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fixed dead matching function removed
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nmathieufact committed Mar 27, 2024
1 parent 30fddad commit 773861a
Showing 1 changed file with 0 additions and 111 deletions.
111 changes: 0 additions & 111 deletions bytetracker/matching.py
Original file line number Diff line number Diff line change
@@ -1,8 +1,5 @@
import lap
import numpy as np
from scipy.spatial.distance import cdist

from bytetracker import kalman_filter


def linear_assignment(cost_matrix, thresh):
Expand Down Expand Up @@ -43,114 +40,6 @@ def ious(atlbrs, btlbrs):
return ious


def iou_distance(atracks, btracks):
"""
Compute cost based on IoU
:type atracks: list[STrack]
:type btracks: list[STrack]
:rtype cost_matrix np.ndarray
"""

if (len(atracks) > 0 and isinstance(atracks[0], np.ndarray)) or (
len(btracks) > 0 and isinstance(btracks[0], np.ndarray)
):
atlbrs = atracks
btlbrs = btracks
else:
atlbrs = [track.tlbr for track in atracks]
btlbrs = [track.tlbr for track in btracks]
_ious = ious(atlbrs, btlbrs)
cost_matrix = 1 - _ious

return cost_matrix


def v_iou_distance(atracks, btracks):
"""
Compute cost based on IoU
:type atracks: list[STrack]
:type btracks: list[STrack]
:rtype cost_matrix np.ndarray
"""

if (len(atracks) > 0 and isinstance(atracks[0], np.ndarray)) or (
len(btracks) > 0 and isinstance(btracks[0], np.ndarray)
):
atlbrs = atracks
btlbrs = btracks
else:
atlbrs = [track.tlwh_to_tlbr(track.pred_bbox) for track in atracks]
btlbrs = [track.tlwh_to_tlbr(track.pred_bbox) for track in btracks]
_ious = ious(atlbrs, btlbrs)
cost_matrix = 1 - _ious

return cost_matrix


def embedding_distance(tracks, detections, metric="cosine"):
"""
:param tracks: list[STrack]
:param detections: list[BaseTrack]
:param metric:
:return: cost_matrix np.ndarray
"""

cost_matrix = np.zeros((len(tracks), len(detections)), dtype=np.float32)
if cost_matrix.size == 0:
return cost_matrix
det_features = np.asarray([track.curr_feat for track in detections], dtype=np.float32)
# for i, track in enumerate(tracks):
# cost_matrix[i, :] = np.maximum(0.0, cdist(track.smooth_feat.reshape(1,-1), det_features, metric))
track_features = np.asarray([track.smooth_feat for track in tracks], dtype=np.float32)
cost_matrix = np.maximum(0.0, cdist(track_features, det_features, metric)) # Nomalized features
return cost_matrix


def gate_cost_matrix(kf, cost_matrix, tracks, detections, only_position=False):
if cost_matrix.size == 0:
return cost_matrix
gating_dim = 2 if only_position else 4
gating_threshold = kalman_filter.chi2inv95[gating_dim]
measurements = np.asarray([det.to_xyah() for det in detections])
for row, track in enumerate(tracks):
gating_distance = kf.gating_distance(
track.mean, track.covariance, measurements, only_position
)
cost_matrix[row, gating_distance > gating_threshold] = np.inf
return cost_matrix


def fuse_motion(kf, cost_matrix, tracks, detections, only_position=False, lambda_=0.98):
if cost_matrix.size == 0:
return cost_matrix
gating_dim = 2 if only_position else 4
gating_threshold = kalman_filter.chi2inv95[gating_dim]
measurements = np.asarray([det.to_xyah() for det in detections])
for row, track in enumerate(tracks):
gating_distance = kf.gating_distance(
track.mean, track.covariance, measurements, only_position, metric="maha"
)
cost_matrix[row, gating_distance > gating_threshold] = np.inf
cost_matrix[row] = lambda_ * cost_matrix[row] + (1 - lambda_) * gating_distance
return cost_matrix


def fuse_iou(cost_matrix, tracks, detections):
if cost_matrix.size == 0:
return cost_matrix
reid_sim = 1 - cost_matrix
iou_dist = iou_distance(tracks, detections)
iou_sim = 1 - iou_dist
fuse_sim = reid_sim * (1 + iou_sim) / 2
det_scores = np.array([det.score for det in detections])
det_scores = np.expand_dims(det_scores, axis=0).repeat(cost_matrix.shape[0], axis=0)
# fuse_sim = fuse_sim * (1 + det_scores) / 2
fuse_cost = 1 - fuse_sim
return fuse_cost


def fuse_score(cost_matrix, detections):
if cost_matrix.size == 0:
return cost_matrix
Expand Down

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