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add class number in the input and output of the update function. #135

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add class number in the input and output of the update function. #135

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fa22e47
add class in input output
KC-Zhang May 19, 2021
23fe02e
Merge pull request #1 from KC-Zhang/includeClassInInputOutput
May 19, 2021
84502de
output conf too
KC-Zhang May 19, 2021
b7ecd5a
remove tkagg because ubuntu 16.04 doesn't work with it
May 21, 2021
0a5ed7d
add git ignore for pycache
KC-Zhang May 21, 2021
03aa1e3
cycle id number to pervent overflow
KC-Zhang May 27, 2021
686ea1d
add requirement
KC-Zhang Jun 23, 2021
03c14f4
fix
Jun 23, 2021
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1 change: 1 addition & 0 deletions .gitignore
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Original file line number Diff line number Diff line change
@@ -1,2 +1,3 @@
output/
mot_benchmark
__pycache__
2 changes: 2 additions & 0 deletions requirements.txt
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Original file line number Diff line number Diff line change
@@ -1,3 +1,5 @@
wheel==0.34.2
numpy
filterpy==1.4.5
scikit-image==0.17.2
lap==0.4.0
21 changes: 13 additions & 8 deletions sort.py
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Expand Up @@ -20,7 +20,6 @@
import os
import numpy as np
import matplotlib
matplotlib.use('TkAgg')
import matplotlib.pyplot as plt
import matplotlib.patches as patches
from skimage import io
Expand Down Expand Up @@ -96,6 +95,7 @@ class KalmanBoxTracker(object):
This class represents the internal state of individual tracked objects observed as bbox.
"""
count = 0
countReset = 10000
def __init__(self,bbox):
"""
Initialises a tracker using initial bounding box.
Expand All @@ -114,11 +114,14 @@ def __init__(self,bbox):
self.kf.x[:4] = convert_bbox_to_z(bbox)
self.time_since_update = 0
self.id = KalmanBoxTracker.count
KalmanBoxTracker.count += 1
KalmanBoxTracker.count = (KalmanBoxTracker.count+1) % KalmanBoxTracker.countReset
self.history = []
self.hits = 0
self.hit_streak = 0
self.age = 0
self.original_id = bbox[5]
self.original_conf = bbox[4]


def update(self,bbox):
"""
Expand All @@ -128,6 +131,8 @@ def update(self,bbox):
self.history = []
self.hits += 1
self.hit_streak += 1
self.original_id = bbox[5]
self.original_conf = bbox[4]
self.kf.update(convert_bbox_to_z(bbox))

def predict(self):
Expand Down Expand Up @@ -207,7 +212,7 @@ def __init__(self, max_age=1, min_hits=3, iou_threshold=0.3):
self.trackers = []
self.frame_count = 0

def update(self, dets=np.empty((0, 5))):
def update(self, dets=np.empty((0, 6))):
"""
Params:
dets - a numpy array of detections in the format [[x1,y1,x2,y2,score],[x1,y1,x2,y2,score],...]
Expand All @@ -218,12 +223,12 @@ def update(self, dets=np.empty((0, 5))):
"""
self.frame_count += 1
# get predicted locations from existing trackers.
trks = np.zeros((len(self.trackers), 5))
trks = np.zeros((len(self.trackers), 7))
to_del = []
ret = []
for t, trk in enumerate(trks):
pos = self.trackers[t].predict()[0]
trk[:] = [pos[0], pos[1], pos[2], pos[3], 0]
trk[:] = [pos[0], pos[1], pos[2], pos[3], 0, 0, 0]
if np.any(np.isnan(pos)):
to_del.append(t)
trks = np.ma.compress_rows(np.ma.masked_invalid(trks))
Expand All @@ -243,14 +248,14 @@ def update(self, dets=np.empty((0, 5))):
for trk in reversed(self.trackers):
d = trk.get_state()[0]
if (trk.time_since_update < 1) and (trk.hit_streak >= self.min_hits or self.frame_count <= self.min_hits):
ret.append(np.concatenate((d,[trk.id+1])).reshape(1,-1)) # +1 as MOT benchmark requires positive
ret.append(np.concatenate((d,[trk.id+1], [trk.original_id], [trk.original_conf])).reshape(1,-1)) # +1 as MOT benchmark requires positive
i -= 1
# remove dead tracklet
if(trk.time_since_update > self.max_age):
self.trackers.pop(i)
if(len(ret)>0):
return np.concatenate(ret)
return np.empty((0,5))
return np.empty((0,7))

def parse_args():
"""Parse input arguments."""
Expand Down Expand Up @@ -309,7 +314,7 @@ def parse_args():
plt.title(seq + ' Tracked Targets')

start_time = time.time()
trackers = mot_tracker.update(dets)
trackers = mot_tracker.update(np.hstack((dets, np.zeros((dets.shape[0], 1)))))
cycle_time = time.time() - start_time
total_time += cycle_time

Expand Down