Method update

tutorials/motr/eval.py:171–190

(self, dt_instances: Instances)

        self.tracker = BYTETracker()

    def update(self, dt_instances: Instances):
        ret = []
        for i in range(len(dt_instances)):
            label = dt_instances.labels[i]
            if label == 0:
                id = dt_instances.obj_idxes[i]
                box_with_score = np.concatenate([dt_instances.boxes[i], dt_instances.scores[i:i+1]], axis=-1)
                ret.append(np.concatenate((box_with_score, [id + 1])).reshape(1, -1))  # +1 as MOT benchmark requires positive

        if len(ret) > 0:
            online_targets = self.tracker.update(np.concatenate(ret))
            
            online_ret = []
            for t in online_targets:
                online_ret.append(np.array([t.tlbr[0], t.tlbr[1], t.tlbr[2], t.tlbr[3], t.score, t.track_id]).reshape(1, -1))

            if len(online_ret) > 0:
                return np.concatenate(online_ret)
        
        return np.empty((0, 6))