def remove_duplicate_stracks(stracksa, stracksb):
pdist = matching.iou_distance(stracksa, stracksb)
pairs = np.where(pdist < 0.15)
dupa, dupb = list(), list()
for p, q in zip(*pairs):
timep = stracksa[p].frame_id - stracksa[p].start_frame
timeq = stracksb[q].frame_id - stracksb[q].start_frame
if timep > timeq:
dupb.append(q)
else:
dupa.append(p)
resa = [t for i, t in enumerate(stracksa) if not i in dupa]
resb = [t for i, t in enumerate(stracksb) if not i in dupb]
return resa, resb
def remove_duplicate_tracks(tracks_a, tracks_b):
p_dist = matching.iou_distance(tracks_a, tracks_b)
pairs = np.where(p_dist < 0.15)
dup_a, dup_b = list(), list()
for p, q in zip(*pairs):
time_p = tracks_a[p].frame_id - tracks_a[p].start_frame
time_q = tracks_b[q].frame_id - tracks_b[q].start_frame
if time_p > time_q:
dup_b.append(q)
else:
dup_a.append(p)
res_a = [t for i, t in enumerate(tracks_a) if not i in dup_a]
res_b = [t for i, t in enumerate(tracks_b) if not i in dup_b]
return res_a, res_b
def update(self, im_blob, img0):
self.frame_id += 1
activated_starcks = []
refind_stracks = []
lost_stracks = []
removed_stracks = []
width = img0.shape[1]
height = img0.shape[0]
inp_height = im_blob.shape[2]
inp_width = im_blob.shape[3]
c = np.array([width / 2., height / 2.], dtype=np.float32)
s = max(float(inp_width) / float(inp_height) * height, width) * 1.0
meta = {
'c': c,
's': s,
'out_height': inp_height // self.opt.down_ratio,
'out_width': inp_width // self.opt.down_ratio
}
''' Step 1: Network forward, get detections & embeddings'''
with torch.no_grad():
output = self.model(im_blob)[-1]
hm = output['hm'].sigmoid_()
wh = output['wh']
id_feature = output['id']
id_feature = F.normalize(id_feature, dim=1)
reg = output['reg'] if self.opt.reg_offset else None
dets, inds = mot_decode(hm,
wh,
reg=reg,
cat_spec_wh=self.opt.cat_spec_wh,
K=self.opt.K)
id_feature = _tranpose_and_gather_feat(id_feature, inds)
id_feature = id_feature.squeeze(0)
id_feature = id_feature.cpu().numpy()
#torch.Size([1, 128, 6])
dets = self.post_process(dets, meta) #
dets = self.merge_outputs([dets])[1] #
remain_inds = dets[:, 4] > self.opt.conf_thres
dets = dets[remain_inds]
id_feature = id_feature[remain_inds]
# vis
'''
for i in range(0, dets.shape[0]):
bbox = dets[i][0:4]
cv2.rectangle(img0, (bbox[0], bbox[1]),
(bbox[2], bbox[3]),
(0, 255, 0), 2)
cv2.imshow('dets', img0)
cv2.waitKey(0)
id0 = id0-1
'''
if len(dets) > 0:
'''Detections'''
occlution = np.zeros(shape=(len(dets), len(dets)))
for i in range(len(dets)):
for j in range(i + 1, len(dets)):
occ1, occ2 = tlbr_occlution(dets[i, :4], dets[j, :4])
occlution[i, j] = occ1
occlution[j, i] = occ2
occlution = np.sum(occlution, axis=0)
detections = [
STrack(STrack.tlbr_to_tlwh(tlbrs[:4]), tlbrs[4], f,
self.opt.maxLen, occ)
for (tlbrs, f, occ) in zip(dets[:, :5], id_feature, occlution)
]
else:
detections = []
''' Add newly detected tracklets to tracked_stracks'''
unconfirmed = []
tracked_stracks = [] # type: list[STrack]
for track in self.tracked_stracks:
if not track.is_activated:
unconfirmed.append(track)
else:
tracked_stracks.append(track)
''' Step 2: First association, with embedding'''
strack_pool = joint_stracks(tracked_stracks, self.lost_stracks)
# Predict the current location with KF
#for strack in strack_pool:
#strack.predict()
STrack.multi_predict(strack_pool)
if self.opt.queue_dist:
#we don't use occlution in detection for now
dists = matching.queue_embedding_distance(strack_pool,
detections,
self.opt,
metric="cosine",
occlution=None)
else:
dists = matching.embedding_distance(strack_pool, detections)
#dists = matching.gate_cost_matrix(self.kalman_filter, dists, strack_pool, detections)
dists = matching.fuse_motion(self.kalman_filter, dists, strack_pool, detections, only_position=self.opt.only_position ,\
lambda_=self.opt.lambda_)
matches, u_track, u_detection = matching.linear_assignment(
dists, thresh=self.opt.matching_threshold)
for itracked, idet in matches:
track = strack_pool[itracked]
det = detections[idet]
if track.state == TrackState.Tracked:
if self.opt.queue_dist:
track.update(detections[idet], self.frame_id,
occlution[idet])
else:
track.update(detections[idet], self.frame_id)
activated_starcks.append(track)
else:
track.re_activate(det, self.frame_id, new_id=False)
refind_stracks.append(track)
''' Step 3: Second association, with IOU'''
detections = [detections[i] for i in u_detection]
r_tracked_stracks = [
strack_pool[i] for i in u_track
if strack_pool[i].state == TrackState.Tracked
]
dists = matching.iou_distance(r_tracked_stracks, detections)
matches, u_track, u_detection = matching.linear_assignment(dists,
thresh=0.5)
for itracked, idet in matches:
track = r_tracked_stracks[itracked]
det = detections[idet]
if track.state == TrackState.Tracked:
if self.opt.queue_dist:
track.update(det, self.frame_id, occlution[idet])
else:
track.update(det, self.frame_id)
activated_starcks.append(track)
else:
track.re_activate(det, self.frame_id, new_id=False)
refind_stracks.append(track)
for it in u_track:
track = r_tracked_stracks[it]
if not track.state == TrackState.Lost:
track.mark_lost()
lost_stracks.append(track)
'''Deal with unconfirmed tracks, usually tracks with only one beginning frame'''
detections = [detections[i] for i in u_detection]
dists = matching.iou_distance(unconfirmed, detections)
matches, u_unconfirmed, u_detection = matching.linear_assignment(
dists, thresh=0.7)
for itracked, idet in matches:
if self.opt.queue_dist:
unconfirmed[itracked].update(detections[idet], self.frame_id,
occlution[idet])
else:
unconfirmed[itracked].update(detections[idet], self.frame_id)
activated_starcks.append(unconfirmed[itracked])
for it in u_unconfirmed:
track = unconfirmed[it]
track.mark_removed()
removed_stracks.append(track)
""" Step 4: Init new stracks"""
for inew in u_detection:
track = detections[inew]
if track.score < self.det_thresh:
continue
track.activate(self.kalman_filter, self.frame_id)
activated_starcks.append(track)
""" Step 5: Update state"""
for track in self.lost_stracks:
if self.frame_id - track.end_frame > self.max_time_lost:
track.mark_removed()
removed_stracks.append(track)
# print('Ramained match {} s'.format(t4-t3))
self.tracked_stracks = [
t for t in self.tracked_stracks if t.state == TrackState.Tracked
]
self.tracked_stracks = joint_stracks(self.tracked_stracks,
activated_starcks)
self.tracked_stracks = joint_stracks(self.tracked_stracks,
refind_stracks)
self.lost_stracks = sub_stracks(self.lost_stracks,
self.tracked_stracks)
self.lost_stracks.extend(lost_stracks)
self.lost_stracks = sub_stracks(self.lost_stracks,
self.removed_stracks)
self.removed_stracks.extend(removed_stracks)
self.tracked_stracks, self.lost_stracks = remove_duplicate_stracks(
self.tracked_stracks, self.lost_stracks)
# get scores of lost tracks
output_stracks = [
track for track in self.tracked_stracks if track.is_activated
]
logger.debug('===========Frame {}=========='.format(self.frame_id))
logger.debug('Activated: {}'.format(
[track.track_id for track in activated_starcks]))
logger.debug('Refind: {}'.format(
[track.track_id for track in refind_stracks]))
logger.debug('Lost: {}'.format(
[track.track_id for track in lost_stracks]))
logger.debug('Removed: {}'.format(
[track.track_id for track in removed_stracks]))
return output_stracks
def update_tracking(self, im_blob, img_0):
"""
:param im_blob:
:param img_0:
:return:
"""
# update frame id
self.frame_id += 1
# 记录跟踪结果
# 记录跟踪结果: 默认只有一类, 修改为多类别, 用defaultdict(list)代替list
# 以class id为key
activated_starcks_dict = defaultdict(list)
refind_stracks_dict = defaultdict(list)
lost_stracks_dict = defaultdict(list)
removed_stracks_dict = defaultdict(list)
output_stracks_dict = defaultdict(list)
height, width = img_0.shape[0], img_0.shape[
1] # H, W of original input image
net_height, net_width = im_blob.shape[2], im_blob.shape[
3] # H, W of net input
c = np.array([width * 0.5, height * 0.5], dtype=np.float32)
s = max(float(net_width) / float(net_height) * height, width) * 1.0
h_out = net_height // self.opt.down_ratio
w_out = net_width // self.opt.down_ratio
''' Step 1: Network forward, get detections & embeddings'''
with torch.no_grad():
output = self.model.forward(im_blob)[-1]
hm = output['hm'].sigmoid_()
wh = output['wh']
reg = output['reg'] if self.opt.reg_offset else None
id_feature = output['id']
id_feature = F.normalize(id_feature, dim=1) # L2 normalize
# 检测和分类结果解析
dets, inds, cls_inds_mask = mot_decode(
heatmap=hm,
wh=wh,
reg=reg,
num_classes=self.opt.num_classes,
cat_spec_wh=self.opt.cat_spec_wh,
K=self.opt.K)
# ----- get ReID feature vector by object class
cls_id_feats = [] # topK feature vectors of each object class
for cls_id in range(self.opt.num_classes): # cls_id starts from 0
# get inds of each object class
cls_inds = inds[:, cls_inds_mask[cls_id]]
# gather feats for each object class
cls_id_feature = _tranpose_and_gather_feat(
id_feature, cls_inds) # inds: 1×128
cls_id_feature = cls_id_feature.squeeze(0) # n × FeatDim
cls_id_feature = cls_id_feature.cpu().numpy()
cls_id_feats.append(cls_id_feature)
# 检测结果后处理
# meta = {'c': c,
# 's': s,
# 'out_height': h_out,
# 'out_width': w_out}
# dets = self.post_process(dets, meta) # using affine matrix
# dets = self.merge_outputs([dets])
dets = map2orig(dets, h_out, w_out, height, width,
self.opt.num_classes) # translate and scale
# ----- 解析每个检测类别
for cls_id in range(self.opt.num_classes): # cls_id从0开始
cls_dets = dets[cls_id]
'''
# 可视化中间的检测结果(每一类)
for i in range(0, cls_dets.shape[0]):
bbox = cls_dets[i][0:4]
cv2.rectangle(img0,
(bbox[0], bbox[1]), # left-top point
(bbox[2], bbox[3]), # right-down point
[0, 255, 255], # yellow
2)
cv2.putText(img0,
id2cls[cls_id],
(bbox[0], bbox[1]),
cv2.FONT_HERSHEY_PLAIN,
1.3,
[0, 0, 255], # red
2)
cv2.imshow('{}'.format(id2cls[cls_id]), img0)
cv2.waitKey(0)
'''
# 过滤掉score得分太低的dets
remain_inds = cls_dets[:, 4] > self.opt.conf_thres
cls_dets = cls_dets[remain_inds]
cls_id_feature = cls_id_feats[cls_id][remain_inds]
if len(cls_dets) > 0:
'''Detections, tlbrs: top left bottom right score'''
cls_detections = [
STrack(STrack.tlbr_to_tlwh(tlbrs[:4]),
tlbrs[4],
feat,
buff_size=30)
for (tlbrs, feat) in zip(cls_dets[:, :5], cls_id_feature)
]
else:
cls_detections = []
# reset the track ids for a different object class
for track in cls_detections:
track.reset_track_id()
''' Add newly detected tracklets to tracked_stracks'''
unconfirmed_dict = defaultdict(list)
tracked_stracks_dict = defaultdict(
list) # type: key(cls_id), value: list[STrack]
for track in self.tracked_stracks_dict[cls_id]:
if not track.is_activated:
unconfirmed_dict[cls_id].append(track)
else:
tracked_stracks_dict[cls_id].append(track)
''' Step 2: First association, with embedding'''
strack_pool_dict = defaultdict(list)
strack_pool_dict[cls_id] = joint_stracks(
tracked_stracks_dict[cls_id], self.lost_stracks_dict[cls_id])
# Predict the current location with KF
# for strack in strack_pool:
STrack.multi_predict(strack_pool_dict[cls_id])
dists = matching.embedding_distance(strack_pool_dict[cls_id],
cls_detections)
dists = matching.fuse_motion(self.kalman_filter, dists,
strack_pool_dict[cls_id],
cls_detections)
matches, u_track, u_detection = matching.linear_assignment(
dists, thresh=0.7) # thresh=0.7
for i_tracked, i_det in matches:
track = strack_pool_dict[cls_id][i_tracked]
det = cls_detections[i_det]
if track.state == TrackState.Tracked:
track.update(cls_detections[i_det], self.frame_id)
activated_starcks_dict[cls_id].append(
track) # for multi-class
else:
track.re_activate(det, self.frame_id, new_id=False)
refind_stracks_dict[cls_id].append(track)
''' Step 3: Second association, with IOU'''
cls_detections = [cls_detections[i] for i in u_detection]
r_tracked_stracks = [
strack_pool_dict[cls_id][i] for i in u_track
if strack_pool_dict[cls_id][i].state == TrackState.Tracked
]
dists = matching.iou_distance(r_tracked_stracks, cls_detections)
matches, u_track, u_detection = matching.linear_assignment(
dists, thresh=0.5) # thresh=0.5
for i_tracked, i_det in matches:
track = r_tracked_stracks[i_tracked]
det = cls_detections[i_det]
if track.state == TrackState.Tracked:
track.update(det, self.frame_id)
activated_starcks_dict[cls_id].append(track)
else:
track.re_activate(det, self.frame_id, new_id=False)
refind_stracks_dict[cls_id].append(track)
for it in u_track:
track = r_tracked_stracks[it]
if not track.state == TrackState.Lost:
track.mark_lost()
lost_stracks_dict[cls_id].append(track)
'''Deal with unconfirmed tracks, usually tracks with only one beginning frame'''
cls_detections = [cls_detections[i] for i in u_detection]
dists = matching.iou_distance(unconfirmed_dict[cls_id],
cls_detections)
matches, u_unconfirmed, u_detection = matching.linear_assignment(
dists, thresh=0.7)
for i_tracked, i_det in matches:
unconfirmed_dict[cls_id][i_tracked].update(
cls_detections[i_det], self.frame_id)
activated_starcks_dict[cls_id].append(
unconfirmed_dict[cls_id][i_tracked])
for it in u_unconfirmed:
track = unconfirmed_dict[cls_id][it]
track.mark_removed()
removed_stracks_dict[cls_id].append(track)
""" Step 4: Init new stracks"""
for i_new in u_detection:
track = cls_detections[i_new]
if track.score < self.det_thresh:
continue
track.activate(self.kalman_filter, self.frame_id)
activated_starcks_dict[cls_id].append(track)
""" Step 5: Update state"""
for track in self.lost_stracks_dict[cls_id]:
if self.frame_id - track.end_frame > self.max_time_lost:
track.mark_removed()
removed_stracks_dict[cls_id].append(track)
# print('Ramained match {} s'.format(t4-t3))
self.tracked_stracks_dict[cls_id] = [
t for t in self.tracked_stracks_dict[cls_id]
if t.state == TrackState.Tracked
]
self.tracked_stracks_dict[cls_id] = joint_stracks(
self.tracked_stracks_dict[cls_id],
activated_starcks_dict[cls_id])
self.tracked_stracks_dict[cls_id] = joint_stracks(
self.tracked_stracks_dict[cls_id], refind_stracks_dict[cls_id])
self.lost_stracks_dict[cls_id] = sub_stracks(
self.lost_stracks_dict[cls_id],
self.tracked_stracks_dict[cls_id])
self.lost_stracks_dict[cls_id].extend(lost_stracks_dict[cls_id])
self.lost_stracks_dict[cls_id] = sub_stracks(
self.lost_stracks_dict[cls_id],
self.removed_stracks_dict[cls_id])
self.removed_stracks_dict[cls_id].extend(
removed_stracks_dict[cls_id])
self.tracked_stracks_dict[cls_id], self.lost_stracks_dict[
cls_id] = remove_duplicate_stracks(
self.tracked_stracks_dict[cls_id],
self.lost_stracks_dict[cls_id])
# get scores of lost tracks
output_stracks_dict[cls_id] = [
track for track in self.tracked_stracks_dict[cls_id]
if track.is_activated
]
logger.debug('===========Frame {}=========='.format(self.frame_id))
logger.debug('Activated: {}'.format(
[track.track_id for track in activated_starcks_dict[cls_id]]))
logger.debug('Refind: {}'.format(
[track.track_id for track in refind_stracks_dict[cls_id]]))
logger.debug('Lost: {}'.format(
[track.track_id for track in lost_stracks_dict[cls_id]]))
logger.debug('Removed: {}'.format(
[track.track_id for track in removed_stracks_dict[cls_id]]))
return output_stracks_dict
def update_tracking(self, im_blob, img_0):
"""
:param im_blob:
:param img_0:
:return:
"""
# update frame id
self.frame_id += 1
# ----- reset the track ids for all object classes in the first frame
if self.frame_id == 1:
MCTrack.init_count(self.opt.num_classes)
# -----
# record tracking results, key: class_id
activated_tracks_dict = defaultdict(list)
refined_tracks_dict = defaultdict(list)
lost_tracks_dict = defaultdict(list)
removed_tracks_dict = defaultdict(list)
output_tracks_dict = defaultdict(list)
height, width = img_0.shape[0], img_0.shape[1] # H, W of original input image
net_height, net_width = im_blob.shape[2], im_blob.shape[3] # H, W of net input
c = np.array([width * 0.5, height * 0.5], dtype=np.float32)
s = max(float(net_width) / float(net_height) * height, width) * 1.0
h_out = net_height // self.opt.down_ratio
w_out = net_width // self.opt.down_ratio
''' Step 1: Network forward, get detections & embeddings'''
with torch.no_grad():
output = self.model.forward(im_blob)[-1]
hm = output['hm'].sigmoid_()
wh = output['wh']
reg = output['reg'] if self.opt.reg_offset else None
id_feature = output['id']
# L2 normalize the reid feature vector
id_feature = F.normalize(id_feature, dim=1)
# detection decoding
dets, inds, cls_inds_mask = mot_decode(heatmap=hm,
wh=wh,
reg=reg,
num_classes=self.opt.num_classes,
cat_spec_wh=self.opt.cat_spec_wh,
K=self.opt.K)
# ----- get ReID feature vector by object class
cls_id_feats = [] # topK feature vectors of each object class
for cls_id in range(self.opt.num_classes): # cls_id starts from 0
# get inds of each object class
cls_inds = inds[:, cls_inds_mask[cls_id]]
# gather feats for each object class
cls_id_feature = _tranpose_and_gather_feat(id_feature, cls_inds) # inds: 1×128
cls_id_feature = cls_id_feature.squeeze(0) # n × FeatDim
cls_id_feature = cls_id_feature.cpu().numpy()
cls_id_feats.append(cls_id_feature)
# translate and scale
dets = map2orig(dets, h_out, w_out, height, width, self.opt.num_classes)
# ----- parse each object class
for cls_id in range(self.opt.num_classes): # cls_id从0开始
cls_dets = dets[cls_id]
# filter out low confidence detections
remain_inds = cls_dets[:, 4] > self.opt.conf_thres
cls_dets = cls_dets[remain_inds]
cls_id_feature = cls_id_feats[cls_id][remain_inds]
if len(cls_dets) > 0:
'''Detections, tlbrs: top left bottom right score'''
cls_detects = [
MCTrack(MCTrack.tlbr_to_tlwh(tlbrs[:4]), tlbrs[4], feat, self.opt.num_classes, cls_id, 30)
for (tlbrs, feat) in zip(cls_dets[:, :5], cls_id_feature)
]
else:
cls_detects = []
''' Add newly detected tracks to tracked_tracks'''
unconfirmed_dict = defaultdict(list)
tracked_tracks_dict = defaultdict(list)
for track in self.tracked_tracks_dict[cls_id]:
if not track.is_activated:
unconfirmed_dict[cls_id].append(track)
else:
tracked_tracks_dict[cls_id].append(track)
''' Step 2: First association, with embedding'''
# building tracking pool for the current frame
track_pool_dict = defaultdict(list)
track_pool_dict[cls_id] = join_tracks(tracked_tracks_dict[cls_id], self.lost_tracks_dict[cls_id])
# Predict the current location with KF
Track.multi_predict(track_pool_dict[cls_id])
dists = matching.embedding_distance(track_pool_dict[cls_id], cls_detects)
dists = matching.fuse_motion(self.kalman_filter, dists, track_pool_dict[cls_id], cls_detects)
matches, u_track, u_detection = matching.linear_assignment(dists, thresh=0.7) # thresh=0.7
for i_tracked, i_det in matches:
track = track_pool_dict[cls_id][i_tracked]
det = cls_detects[i_det]
if track.state == TrackState.Tracked:
track.update(cls_detects[i_det], self.frame_id)
activated_tracks_dict[cls_id].append(track) # for multi-class
else:
track.re_activate(det, self.frame_id, new_id=False)
refined_tracks_dict[cls_id].append(track)
''' Step 3: Second association, with IOU'''
cls_detects = [cls_detects[i] for i in u_detection]
r_tracked_tracks = [track_pool_dict[cls_id][i]
for i in u_track if track_pool_dict[cls_id][i].state == TrackState.Tracked]
dists = matching.iou_distance(r_tracked_tracks, cls_detects)
matches, u_track, u_detection = matching.linear_assignment(dists, thresh=0.5) # thresh=0.5
for i_tracked, i_det in matches:
track = r_tracked_tracks[i_tracked]
det = cls_detects[i_det]
if track.state == TrackState.Tracked:
track.update(det, self.frame_id)
activated_tracks_dict[cls_id].append(track)
else:
track.re_activate(det, self.frame_id, new_id=False)
refined_tracks_dict[cls_id].append(track)
for it in u_track:
track = r_tracked_tracks[it]
if not track.state == TrackState.Lost:
track.mark_lost()
lost_tracks_dict[cls_id].append(track)
'''Deal with unconfirmed tracks, usually tracks with only one beginning frame'''
cls_detects = [cls_detects[i] for i in u_detection]
dists = matching.iou_distance(unconfirmed_dict[cls_id], cls_detects)
matches, u_unconfirmed, u_detection = matching.linear_assignment(dists, thresh=0.7)
for i_tracked, i_det in matches:
unconfirmed_dict[cls_id][i_tracked].update(cls_detects[i_det], self.frame_id)
activated_tracks_dict[cls_id].append(unconfirmed_dict[cls_id][i_tracked])
for it in u_unconfirmed:
track = unconfirmed_dict[cls_id][it]
track.mark_removed()
removed_tracks_dict[cls_id].append(track)
""" Step 4: Init new tracks"""
for i_new in u_detection:
track = cls_detects[i_new]
if track.score < self.det_thresh:
continue
track.activate(self.kalman_filter, self.frame_id)
activated_tracks_dict[cls_id].append(track)
""" Step 5: Update state"""
for track in self.lost_tracks_dict[cls_id]:
if self.frame_id - track.end_frame > self.max_time_lost:
track.mark_removed()
removed_tracks_dict[cls_id].append(track)
# print('Ramained match {} s'.format(t4-t3))
self.tracked_tracks_dict[cls_id] = [t for t in self.tracked_tracks_dict[cls_id] if
t.state == TrackState.Tracked]
self.tracked_tracks_dict[cls_id] = join_tracks(self.tracked_tracks_dict[cls_id],
activated_tracks_dict[cls_id])
self.tracked_tracks_dict[cls_id] = join_tracks(self.tracked_tracks_dict[cls_id],
refined_tracks_dict[cls_id])
self.lost_tracks_dict[cls_id] = sub_tracks(self.lost_tracks_dict[cls_id],
self.tracked_tracks_dict[cls_id])
self.lost_tracks_dict[cls_id].extend(lost_tracks_dict[cls_id])
self.lost_tracks_dict[cls_id] = sub_tracks(self.lost_tracks_dict[cls_id],
self.removed_tracks_dict[cls_id])
self.removed_tracks_dict[cls_id].extend(removed_tracks_dict[cls_id])
self.tracked_tracks_dict[cls_id], self.lost_tracks_dict[cls_id] = remove_duplicate_tracks(
self.tracked_tracks_dict[cls_id],
self.lost_tracks_dict[cls_id])
# get scores of lost tracks
output_tracks_dict[cls_id] = [track for track in self.tracked_tracks_dict[cls_id] if track.is_activated]
logger.debug('===========Frame {}=========='.format(self.frame_id))
logger.debug('Activated: {}'.format(
[track.track_id for track in activated_tracks_dict[cls_id]]))
logger.debug('Refind: {}'.format(
[track.track_id for track in refined_tracks_dict[cls_id]]))
logger.debug('Lost: {}'.format(
[track.track_id for track in lost_tracks_dict[cls_id]]))
logger.debug('Removed: {}'.format(
[track.track_id for track in removed_tracks_dict[cls_id]]))
return output_tracks_dict
def update(self, im_blob, img0):
self.frame_id += 1
# 记录跟踪结果
activated_starcks = []
refind_stracks = []
lost_stracks = []
removed_stracks = []
width = img0.shape[1]
height = img0.shape[0]
inp_height = im_blob.shape[2]
inp_width = im_blob.shape[3]
c = np.array([width / 2., height / 2.], dtype=np.float32)
s = max(float(inp_width) / float(inp_height) * height, width) * 1.0
meta = {
'c': c,
's': s,
'out_height': inp_height // self.opt.down_ratio,
'out_width': inp_width // self.opt.down_ratio
}
''' Step 1: Network forward, get detections & embeddings'''
with torch.no_grad(): # 前向推断过程不需要梯度反传
output = self.model.forward(im_blob)[-1]
hm = output['hm'].sigmoid_()
# print("hm shape ", hm.shape, "hm:\n", hm)
wh = output['wh']
# print("wh shape ", wh.shape, "wh:\n", wh)
id_feature = output['id']
id_feature = F.normalize(id_feature, dim=1)
reg = output['reg'] if self.opt.reg_offset else None
# print("reg shape ", reg.shape, "reg:\n", reg)
# 检测和分类结果解析
dets, inds = mot_decode(
heat=hm, # heatmap
wh=wh,
reg=reg,
cat_spec_wh=self.opt.cat_spec_wh,
K=self.opt.K)
# 组织用于Re-IDd的特征向量
id_feature = _tranpose_and_gather_feat(id_feature, inds)
id_feature = id_feature.squeeze(0) # K × FeatDim
id_feature = id_feature.cpu().numpy()
# 检测结果后处理
dets = self.post_process(dets, meta)
dets = self.merge_outputs([dets])[1]
# 过滤掉score得分太低的dets
remain_inds = dets[:, 4] > self.opt.conf_thres
dets = dets[remain_inds]
id_feature = id_feature[remain_inds]
# vis可视化bbox
'''
for i in range(0, dets.shape[0]):
bbox = dets[i][0:4]
cv2.rectangle(img0,
(bbox[0], bbox[1]), # left-top point
(bbox[2], bbox[3]), # right-down point
(0, 255, 0),
2)
cv2.imshow('dets', img0)
cv2.waitKey(0)
id0 = id0-1
'''
if len(dets) > 0:
'''Detections, tlbrs: top left bottom right score'''
detections = [
STrack(STrack.tlbr_to_tlwh(tlbrs[:4]),
tlbrs[4],
feat,
buff_size=30)
for (tlbrs, feat) in zip(dets[:, :5], id_feature)
]
else:
detections = []
''' Add newly detected tracklets to tracked_stracks'''
unconfirmed = []
tracked_stracks = [] # type: list[STrack]
for track in self.tracked_stracks:
if not track.is_activated:
unconfirmed.append(track)
else:
tracked_stracks.append(track)
''' Step 2: First association, with embedding'''
strack_pool = joint_stracks(tracked_stracks, self.lost_stracks)
# Predict the current location with KF
# for strack in strack_pool:
# strack.predict()
STrack.multi_predict(strack_pool)
dists = matching.embedding_distance(strack_pool, detections)
# dists = matching.gate_cost_matrix(self.kalman_filter, dists, strack_pool, detections)
dists = matching.fuse_motion(self.kalman_filter, dists, strack_pool,
detections)
matches, u_track, u_detection = matching.linear_assignment(dists,
thresh=0.7)
for i_tracked, i_det in matches:
track = strack_pool[i_tracked]
det = detections[i_det]
if track.state == TrackState.Tracked:
track.update(detections[i_det], self.frame_id)
activated_starcks.append(track)
else:
track.re_activate(det, self.frame_id, new_id=False)
refind_stracks.append(track)
''' Step 3: Second association, with IOU'''
detections = [detections[i] for i in u_detection]
r_tracked_stracks = [
strack_pool[i] for i in u_track
if strack_pool[i].state == TrackState.Tracked
]
dists = matching.iou_distance(r_tracked_stracks, detections)
matches, u_track, u_detection = matching.linear_assignment(dists,
thresh=0.5)
for i_tracked, i_det in matches:
track = r_tracked_stracks[i_tracked]
det = detections[i_det]
if track.state == TrackState.Tracked:
track.update(det, self.frame_id)
activated_starcks.append(track)
else:
track.re_activate(det, self.frame_id, new_id=False)
refind_stracks.append(track)
for it in u_track:
track = r_tracked_stracks[it]
if not track.state == TrackState.Lost:
track.mark_lost()
lost_stracks.append(track)
'''Deal with unconfirmed tracks, usually tracks with only one beginning frame'''
detections = [detections[i] for i in u_detection]
dists = matching.iou_distance(unconfirmed, detections)
matches, u_unconfirmed, u_detection = matching.linear_assignment(
dists, thresh=0.7)
for i_tracked, i_det in matches:
unconfirmed[i_tracked].update(detections[i_det], self.frame_id)
activated_starcks.append(unconfirmed[i_tracked])
for it in u_unconfirmed:
track = unconfirmed[it]
track.mark_removed()
removed_stracks.append(track)
""" Step 4: Init new stracks"""
for i_new in u_detection:
track = detections[i_new]
if track.score < self.det_thresh:
continue
track.activate(self.kalman_filter, self.frame_id)
activated_starcks.append(track)
""" Step 5: Update state"""
for track in self.lost_stracks:
if self.frame_id - track.end_frame > self.max_time_lost:
track.mark_removed()
removed_stracks.append(track)
# print('Ramained match {} s'.format(t4-t3))
self.tracked_stracks = [
t for t in self.tracked_stracks if t.state == TrackState.Tracked
]
self.tracked_stracks = joint_stracks(self.tracked_stracks,
activated_starcks)
self.tracked_stracks = joint_stracks(self.tracked_stracks,
refind_stracks)
self.lost_stracks = sub_stracks(self.lost_stracks,
self.tracked_stracks)
self.lost_stracks.extend(lost_stracks)
self.lost_stracks = sub_stracks(self.lost_stracks,
self.removed_stracks)
self.removed_stracks.extend(removed_stracks)
self.tracked_stracks, self.lost_stracks = remove_duplicate_stracks(
self.tracked_stracks, self.lost_stracks)
# get scores of lost tracks
output_stracks = [
track for track in self.tracked_stracks if track.is_activated
]
logger.debug('===========Frame {}=========='.format(self.frame_id))
logger.debug('Activated: {}'.format(
[track.track_id for track in activated_starcks]))
logger.debug('Refind: {}'.format(
[track.track_id for track in refind_stracks]))
logger.debug('Lost: {}'.format(
[track.track_id for track in lost_stracks]))
logger.debug('Removed: {}'.format(
[track.track_id for track in removed_stracks]))
return output_stracks
