RT-DETR+Sort 实现目标跟踪

最新推荐文章于 2024-11-06 21:49:29 发布

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最新推荐文章于 2024-11-06 21:49:29 发布

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文章标签：目标跟踪人工智能计算机视觉机器学习

本文链接：https://blog.csdn.net/wild_ghosts/article/details/142092829

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在前一篇博客中，博主介绍了利用YOLOv8与Sort算法实现目标跟踪，在今天这篇博客中，博主将利用RT-DETR算法与Sort算法相结合，从而实现目标跟踪。。

这里博主依旧是采用ONNX格式的模型文件来执行推理过程，由于Sort算法是基于检测懂得目标跟踪方法，因此我们只需要获取到检测结果即可，代码如下：

import onnxruntime as ort
sess= ort.InferenceSession("detr.onnx", None)
output = sess.run(
            output_names=['labels', 'boxes', 'scores'],
            #output_names=None,
            input_feed={'images': im_data.data.numpy(), "orig_target_sizes": size.data.numpy()},
        )
cls,outbox,score=output

获得的检测结果如下，分别是预测类别，检测框的xywh以及其置信度

RT-DETR+Sort 实现目标跟踪_卡尔曼滤波

需要注意的是，DETR类目标检测算法作为一种端到端的目标检测方法，并不需要NMS等后处理过程，但它依旧需要对结果进行筛选，这里直接通过对置信度进行筛选即可

outbox=np.squeeze(outbox)
boxindex=np.where(score>thrh)#np.where方法可以返回符合条件的值的坐标
outbox=outbox[boxindex[1]]

RT-DETR+Sort 实现目标跟踪_计算机视觉_02

随后的过程，便是与YOLO+Sort方法一致了。

关于Sort算法，我们缕清一个思路即可，即Sort算法是用来做跟踪的，在这个算法中的追踪器是卡尔曼滤波追踪器。

RT-DETR+Sort 实现目标跟踪_目标跟踪_03

RT-DETR+Sort算法完整代码如下：

import cv2
import imageio
import numpy as np
from pathlib import Path
from filterpy.kalman import KalmanFilter
from scipy.optimize import linear_sum_assignment

from tasks.yolo_track.detr_sort import scale_box


def linear_assignment(cost_matrix):
    x, y = linear_sum_assignment(cost_matrix)
    return np.array(list(zip(x, y)))


def iou_batch(bb_test, bb_gt):
    """
    From SORT: Computes IOU between two bboxes in the form [x1,y1,x2,y2]
    """
    bb_gt = np.expand_dims(bb_gt, 0)
    bb_test = np.expand_dims(bb_test, 1)

    xx1 = np.maximum(bb_test[..., 0], bb_gt[..., 0])
    yy1 = np.maximum(bb_test[..., 1], bb_gt[..., 1])
    xx2 = np.minimum(bb_test[..., 2], bb_gt[..., 2])
    yy2 = np.minimum(bb_test[..., 3], bb_gt[..., 3])
    w = np.maximum(0., xx2 - xx1)
    h = np.maximum(0., yy2 - yy1)
    wh = w * h
    o = wh / ((bb_test[..., 2] - bb_test[..., 0]) * (bb_test[..., 3] - bb_test[..., 1])
              + (bb_gt[..., 2] - bb_gt[..., 0]) * (bb_gt[..., 3] - bb_gt[..., 1]) - wh)
    return(o)


def convert_bbox_to_z(bbox):
    """
    Takes a bounding box in the form [x1,y1,x2,y2] and returns z in the form
      [x,y,s,r] where x,y is the centre of the box and s is the scale/area and r is
      the aspect ratio
    """
    w = bbox[2] - bbox[0]
    h = bbox[3] - bbox[1]
    x = bbox[0] + w/2.
    y = bbox[1] + h/2.
    s = w * h    #scale is just area
    r = w / float(h)
    return np.array([x, y, s, r]).reshape((4, 1))


def convert_x_to_bbox(x):
    """
    Takes a bounding box in the centre form [x,y,s,r] and returns it in the form
      [x1,y1,x2,y2] where x1,y1 is the top left and x2,y2 is the bottom right
    """
    w = np.sqrt(x[2] * x[3])
    h = x[2] / w
    return np.array([x[0]-w/2.,x[1]-h/2.,x[0]+w/2.,x[1]+h/2.]).reshape((1,4))


class KalmanBoxTracker(object):
    """
    This class represents the internal state of individual tracked objects observed as bbox.
    """
    count = 0
    def __init__(self,bbox):
        """
        Initialises a tracker using initial bounding box.
        """
        #define constant velocity model
        self.kf = KalmanFilter(dim_x=7, dim_z=4)
        self.kf.F = np.array([[1,0,0,0,1,0,0],[0,1,0,0,0,1,0],[0,0,1,0,0,0,1],[0,0,0,1,0,0,0],[0,0,0,0,1,0,0],[0,0,0,0,0,1,0],[0,0,0,0,0,0,1]])
        self.kf.H = np.array([[1,0,0,0,0,0,0],[0,1,0,0,0,0,0],[0,0,1,0,0,0,0],[0,0,0,1,0,0,0]])
        self.kf.R[2:,2:] *= 10.
        self.kf.P[4:,4:] *= 1000. #give high uncertainty to the unobservable initial velocities
        self.kf.P *= 10.
        self.kf.Q[-1,-1] *= 0.01
        self.kf.Q[4:,4:] *= 0.01
        self.kf.x[:4] = convert_bbox_to_z(bbox)
        self.time_since_update = 0
        self.id = KalmanBoxTracker.count
        KalmanBoxTracker.count += 1
        self.history = []
        self.hits = 0
        self.hit_streak = 0
        self.age = 0

    def update(self,bbox):
        """
        Updates the state vector with observed bbox.
        """
        self.time_since_update = 0
        self.history = []
        self.hits += 1
        self.hit_streak += 1
        self.kf.update(convert_bbox_to_z(bbox))

    def predict(self):
        """
        Advances the state vector and returns the predicted bounding box estimate.
        """
        if(self.kf.x[6]+self.kf.x[2]<=0):
            self.kf.x[6] *= 0.0
        self.kf.predict()
        self.age += 1
        if(self.time_since_update>0):
            self.hit_streak = 0
        self.time_since_update += 1
        self.history.append(convert_x_to_bbox(self.kf.x))#记录历史坐标，这个坐标是预测的坐标
        return self.history[-1]#历史坐标的最后一个即当前的预测位置

    def get_state(self):
        """
        Returns the current bounding box estimate.
        """
        return convert_x_to_bbox(self.kf.x)


def associate_detections_to_tracks(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)

    #计算两两间的交并比，调用linear_assignment进行匹配
    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))

    #记录未匹配的检测框及轨迹
    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)

    #过滤掉IoU低的匹配
    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 #连续预测的最大次数，就是放在self.trackers跟踪器列表中的框用卡尔曼滤波器连续预测位置的最大次数
        self.min_hits = min_hits #最小更新的次数，就是放在self.trackers跟踪器列表中的框与检测框匹配上，
        # 然后调用卡尔曼滤波器类中的update函数的最小次数，min_hits不设置为0是因为第一次检测到的目标不用跟踪，
        # 只需要加入到跟踪器列表中，不会显示，这个值不能设大，一般就是1，表示如果连续两帧都检测到目标，
        self.iou_threshold = iou_threshold#IOU阈值
        self.trackers = []#存储追踪器
        self.frame_count = 0#读取的帧数量


    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))#空的[]
        ret = []
        for t, trk in enumerate(trks):#第一帧时，里面没有东西，直接跳过
            pos = self.trackers[t].predict()[0]
            trk[:] = [pos[0], pos[1], pos[2], pos[3], 0]

        #numpy.ma.masked_invalid屏蔽出现无效值的数组(NaN或inf；numpy.ma.compress_rows压缩包含掩码值的2-D 数组的整行。
        trks = np.ma.compress_rows(np.ma.masked_invalid(trks))
        matched, unmatched_dets, unmatched_trks = associate_detections_to_tracks(dets, trks, self.iou_threshold)
        #关联检测框与轨迹，在第一帧时，只有unmatched_dets
        # update matched trackers with assigned detections
        for m in matched:#如果有匹配上的则利用刚刚检测的结果来更新，即用于卡尔曼滤波预测，第一帧时不执行
            self.trackers[m[1]].update(dets[m[0], :])

        # create and initialise new trackers for unmatched detections
        for i in unmatched_dets:#第一帧时，没有匹配的轨迹，则创建对应的轨迹，一个一个的进行创建
            trk = KalmanBoxTracker(dets[i,:])
            self.trackers.append(trk)
        i = len(self.trackers)

        #自后向前遍历，仅返回在当前帧出现且命中周期大于self.min_hits(除非跟踪刚开始)的跟踪结果；如果未命中时间大于self.max_age则删除跟踪器。
        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): #hit_streak：忽略目标初始的若干帧
                ret.append(np.concatenate((d,[trk.id+1])).reshape(1,-1)) # +1 as MOT benchmark requires positive
            i -= 1
            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))
def scale_boxes(input_shape, boxes, shape):
    # Rescale boxes (xyxy) from input_shape to shape
    gain = min(input_shape[0] / shape[0], input_shape[1] / shape[1])  # gain  = old / new
    pad = (input_shape[1] - shape[1] * gain) / 2, (input_shape[0] - shape[0] * gain) / 2  # wh padding

    boxes[..., [0, 2]] =boxes[..., [0, 2]]- pad[0]  # x padding
    boxes[..., [1, 3]] =boxes[..., [1, 3]] - pad[1]  # y padding
    boxes[..., :4] =boxes[..., :4] / gain
    boxes[..., [0, 2]] = boxes[..., [0, 2]].clip(0, shape[1])  # x1, x2
    boxes[..., [1, 3]] = boxes[..., [1, 3]].clip(0, shape[0])  # y1, y2
    return boxes

if __name__ == '__main__':
    import onnxruntime as ort
    import cv2
    from PIL import Image
    import torch
    from torchvision.transforms import ToTensor
    mot_tracker = Sort(max_age=1, min_hits=3, iou_threshold=0.3) #create instance of the SORT tracker
    colours = np.random.rand(32, 3) * 255
    sess= ort.InferenceSession("detr.onnx", None)
    input_path="video.mp4"
    cap = cv2.VideoCapture(input_path)
    size = torch.tensor([[640, 640]])
    images=[]
    thrh = 0.6
    while True:
        _, image_ori = cap.read()
        if image_ori is None:
            break
        w,h,c=image_ori.shape
        image=cv2.resize(image_ori,(640,640))
        img = Image.fromarray(image)

        img = img.convert('RGB')
        im_data = ToTensor()(img)[None]
        output = sess.run(
            output_names=['labels', 'boxes', 'scores'],
            #output_names=None,
            input_feed={'images': im_data.data.numpy(), "orig_target_sizes": size.data.numpy()},
        )
        cls,outbox,score=output
        #outbox=scale_boxes((h,w),outbox,(640,640))
        outbox=np.squeeze(outbox)
        #outbox = outbox[np.lexsort(outbox[:,::-1].T)]
        boxindex=np.where(score>thrh)
        outbox=outbox[boxindex[1]]
        trackers = mot_tracker.update(outbox)
        for d in trackers:
            d = d.astype(np.int32)
            cv2.rectangle(image, (d[0], d[1]), (d[2], d[3]), colours[d[4]%32,:], 1)
            cv2.putText(image,str(d[4]),(d[0], d[1]),3,1,(255,0,0))
        images.append(image)
        cv2.waitKey(50)
    imageio.mimsave('output.gif',images,fps=30)
    cap.release()