在上一篇博文，我们实现了应用官网ByteTrack实现的目标跟踪。但吹毛求疵地说，官网的ByteTrack有一些不足：1、为了通用性及科研的要求，代码过于冗长，但这不利于集成到自己的程序中；2、目标跟踪结果没有目标类别的信息，需要自己额外添加；3、再次运行算法时，ID不会复位，它会接着上次的ID继续排序。因此，我们完全有理由对其进行优化。
在github中，有很多优化后的ByteTrack，所以我们没有必要自己去优化。在这里我们选择下面这个ByteTrack：
https://github.com/jahongir7174/ByteTrack/
为此，我们把核心函数整合到一个名为track.py的文件内，并把其放入到mytrack的文件夹内，然后把该文件夹复制到当前目录下。我把track.py文件内的完整内容复制到本博文的后面。
为使用该文件，先要导入：
from mytrack import track然后实例化ByteTrack：
bytetracker = track.BYTETracker(fps)BYTETracker只需要一个输入参数，其表示视频的帧率，默认为30。
使用BYTETracker也很简单：
tracks = bytetracker.update(boxes, scores, object_classes)三个输入参数都为目标检测得到的每一帧的检测结果，数据类型为numpy.array。boxes为目标边框的左上角和右下角坐标，scores为目标置信值，object_classes为目标类型。
输出参数为该帧的跟踪结果，前4个元素为目标边框的左上角和右下角坐标（其与boxes有所不同），第4个元素为跟踪ID，第5个元素为目标得分值，第6个元素为目标类型，第7个元素为boxes所对应的索引值。
可以看出该第三方ByteTrack与官网的ByteTrack使用方法区别不大。
为使用该ByteTrack，只需要安装以下软件包即可：
conda install python=3.8
pip install scipy -i https://pypi.tuna.tsinghua.edu.cn/simple
conda install -c conda-forge lap
从中可以看出，该第三方ByteTrack所需的软件包很少，安装起来也不会出现各类莫名其妙的问题。
下面就可以编写目标跟踪代码了。在这里，我们只把if outputs is not None:内的部分展示出来，而其他部分与上一篇博文的代码是一样的：
for output in outputs:
x1, y1, x2, y2 = list(map(int, output[:4]))
boxes.append([x1, y1, x2, y2])
confidences.append(output[4])
object_classes.append(output[5])
tracks = bytetracker.update(np.array(boxes), np.array(confidences), np.array(object_classes))
if len(tracks) > 0:
identities = tracks[:, 4]
object_classes = tracks[:, 6]
idxs = tracks[:, 7]
for i, identity in enumerate(identities):
if object_classes[i] == 2:
box_label(frame, outputs[int(idxs[i]),:4], '#'+str(int(identity))+' car' , (167, 146, 11))
elif object_classes[i] == 5:
box_label(frame, outputs[int(idxs[i]),:4], '#'+str(int(identity))+' bus', (186, 55, 2))
elif object_classes[i] == 7:
box_label(frame, outputs[int(idxs[i]),:4], '#'+str(int(identity))+' truck', (19, 222, 24))
下面是完整的track.py内容：
import numpy
import lap
import scipy
def linear_assignment(cost_matrix, thresh):
# Linear assignment implementations with scipy and lap.lapjv
if cost_matrix.size == 0:
matches = numpy.empty((0, 2), dtype=int)
unmatched_a = tuple(range(cost_matrix.shape[0]))
unmatched_b = tuple(range(cost_matrix.shape[1]))
return matches, unmatched_a, unmatched_b
_, x, y = lap.lapjv(cost_matrix, extend_cost=True, cost_limit=thresh)
matches = [[ix, mx] for ix, mx in enumerate(x) if mx >= 0]
unmatched_a = numpy.where(x < 0)[0]
unmatched_b = numpy.where(y < 0)[0]
return matches, unmatched_a, unmatched_b
def compute_iou(a_boxes, b_boxes):
"""
Compute cost based on IoU
:type a_boxes: list[tlbr] | np.ndarray
:type b_boxes: list[tlbr] | np.ndarray
:rtype iou | np.ndarray
"""
iou = numpy.zeros((len(a_boxes), len(b_boxes)), dtype=numpy.float32)
if iou.size == 0:
return iou
a_boxes = numpy.ascontiguousarray(a_boxes, dtype=numpy.float32)
b_boxes = numpy.ascontiguousarray(b_boxes, dtype=numpy.float32)
# Get the coordinates of bounding boxes
b1_x1, b1_y1, b1_x2, b1_y2 = a_boxes.T
b2_x1, b2_y1, b2_x2, b2_y2 = b_boxes.T
# Intersection area
inter_area = (numpy.minimum(b1_x2[:, None], b2_x2) - numpy.maximum(b1_x1[:, None], b2_x1)).clip(0) * \
(numpy.minimum(b1_y2[:, None], b2_y2) - numpy.maximum(b1_y1[:, None], b2_y1)).clip(0)
# box2 area
box1_area = (b1_x2 - b1_x1) * (b1_y2 - b1_y1)
box2_area = (b2_x2 - b2_x1) * (b2_y2 - b2_y1)
return inter_area / (box2_area + box1_area[:, None] - inter_area + 1E-7)
def iou_distance(a_tracks, b_tracks):
"""
Compute cost based on IoU
:type a_tracks: list[STrack]
:type b_tracks: list[STrack]
:rtype cost_matrix np.ndarray
"""
if (len(a_tracks) > 0 and isinstance(a_tracks[0], numpy.ndarray)) \
or (len(b_tracks) > 0 and isinstance(b_tracks[0], numpy.ndarray)):
a_boxes = a_tracks
b_boxes = b_tracks
else:
a_boxes = [track.tlbr for track in a_tracks]
b_boxes = [track.tlbr for track in b_tracks]
return 1 - compute_iou(a_boxes, b_boxes) # cost matrix
def fuse_score(cost_matrix, detections):
if cost_matrix.size == 0:
return cost_matrix
iou_sim = 1 - cost_matrix
det_scores = numpy.array([det.score for det in detections])
det_scores = numpy.expand_dims(det_scores, axis=0).repeat(cost_matrix.shape[0], axis=0)
fuse_sim = iou_sim * det_scores
return 1 - fuse_sim # fuse_cost
class KalmanFilterXYAH:
"""
A Kalman filter for tracking bounding boxes in image space.
The 8-dimensional state space
x, y, a, h, vx, vy, va, vh
contains the bounding box center position (x, y), aspect ratio a, height h,
and their respective velocities.
Object motion follows a constant velocity model. The bounding box location
(x, y, a, h) is taken as direct observation of the state space (linear
observation model).
"""
def __init__(self):
ndim, dt = 4, 1.
# Create Kalman filter model matrices.
self._motion_mat = numpy.eye(2 * ndim, 2 * ndim)
for i in range(ndim):
self._motion_mat[i, ndim + i] = dt
self._update_mat = numpy.eye(ndim, 2 * ndim)
# Motion and observation uncertainty are chosen relative to the current
# state estimate. These weights control the amount of uncertainty in
# the model. This is a bit hacky.
self._std_weight_position = 1. / 20
self._std_weight_velocity = 1. / 160
def initiate(self, measurement):
"""
Create track from unassociated measurement.
Parameters
----------
measurement : ndarray
Bounding box coordinates (x, y, a, h) with center position (x, y),
aspect ratio a, and height h.
Returns
-------
(ndarray, ndarray)
Returns the mean vector (8 dimensional) and covariance matrix (8x8
dimensional) of the new track. Unobserved velocities are initialized
to 0 mean.
"""
mean_pos = measurement
mean_vel = numpy.zeros_like(mean_pos)
mean = numpy.r_[mean_pos, mean_vel]
std = [2 * self._std_weight_position * measurement[3],
2 * self._std_weight_position * measurement[3],
1e-2,
2 * self._std_weight_position * measurement[3],
10 * self._std_weight_velocity * measurement[3],
10 * self._std_weight_velocity * measurement[3],
1e-5,
10 * self._std_weight_velocity * measurement[3]]
covariance = numpy.diag(numpy.square(std))
return mean, covariance
def predict(self, mean, covariance):
"""
Run Kalman filter prediction step.
Parameters
----------
mean : ndarray
The 8 dimensional mean vector of the object state at the previous
time step.
covariance : ndarray
The 8x8 dimensional covariance matrix of the object state at the
previous time step.
Returns
-------
(ndarray, ndarray)
Returns the mean vector and covariance matrix of the predicted
state. Unobserved velocities are initialized to 0 mean.
"""
std_pos = [self._std_weight_position * mean[3],
self._std_weight_position * mean[3],
1e-2,
self._std_weight_position * mean[3]]
std_vel = [self._std_weight_velocity * mean[3],
self._std_weight_velocity * mean[3],
1e-5,
self._std_weight_velocity * mean[3]]
motion_cov = numpy.diag(numpy.square(numpy.r_[std_pos, std_vel]))
# mean = np.dot(self._motion_mat, mean)
mean = numpy.dot(mean, self._motion_mat.T)
covariance = numpy.linalg.multi_dot((self._motion_mat, covariance, self._motion_mat.T)) + motion_cov
return mean, covariance
def project(self, mean, covariance):
"""
Project state distribution to measurement space.
Parameters
----------
mean : ndarray
The state's mean vector (8 dimensional array).
covariance : ndarray
The state's covariance matrix (8x8 dimensional).
Returns
-------
(ndarray, ndarray)
Returns the projected mean and covariance matrix of the given state
estimate.
"""
std = [self._std_weight_position * mean[3],
self._std_weight_position * mean[3],
1e-1,
self._std_weight_position * mean[3]]
innovation_cov = numpy.diag(numpy.square(std))
mean = numpy.dot(self._update_mat, mean)
covariance = numpy.linalg.multi_dot((self._update_mat, covariance, self._update_mat.T))
return mean, covariance + innovation_cov
def multi_predict(self, mean, covariance):
"""
Run Kalman filter prediction step (Vectorized version).
Parameters
----------
mean : ndarray
The Nx8 dimensional mean matrix of the object states at the previous
time step.
covariance : ndarray
The Nx8x8 dimensional covariance matrix of the object states at the
previous time step.
Returns
-------
(ndarray, ndarray)
Returns the mean vector and covariance matrix of the predicted
state. Unobserved velocities are initialized to 0 mean.
"""
std_pos = [self._std_weight_position * mean[:, 3],
self._std_weight_position * mean[:, 3],
1e-2 * numpy.ones_like(mean[:, 3]),
self._std_weight_position * mean[:, 3]]
std_vel = [self._std_weight_velocity * mean[:, 3],
self._std_weight_velocity * mean[:, 3],
1e-5 * numpy.ones_like(mean[:, 3]),
self._std_weight_velocity * mean[:, 3]]
sqr = numpy.square(numpy.r_[std_pos, std_vel]).T
motion_cov = [numpy.diag(sqr[i]) for i in range(len(mean))]
motion_cov = numpy.asarray(motion_cov)
#print(mean)
#print('eee')
#print(self._motion_mat.T)
mean = numpy.dot(mean, self._motion_mat.T)
#print('fff')
left = numpy.dot(self._motion_mat, covariance).transpose((1, 0, 2))
covariance = numpy.dot(left, self._motion_mat.T) + motion_cov
return mean, covariance
def update(self, mean, covariance, measurement):
"""
Run Kalman filter correction step.
Parameters
----------
mean : ndarray
The predicted state's mean vector (8 dimensional).
covariance : ndarray
The state's covariance matrix (8x8 dimensional).
measurement : ndarray
The 4 dimensional measurement vector (x, y, a, h), where (x, y)
is the center position, a the aspect ratio, and h the height of the
bounding box.
Returns
-------
(ndarray, ndarray)
Returns the measurement-corrected state distribution.
"""
projected_mean, projected_cov = self.project(mean, covariance)
chol_factor, lower = scipy.linalg.cho_factor(projected_cov, lower=True, check_finite=False)
kalman_gain = scipy.linalg.cho_solve((chol_factor, lower),
numpy.dot(covariance, self._update_mat.T).T,
check_finite=False).T
innovation = measurement - projected_mean
new_mean = mean + numpy.dot(innovation, kalman_gain.T)
new_covariance = covariance - numpy.linalg.multi_dot((kalman_gain, projected_cov, kalman_gain.T))
return new_mean, new_covariance
def gating_distance(self, mean, covariance, measurements, only_position=False, metric='maha'):
"""
Compute gating distance between state distribution and measurements.
A suitable distance threshold can be obtained from `chi2inv95`. If
`only_position` is False, the chi-square distribution has 4 degrees of
freedom, otherwise 2.
Parameters
----------
mean : ndarray
Mean vector over the state distribution (8 dimensional).
covariance : ndarray
Covariance of the state distribution (8x8 dimensional).
measurements : ndarray
An Nx4 dimensional matrix of N measurements, each in
format (x, y, a, h) where (x, y) is the bounding box center
position, a the aspect ratio, and h the height.
only_position : Optional[bool]
If True, distance computation is done with respect to the bounding
box center position only.
metric : str
Distance metric.
Returns
-------
ndarray
Returns an array of length N, where the i-th element contains the
squared Mahalanobis distance between (mean, covariance) and
`measurements[i]`.
"""
mean, covariance = self.project(mean, covariance)
if only_position:
mean, covariance = mean[:2], covariance[:2, :2]
measurements = measurements[:, :2]
d = measurements - mean
if metric == 'gaussian':
return numpy.sum(d * d, axis=1)
elif metric == 'maha':
factor = numpy.linalg.cholesky(covariance)
z = scipy.linalg.solve_triangular(factor, d.T, lower=True, check_finite=False, overwrite_b=True)
return numpy.sum(z * z, axis=0) # square maha
else:
raise ValueError('invalid distance metric')
class State:
New = 0
Tracked = 1
Lost = 2
Removed = 3
class Track:
count = 0
shared_kalman = KalmanFilterXYAH()
def __init__(self, tlwh, score, cls):
# wait activate
self._tlwh = numpy.asarray(self.tlbr_to_tlwh(tlwh[:-1]), dtype=numpy.float32)
self.kalman_filter = None
self.mean, self.covariance = None, None
self.is_activated = False
self.score = score
self.tracklet_len = 0
self.cls = cls
self.idx = tlwh[-1]
def predict(self):
mean_state = self.mean.copy()
if self.state != State.Tracked:
mean_state[7] = 0
self.mean, self.covariance = self.kalman_filter.predict(mean_state, self.covariance)
@staticmethod
def multi_predict(tracks):
if len(tracks) <= 0:
return
multi_mean = numpy.asarray([st.mean.copy() for st in tracks])
multi_covariance = numpy.asarray([st.covariance for st in tracks])
for i, st in enumerate(tracks):
if st.state != State.Tracked:
multi_mean[i][7] = 0
multi_mean, multi_covariance = Track.shared_kalman.multi_predict(multi_mean, multi_covariance)
#print('eee')
for i, (mean, cov) in enumerate(zip(multi_mean, multi_covariance)):
tracks[i].mean = mean
tracks[i].covariance = cov
def activate(self, kalman_filter, frame_id):
"""Start a new tracklet"""
self.kalman_filter = kalman_filter
self.track_id = self.next_id()
self.mean, self.covariance = self.kalman_filter.initiate(self.convert_coords(self._tlwh))
self.tracklet_len = 0
self.state = State.Tracked
if frame_id == 1:
self.is_activated = True
self.frame_id = frame_id
self.start_frame = frame_id
def re_activate(self, new_track, frame_id, new_id=False):
self.mean, self.covariance = self.kalman_filter.update(self.mean, self.covariance,
self.convert_coords(new_track.tlwh))
self.tracklet_len = 0
self.state = State.Tracked
self.is_activated = True
self.frame_id = frame_id
if new_id:
self.track_id = self.next_id()
self.score = new_track.score
self.cls = new_track.cls
self.idx = new_track.idx
def update(self, new_track, frame_id):
"""
Update a matched track
:type new_track: Track
:type frame_id: int
:return:
"""
self.frame_id = frame_id
self.tracklet_len += 1
new_tlwh = new_track.tlwh
self.mean, self.covariance = self.kalman_filter.update(self.mean, self.covariance,
self.convert_coords(new_tlwh))
self.state = State.Tracked
self.is_activated = True
self.score = new_track.score
self.cls = new_track.cls
self.idx = new_track.idx
def convert_coords(self, tlwh):
return self.tlwh_to_xyah(tlwh)
def mark_lost(self):
self.state = State.Lost
def mark_removed(self):
self.state = State.Removed
@property
def end_frame(self):
return self.frame_id
@staticmethod
def next_id():
Track.count += 1
return Track.count
@property
def tlwh(self):
"""Get current position in bounding box format `(top left x, top left y,
width, height)`.
"""
if self.mean is None:
return self._tlwh.copy()
ret = self.mean[:4].copy()
ret[2] *= ret[3]
ret[:2] -= ret[2:] / 2
return ret
@property
def tlbr(self):
"""Convert bounding box to format `(min x, min y, max x, max y)`, i.e.,
`(top left, bottom right)`.
"""
ret = self.tlwh.copy()
ret[2:] += ret[:2]
return ret
@staticmethod
def reset_id():
Track.count = 0
@staticmethod
def tlwh_to_xyah(tlwh):
"""Convert bounding box to format `(center x, center y, aspect ratio,
height)`, where the aspect ratio is `width / height`.
"""
ret = numpy.asarray(tlwh).copy()
ret[:2] += ret[2:] / 2
ret[2] /= ret[3]
return ret
@staticmethod
def tlbr_to_tlwh(tlbr):
ret = numpy.asarray(tlbr).copy()
ret[2:] -= ret[:2]
return ret
@staticmethod
def tlwh_to_tlbr(tlwh):
ret = numpy.asarray(tlwh).copy()
ret[2:] += ret[:2]
return ret
def __repr__(self):
return f'OT_{self.track_id}_({self.start_frame}-{self.end_frame})'
class BYTETracker:
def __init__(self, frame_rate=30):
self.tracked_tracks = []
self.lost_tracks = []
self.removed_tracks = []
self.frame_id = 0
self.max_time_lost = int(frame_rate)
self.kalman_filter = KalmanFilterXYAH()
self.reset_id()
def update(self, boxes, scores, object_classes):
self.frame_id += 1
activated_tracks = []
re_find_tracks = []
lost_tracks = []
removed_tracks = []
# add index
boxes = numpy.concatenate([boxes, numpy.arange(len(boxes)).reshape(-1, 1)], axis=-1)
indices_low = scores > 0.1
indices_high = scores < 0.5
indices_remain = scores > 0.5
indices_second = numpy.logical_and(indices_low, indices_high)
boxes_second = boxes[indices_second]
boxes = boxes[indices_remain]
scores_keep = scores[indices_remain]
scores_second = scores[indices_second]
cls_keep = object_classes[indices_remain]
cls_second = object_classes[indices_second]
detections = self.init_track(boxes, scores_keep, cls_keep)
""" Add newly detected tracklets to tracked_stracks"""
unconfirmed = []
tracked_stracks = []
for track in self.tracked_tracks:
if not track.is_activated:
unconfirmed.append(track)
else:
tracked_stracks.append(track)
""" Step 2: First association, with high score detection boxes"""
track_pool = self.joint_stracks(tracked_stracks, self.lost_tracks)
# Predict the current location with KF
self.multi_predict(track_pool)
#print('ddd')
dists = self.get_dists(track_pool, detections)
matches, u_track, u_detection = linear_assignment(dists, thresh=0.8)
for tracked_i, box_i in matches:
track = track_pool[tracked_i]
det = detections[box_i]
if track.state == State.Tracked:
track.update(det, self.frame_id)
activated_tracks.append(track)
else:
track.re_activate(det, self.frame_id, new_id=False)
re_find_tracks.append(track)
""" Step 3: Second association, with low score detection boxes"""
# association the untrack to the low score detections
detections_second = self.init_track(boxes_second, scores_second, cls_second)
r_tracked_tracks = [track_pool[i] for i in u_track if track_pool[i].state == State.Tracked]
dists = iou_distance(r_tracked_tracks, detections_second)
matches, u_track, u_detection_second = linear_assignment(dists, thresh=0.5)
for tracked_i, box_i in matches:
track = r_tracked_tracks[tracked_i]
det = detections_second[box_i]
if track.state == State.Tracked:
track.update(det, self.frame_id)
activated_tracks.append(track)
else:
track.re_activate(det, self.frame_id, new_id=False)
re_find_tracks.append(track)
for it in u_track:
track = r_tracked_tracks[it]
if track.state != State.Lost:
track.mark_lost()
lost_tracks.append(track)
"""Deal with unconfirmed tracks, usually tracks with only one beginning frame"""
detections = [detections[i] for i in u_detection]
dists = self.get_dists(unconfirmed, detections)
matches, u_unconfirmed, u_detection = linear_assignment(dists, thresh=0.7)
for tracked_i, box_i in matches:
unconfirmed[tracked_i].update(detections[box_i], self.frame_id)
activated_tracks.append(unconfirmed[tracked_i])
for it in u_unconfirmed:
track = unconfirmed[it]
track.mark_removed()
removed_tracks.append(track)
""" Step 4: Init new stracks"""
for new_i in u_detection:
track = detections[new_i]
if track.score < 0.6:
continue
track.activate(self.kalman_filter, self.frame_id)
activated_tracks.append(track)
""" Step 5: Update state"""
for track in self.lost_tracks:
if self.frame_id - track.end_frame > self.max_time_lost:
track.mark_removed()
removed_tracks.append(track)
#print('ccc')
self.tracked_tracks = [t for t in self.tracked_tracks if t.state == State.Tracked]
self.tracked_tracks = self.joint_stracks(self.tracked_tracks, activated_tracks)
self.tracked_tracks = self.joint_stracks(self.tracked_tracks, re_find_tracks)
self.lost_tracks = self.sub_stracks(self.lost_tracks, self.tracked_tracks)
self.lost_tracks.extend(lost_tracks)
self.lost_tracks = self.sub_stracks(self.lost_tracks, self.removed_tracks)
self.removed_tracks.extend(removed_tracks)
self.tracked_tracks, self.lost_tracks = self.remove_duplicate_stracks(self.tracked_tracks, self.lost_tracks)
output = [track.tlbr.tolist() + [track.track_id,
track.score,
track.cls,
track.idx] for track in self.tracked_tracks if track.is_activated]
return numpy.asarray(output, dtype=numpy.float32)
@staticmethod
def init_track(boxes, scores, cls):
return [Track(box, s, c) for (box, s, c) in zip(boxes, scores, cls)] if len(boxes) else [] # detections
@staticmethod
def get_dists(tracks, detections):
dists = iou_distance(tracks, detections)
dists = fuse_score(dists, detections)
return dists
@staticmethod
def multi_predict(tracks):
Track.multi_predict(tracks)
@staticmethod
def reset_id():
Track.reset_id()
@staticmethod
def joint_stracks(tlista, tlistb):
exists = {}
res = []
for t in tlista:
exists[t.track_id] = 1
res.append(t)
for t in tlistb:
tid = t.track_id
if not exists.get(tid, 0):
exists[tid] = 1
res.append(t)
return res
@staticmethod
def sub_stracks(tlista, tlistb):
stracks = {t.track_id: t for t in tlista}
for t in tlistb:
tid = t.track_id
if stracks.get(tid, 0):
del stracks[tid]
return list(stracks.values())
@staticmethod
def remove_duplicate_stracks(stracksa, stracksb):
pdist = iou_distance(stracksa, stracksb)
pairs = numpy.where(pdist < 0.15)
dupa, dupb = [], []
for p, q in zip(*pairs):
timep = stracksa[p].frame_id - stracksa[p].start_frame
timeq = stracksb[q].frame_id - stracksb[q].start_frame
if timep > timeq:
dupb.append(q)
else:
dupa.append(p)
resa = [t for i, t in enumerate(stracksa) if i not in dupa]
resb = [t for i, t in enumerate(stracksb) if i not in dupb]
return resa, resb
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