| 9 | import copy |
| 10 | |
| 11 | class Tracker(object): |
| 12 | def __init__(self, score_thresh, max_age=32): |
| 13 | self.score_thresh = score_thresh |
| 14 | self.max_age = max_age |
| 15 | self.id_count = 0 |
| 16 | self.tracks_dict = dict() |
| 17 | self.tracks = list() |
| 18 | self.unmatched_tracks = list() |
| 19 | self.reset_all() |
| 20 | |
| 21 | def reset_all(self): |
| 22 | self.id_count = 0 |
| 23 | self.tracks_dict = dict() |
| 24 | self.tracks = list() |
| 25 | self.unmatched_tracks = list() |
| 26 | |
| 27 | def init_track(self, results): |
| 28 | |
| 29 | scores = results["scores"] |
| 30 | classes = results["labels"] |
| 31 | bboxes = results["boxes"] # x1y1x2y2 |
| 32 | |
| 33 | ret = list() |
| 34 | ret_dict = dict() |
| 35 | for idx in range(scores.shape[0]): |
| 36 | if scores[idx] >= self.score_thresh: |
| 37 | self.id_count += 1 |
| 38 | obj = dict() |
| 39 | obj["score"] = float(scores[idx]) |
| 40 | obj["bbox"] = bboxes[idx, :].cpu().numpy().tolist() |
| 41 | obj["tracking_id"] = self.id_count |
| 42 | # obj['vxvy'] = [0.0, 0.0] |
| 43 | obj['active'] = 1 |
| 44 | obj['age'] = 1 |
| 45 | ret.append(obj) |
| 46 | ret_dict[idx] = obj |
| 47 | |
| 48 | self.tracks = ret |
| 49 | self.tracks_dict = ret_dict |
| 50 | return copy.deepcopy(ret) |
| 51 | |
| 52 | |
| 53 | def step(self, output_results): |
| 54 | scores = output_results["scores"] |
| 55 | classes = output_results["labels"] |
| 56 | bboxes = output_results["boxes"] # x1y1x2y2 |
| 57 | track_bboxes = output_results["track_boxes"] if "track_boxes" in output_results else None # x1y1x2y2 |
| 58 | |
| 59 | results = list() |
| 60 | results_dict = dict() |
| 61 | |
| 62 | tracks = list() |
| 63 | |
| 64 | for idx in range(scores.shape[0]): |
| 65 | if idx in self.tracks_dict and track_bboxes is not None: |
| 66 | self.tracks_dict[idx]["bbox"] = track_bboxes[idx, :].cpu().numpy().tolist() |
| 67 | |
| 68 | if scores[idx] >= self.score_thresh: |