,
*args,
**kwargs):
#get the head and tail list of tracklet in order to decline the calculation
head_index, tail_index = getHeadAndTailTrk(Tracklets_window)
ILDA = param.ILDA
all_indx_window = [i for i in range(0, len(Tracklets_window))]
window_trk_head = []
window_trk_tail = []
High_trk = []
Low_trk = []
Y_set = []
# For trackletin the window with head A_Model
for jj in range(0, len(head_index)):
j = head_index[jj]
temp_Trk = Tracklet()
temp_Trk.hist = Tracklets_window[j].A_model_tail
temp_Trk.h = Tracklets_window[j].state[-1][3]
temp_Trk.w = Tracklets_window[j].state[-1][2]
temp_Trk.FMotion = Tracklets_window[j].FMotion
XX, PP = mot_motion_model_generation(Tracklets_window[j], param,
'Forward')
temp_Trk.BMotion.X = XX
temp_Trk.BMotion.P = PP
temp_Trk.last_update = Tracklets_window[j].last_update
temp_Trk.init_time = Tracklets_window[j].ifr
temp_Trk.end_time = Tracklets_window[j].last_update
window_trk_head.append(temp_Trk)
iso_label = []
# For trackletin the window with tail A_Model
for jj in range(0, len(tail_index)):
j = tail_index[jj]
temp_Tracklets_window = Tracklet()
temp_Tracklets_window.hist = Tracklets_window[j].A_model_head
temp_Tracklets_window.h = Tracklets_window[j].state[
Tracklets_window[j].ifr][3]
temp_Tracklets_window.w = Tracklets_window[j].state[
Tracklets_window[j].ifr][2]
temp_Tracklets_window.FMotion = Tracklets_window[j].FMotion
XX, PP = mot_motion_model_generation(Tracklets_window[j], param,
'Backward')
temp_Tracklets_window.BMotion.X = XX
temp_Tracklets_window.BMotion.P = PP
temp_Tracklets_window.last_update = Tracklets_window[j].last_update
temp_Tracklets_window.init_time = Tracklets_window[j].ifr
temp_Tracklets_window.end_time = Tracklets_window[j].last_update
window_trk_tail.append(temp_Tracklets_window)
thr = param.obs_thr
print(1111)
score_trk = mot_eval_association_matrix(window_trk_head, window_trk_tail,
param, 'Trk', ILDA)
print(score_trk, "score_trk matrix:")
matching, Affinity = mot_association_hungarian(score_trk, thr)
alpha = param.alpha
rm_idx = []
print(matching, "matching matrix:")
#association the tracklet in the window to init tracklets
for m in range(0, len(Affinity)):
head_idx = head_index[matching[0, m]]
tail_idx = tail_index[matching[1, m]]
print(
"concat the tracklets whose ids is {} and {}".format(
head_idx, tail_idx), "----" * 30)
fr1 = Tracklets_window[tail_idx].ifr
fr2 = Tracklets_window[tail_idx].last_update
for kk in range(fr1, fr2):
ListInsert(Tracklets_window[head_idx].state, kk,
Tracklets_window[tail_idx].state[kk], [])
numHyp = len(Tracklets_window[tail_idx].hyp.score)
#copy hyp information from window_tracklets to init_tracklets
for kk in range(fr1, numHyp):
mot_tracklets_concat(Tracklets_window[head_idx],
Tracklets_window[tail_idx], kk, param)
mot_check_idsw(Tracklets_window[head_idx])
XX = np.array([0, 0, 0, 0])
numState = len(Tracklets_window[head_idx].state)
XX[0] = Tracklets_window[head_idx].state[fr1][0]
XX[2] = Tracklets_window[head_idx].state[fr1][1]
PP = param.P
Tracklets_window[head_idx].type = 'High'
mot_appearance_model_update(Tracklets_window[head_idx], param)
rm_idx.append(tail_idx)
if len(rm_idx) != 0:
print("removed tracklets ids of which are {}".format(rm_idx))
for idx in sorted(rm_idx, reverse=True):
Tracklets_window.pop(idx)
return Tracklets_window, Obs_grap_window