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fine tuning SORT

This commit is contained in:
CZC-123 2023-08-15 22:19:11 +08:00
parent b23ee6d509
commit 337ce02386
2 changed files with 22 additions and 1 deletions
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20
algorithm/mot/sv_mot.cpp
View File

@ -195,6 +195,8 @@ void SORT::update(TargetsInFrame& tgts)
tracklet.age = 0;
tracklet.hits = 1;
tracklet.misses = 0;
tracklet.frame_id=tgts.frame_id;
tracklet.tentative = true;
// initate the motion
pair<Matrix<double, 8, 1>, Matrix<double, 8, 8> > motion = kf.initiate(tracklet.bbox);
tracklet.mean = motion.first;
@ -243,12 +245,13 @@ void SORT::update(TargetsInFrame& tgts)
int detectionIndex = match.second;
if (trackletIndex >= 0 && detectionIndex >= 0)
{
if (iouMatrix[match.first][match.second] >= 0)
if (iouMatrix[match.first][match.second] >= _iou_threshold)//iou_thrshold
{
sv::Box box;
tgts.targets[detectionIndex].getBox(box);
this->_tracklets[trackletIndex].age = 0;
this->_tracklets[trackletIndex].hits++;
this->_tracklets[trackletIndex].frame_id=tgts.frame_id;
this->_tracklets[trackletIndex].bbox << box.x1, box.y1, box.x2-box.x1, box.y2-box.y1;
auto[mean, covariance] = kf.update(this->_tracklets[trackletIndex].mean, this->_tracklets[trackletIndex].covariance, box);
@ -274,6 +277,8 @@ void SORT::update(TargetsInFrame& tgts)
tracklet.age = 0;
tracklet.hits = 1;
tracklet.misses = 0;
tracklet.frame_id=tgts.frame_id;
tracklet.tentative = true;
auto[new_mean, new_covariance] = kf.initiate(tracklet.bbox);
tracklet.mean = new_mean;
@ -284,6 +289,19 @@ void SORT::update(TargetsInFrame& tgts)
this->_tracklets.push_back(tracklet);
}
}
for (auto& tracklet : this->_tracklets)
{
if (tracklet.hits >= _min_hits)
{
tracklet.tentative = false;
}
if ((tgts.frame_id-tracklet.frame_id <= _max_age) || (!tracklet.tentative && tracklet.frame_id==tgts.frame_id))
{
_new_tracklets.push_back(tracklet);
}
}
_tracklets = _new_tracklets;
std::vector <Tracklet> ().swap(_new_tracklets);
}
}

3
include/sv_mot.h
View File

@ -55,6 +55,8 @@ public:
int age;
int hits;
int misses;
int frame_id=0;
bool tentative;
std::vector<double> features;
Eigen::Matrix<double, 8, 1> mean;
Eigen::Matrix<double, 8, 8> covariance;
@ -93,6 +95,7 @@ private:
int _min_hits;
int _next_tracklet_id;
std::vector <Tracklet> _tracklets;
std::vector <Tracklet> _new_tracklets;
};