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fix mot id not displaying

This commit is contained in:
jario-jin 2023-08-15 09:21:40 +08:00
parent 151acbe2e3
commit b23ee6d509
1 changed files with 12 additions and 9 deletions
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21
algorithm/mot/sv_mot.cpp
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@ -130,7 +130,7 @@ KalmanFilter::~KalmanFilter()
pair<Matrix<double, 8, 1>, Matrix<double, 8, 8> > KalmanFilter::initiate(Vector4d &bbox) pair<Matrix<double, 8, 1>, Matrix<double, 8, 8> > KalmanFilter::initiate(Vector4d &bbox)
{ {
Matrix<double,8,1> mean; Matrix<double,8,1> mean;
mean << bbox(0), bbox(1), bbox(2)/bbox(3), bbox(3), 0, 0, 0, 0; mean << bbox(0), bbox(1), bbox(2) / bbox(3), bbox(3), 0, 0, 0, 0;
VectorXd stds(8); VectorXd stds(8);
stds << 2 * this->_std_weight_position * mean(3), 2 * this->_std_weight_position * mean(3), 0.01, 2 * this->_std_weight_position * mean(3), \ stds << 2 * this->_std_weight_position * mean(3), 2 * this->_std_weight_position * mean(3), 0.01, 2 * this->_std_weight_position * mean(3), \
10 * this->_std_weight_vel * mean(3), 10 * this->_std_weight_vel * mean(3), 1e-5, 10 * this->_std_weight_vel * mean(3); 10 * this->_std_weight_vel * mean(3), 10 * this->_std_weight_vel * mean(3), 1e-5, 10 * this->_std_weight_vel * mean(3);
@ -152,7 +152,7 @@ pair<Matrix<double, 8, 1>, Matrix<double, 8, 8> > KalmanFilter::update(Matrix<do
MatrixXd Kalman_gain = covariances * this->_H.transpose() * S.inverse(); MatrixXd Kalman_gain = covariances * this->_H.transpose() * S.inverse();
VectorXd measurement(4); VectorXd measurement(4);
measurement << box.x1, box.y1, (box.x2-box.x1)/(box.y2-box.y1), box.y2-box.y1; measurement << box.x1, box.y1, (box.x2-box.x1) / (box.y2-box.y1), box.y2-box.y1;
Matrix<double, 8, 1> new_mean = mean + Kalman_gain * (measurement - this->_H * mean); Matrix<double, 8, 1> new_mean = mean + Kalman_gain * (measurement - this->_H * mean);
Matrix<double, 8, 8> new_covariances = (MatrixXd::Identity(8, 8) - Kalman_gain * this->_H) * covariances; Matrix<double, 8, 8> new_covariances = (MatrixXd::Identity(8, 8) - Kalman_gain * this->_H) * covariances;
return make_pair(new_mean, new_covariances); return make_pair(new_mean, new_covariances);
@ -189,14 +189,15 @@ void SORT::update(TargetsInFrame& tgts)
tracklet.id = ++ this->_next_tracklet_id; tracklet.id = ++ this->_next_tracklet_id;
// cout << tracklet.id << endl; // cout << tracklet.id << endl;
tgts.targets[i].tracked_id = this->_next_tracklet_id; tgts.targets[i].tracked_id = this->_next_tracklet_id;
tgts.targets[i].has_tid = true;
tracklet.bbox << box.x1,box.y1,box.x2-box.x1,box.y2-box.y1; // x,y,w,h tracklet.bbox << box.x1, box.y1, box.x2-box.x1, box.y2-box.y1; // x,y,w,h
tracklet.age = 0; tracklet.age = 0;
tracklet.hits = 1; tracklet.hits = 1;
tracklet.misses = 0; tracklet.misses = 0;
// initate the motion // initate the motion
pair<Matrix<double, 8, 1>, Matrix<double, 8, 8> > motion = kf.initiate(tracklet.bbox); pair<Matrix<double, 8, 1>, Matrix<double, 8, 8> > motion = kf.initiate(tracklet.bbox);
tracklet.mean=motion.first; tracklet.mean = motion.first;
tracklet.covariance = motion.second; tracklet.covariance = motion.second;
this->_tracklets.push_back(tracklet); this->_tracklets.push_back(tracklet);
@ -207,6 +208,7 @@ void SORT::update(TargetsInFrame& tgts)
for (int i=0; i<tgts.targets.size(); i++) for (int i=0; i<tgts.targets.size(); i++)
{ {
tgts.targets[i].tracked_id = 0; tgts.targets[i].tracked_id = 0;
tgts.targets[i].has_tid = true;
} }
array<int, 100> match_det; array<int, 100> match_det;
@ -241,7 +243,7 @@ void SORT::update(TargetsInFrame& tgts)
int detectionIndex = match.second; int detectionIndex = match.second;
if (trackletIndex >= 0 && detectionIndex >= 0) if (trackletIndex >= 0 && detectionIndex >= 0)
{ {
if(iouMatrix[match.first][match.second] >= 0) if (iouMatrix[match.first][match.second] >= 0)
{ {
sv::Box box; sv::Box box;
tgts.targets[detectionIndex].getBox(box); tgts.targets[detectionIndex].getBox(box);
@ -261,7 +263,7 @@ void SORT::update(TargetsInFrame& tgts)
// create new tracklets for unmatched detections // create new tracklets for unmatched detections
for (int i = 0; i < tgts.targets.size(); i++) for (int i = 0; i < tgts.targets.size(); i++)
{ {
if (match_det[i]==-1) if (match_det[i] == -1)
{ {
sv::Box box; sv::Box box;
tgts.targets[i].getBox(box); tgts.targets[i].getBox(box);
@ -278,6 +280,7 @@ void SORT::update(TargetsInFrame& tgts)
tracklet.covariance = new_covariance; tracklet.covariance = new_covariance;
tgts.targets[i].tracked_id = this->_next_tracklet_id; tgts.targets[i].tracked_id = this->_next_tracklet_id;
tgts.targets[i].has_tid = true;
this->_tracklets.push_back(tracklet); this->_tracklets.push_back(tracklet);
} }
} }
@ -371,7 +374,7 @@ vector<pair<int, int> > SORT::_hungarian(vector<vector<double> > costMatrix)
for (int i=0; i<numRows; i++) for (int i=0; i<numRows; i++)
{ {
vector<bool> visited(numCols, false); vector<bool> visited(numCols, false);
_augment(costMatrix, i, rowMatch, colMatch, visited); this->_augment(costMatrix, i, rowMatch, colMatch, visited);
} }
// step4: calculate the matches // step4: calculate the matches
matches.clear(); matches.clear();
@ -383,7 +386,7 @@ vector<pair<int, int> > SORT::_hungarian(vector<vector<double> > costMatrix)
{ {
for (auto& match : matches) for (auto& match : matches)
{ {
swap(match.first,match.second); swap(match.first, match.second);
} }
} }
return matches; return matches;
@ -397,7 +400,7 @@ bool SORT::_augment(const vector<vector<double> >& costMatrix, int row, vector<i
if (costMatrix[row][j] == 0 && !visited[j]) if (costMatrix[row][j] == 0 && !visited[j])
{ {
visited[j] = true; visited[j] = true;
if (colMatch[j] == -1 || _augment(costMatrix, colMatch[j], rowMatch, colMatch, visited)) if (colMatch[j] == -1 || this->_augment(costMatrix, colMatch[j], rowMatch, colMatch, visited))
{ {
rowMatch[row] = j; rowMatch[row] = j;
colMatch[j] = row; colMatch[j] = row;