基于AidLux的电力目标检测与跟踪作业展示

---

前言

本文为aidlux训练营Lesson4作业展示。

---

一、核心代码

通过YoloV8进行检测，sort算法进行跟踪，核心代码如下。

def associate_detections_to_trackers(detections,trackers,iou_threshold = 0.3):
    """
    Assigns detections to tracked object (both represented as bounding boxes)

    Returns 3 lists of matches, unmatched_detections and unmatched_trackers
    """
    if(len(trackers)==0):
        return np.empty((0,2),dtype=int), np.arange(len(detections)), np.empty((0,5),dtype=int)

    iou_matrix = iou_batch(detections, trackers)

    if min(iou_matrix.shape) > 0:
        a = (iou_matrix > iou_threshold).astype(np.int32)
        if a.sum(1).max() == 1 and a.sum(0).max() == 1:
            matched_indices = np.stack(np.where(a), axis=1)
        else:
            matched_indices = linear_assignment(-iou_matrix)
    else:
        matched_indices = np.empty(shape=(0,2))

    unmatched_detections = []
    for d, det in enumerate(detections):
        if(d not in matched_indices[:,0]):
            unmatched_detections.append(d)
    unmatched_trackers = []
    for t, trk in enumerate(trackers):
        if(t not in matched_indices[:,1]):
            unmatched_trackers.append(t)

    #filter out matched with low IOU
    matches = []
    for m in matched_indices:
        if(iou_matrix[m[0], m[1]]<iou_threshold):
            unmatched_detections.append(m[0])
            unmatched_trackers.append(m[1])
        else:
            matches.append(m.reshape(1,2))
    if(len(matches)==0):
        matches = np.empty((0,2),dtype=int)
    else:
        matches = np.concatenate(matches,axis=0)

    return matches, np.array(unmatched_detections), np.array(unmatched_trackers)


class Sort(object):
    def __init__(self, max_age=1, min_hits=3, iou_threshold=0.3):
        """
        Sets key parameters for SORT
        """
        self.max_age = max_age  # time_since_update > max_age, track被清除
        self.min_hits = min_hits
        self.iou_threshold = iou_threshold
        self.trackers = []
        self.frame_count = 0

    def update(self, dets=np.empty((0, 5))):
        """
        Params:
        dets - a numpy array of detections in the format [[x1,y1,x2,y2,score],[x1,y1,x2,y2,score],...]
        Requires: this method must be called once for each frame even with empty detections (use np.empty((0, 5)) for frames without detections).
        Returns the a similar array, where the last column is the object ID.

        NOTE: The number of objects returned may differ from the number of detections provided.
        """
        self.frame_count += 1
        # get predicted locations from existing trackers.
        trks = np.zeros((len(self.trackers), 5))
        to_del = []
        ret = []
        for t, trk in enumerate(trks):
            pos = self.trackers[t].predict()[0]
            trk[:] = [pos[0], pos[1], pos[2], pos[3], 0]
            if np.any(np.isnan(pos)):
                to_del.append(t)
        trks = np.ma.compress_rows(np.ma.masked_invalid(trks))
        for t in reversed(to_del):
            self.trackers.pop(t)
        matched, unmatched_dets, unmatched_trks = associate_detections_to_trackers(dets, trks, self.iou_threshold)

        # update matched trackers with assigned detections
        for m in matched:
            self.trackers[m[1]].update(dets[m[0], :])

        # create and initialize new trackers for unmatched detections
        for i in unmatched_dets:
            trk = KalmanBoxTracker(dets[i,:])
            self.trackers.append(trk)
        i = len(self.trackers)
        for trk in reversed(self.trackers):
            d = trk.get_state()[0]
            if (trk.time_since_update < 1) and (trk.hit_streak >= self.min_hits or self.frame_count <= self.min_hits):
                ret.append(np.concatenate((d, [trk.id+1])).reshape(1,-1)) # +1 as MOT benchmark requires positive
            i -= 1
            # remove dead tracklet
            if(trk.time_since_update > self.max_age):
                self.trackers.pop(i)
        if(len(ret)>0):
            return np.concatenate(ret)
        return np.empty((0,5))

2.结果展示

在安卓端通过aidlux进行部署
https://www.bilibili.com/video/BV1no4y1c79U/