| 21 | from models.utils import _tranpose_and_gather_feat |
| 22 | |
| 23 | class STrack(BaseTrack): |
| 24 | shared_kalman = KalmanFilter() |
| 25 | def __init__(self, tlwh, score): |
| 26 | |
| 27 | # wait activate |
| 28 | self._tlwh = np.asarray(tlwh, dtype=np.float) |
| 29 | self.kalman_filter = None |
| 30 | self.mean, self.covariance = None, None |
| 31 | self.is_activated = False |
| 32 | |
| 33 | self.score = score |
| 34 | self.tracklet_len = 0 |
| 35 | |
| 36 | def predict(self): |
| 37 | mean_state = self.mean.copy() |
| 38 | if self.state != TrackState.Tracked: |
| 39 | mean_state[7] = 0 |
| 40 | self.mean, self.covariance = self.kalman_filter.predict(mean_state, self.covariance) |
| 41 | |
| 42 | @staticmethod |
| 43 | def multi_predict(stracks): |
| 44 | if len(stracks) > 0: |
| 45 | multi_mean = np.asarray([st.mean.copy() for st in stracks]) |
| 46 | multi_covariance = np.asarray([st.covariance for st in stracks]) |
| 47 | for i, st in enumerate(stracks): |
| 48 | if st.state != TrackState.Tracked: |
| 49 | multi_mean[i][7] = 0 |
| 50 | multi_mean, multi_covariance = STrack.shared_kalman.multi_predict(multi_mean, multi_covariance) |
| 51 | for i, (mean, cov) in enumerate(zip(multi_mean, multi_covariance)): |
| 52 | stracks[i].mean = mean |
| 53 | stracks[i].covariance = cov |
| 54 | |
| 55 | def activate(self, kalman_filter, frame_id): |
| 56 | """Start a new tracklet""" |
| 57 | self.kalman_filter = kalman_filter |
| 58 | self.track_id = self.next_id() |
| 59 | self.mean, self.covariance = self.kalman_filter.initiate(self.tlwh_to_xyah(self._tlwh)) |
| 60 | |
| 61 | self.tracklet_len = 0 |
| 62 | self.state = TrackState.Tracked |
| 63 | if frame_id == 1: |
| 64 | self.is_activated = True |
| 65 | #self.is_activated = True |
| 66 | self.frame_id = frame_id |
| 67 | self.start_frame = frame_id |
| 68 | |
| 69 | def re_activate(self, new_track, frame_id, new_id=False): |
| 70 | self.mean, self.covariance = self.kalman_filter.update( |
| 71 | self.mean, self.covariance, self.tlwh_to_xyah(new_track.tlwh) |
| 72 | ) |
| 73 | |
| 74 | self.tracklet_len = 0 |
| 75 | self.state = TrackState.Tracked |
| 76 | self.is_activated = True |
| 77 | self.frame_id = frame_id |
| 78 | if new_id: |
| 79 | self.track_id = self.next_id() |
| 80 | self.score = new_track.score |