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association.py
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association.py
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""" https://github.com/mikel-brostrom/yolo_tracking.git """
import numpy as np
def iou_batch(bboxes1, bboxes2):
"""
From SORT: Computes IOU between two bboxes in the form [x1,y1,x2,y2]
"""
bboxes2 = np.expand_dims(bboxes2, 0)
bboxes1 = np.expand_dims(bboxes1, 1)
xx1 = np.maximum(bboxes1[..., 0], bboxes2[..., 0])
yy1 = np.maximum(bboxes1[..., 1], bboxes2[..., 1])
xx2 = np.minimum(bboxes1[..., 2], bboxes2[..., 2])
yy2 = np.minimum(bboxes1[..., 3], bboxes2[..., 3])
w = np.maximum(0.0, xx2 - xx1)
h = np.maximum(0.0, yy2 - yy1)
wh = w * h
o = wh / (
(bboxes1[..., 2] - bboxes1[..., 0]) * (bboxes1[..., 3] - bboxes1[..., 1])
+ (bboxes2[..., 2] - bboxes2[..., 0]) * (bboxes2[..., 3] - bboxes2[..., 1])
- wh
)
return o
def giou_batch(bboxes1, bboxes2):
"""
:param bbox_p: predict of bbox(N,4)(x1,y1,x2,y2)
:param bbox_g: groundtruth of bbox(N,4)(x1,y1,x2,y2)
:return:
"""
# for details should go to https://arxiv.org/pdf/1902.09630.pdf
# ensure predict's bbox form
bboxes2 = np.expand_dims(bboxes2, 0)
bboxes1 = np.expand_dims(bboxes1, 1)
xx1 = np.maximum(bboxes1[..., 0], bboxes2[..., 0])
yy1 = np.maximum(bboxes1[..., 1], bboxes2[..., 1])
xx2 = np.minimum(bboxes1[..., 2], bboxes2[..., 2])
yy2 = np.minimum(bboxes1[..., 3], bboxes2[..., 3])
w = np.maximum(0.0, xx2 - xx1)
h = np.maximum(0.0, yy2 - yy1)
wh = w * h
iou = wh / (
(bboxes1[..., 2] - bboxes1[..., 0]) * (bboxes1[..., 3] - bboxes1[..., 1])
+ (bboxes2[..., 2] - bboxes2[..., 0]) * (bboxes2[..., 3] - bboxes2[..., 1])
- wh
)
xxc1 = np.minimum(bboxes1[..., 0], bboxes2[..., 0])
yyc1 = np.minimum(bboxes1[..., 1], bboxes2[..., 1])
xxc2 = np.maximum(bboxes1[..., 2], bboxes2[..., 2])
yyc2 = np.maximum(bboxes1[..., 3], bboxes2[..., 3])
wc = xxc2 - xxc1
hc = yyc2 - yyc1
assert (wc > 0).all() and (hc > 0).all()
area_enclose = wc * hc
giou = iou - (area_enclose - wh) / area_enclose
giou = (giou + 1.0) / 2.0 # resize from (-1,1) to (0,1)
return giou
def diou_batch(bboxes1, bboxes2):
"""
:param bbox_p: predict of bbox(N,4)(x1,y1,x2,y2)
:param bbox_g: groundtruth of bbox(N,4)(x1,y1,x2,y2)
:return:
"""
# for details should go to https://arxiv.org/pdf/1902.09630.pdf
# ensure predict's bbox form
bboxes2 = np.expand_dims(bboxes2, 0)
bboxes1 = np.expand_dims(bboxes1, 1)
# calculate the intersection box
xx1 = np.maximum(bboxes1[..., 0], bboxes2[..., 0])
yy1 = np.maximum(bboxes1[..., 1], bboxes2[..., 1])
xx2 = np.minimum(bboxes1[..., 2], bboxes2[..., 2])
yy2 = np.minimum(bboxes1[..., 3], bboxes2[..., 3])
w = np.maximum(0.0, xx2 - xx1)
h = np.maximum(0.0, yy2 - yy1)
wh = w * h
iou = wh / (
(bboxes1[..., 2] - bboxes1[..., 0]) * (bboxes1[..., 3] - bboxes1[..., 1])
+ (bboxes2[..., 2] - bboxes2[..., 0]) * (bboxes2[..., 3] - bboxes2[..., 1])
- wh
)
centerx1 = (bboxes1[..., 0] + bboxes1[..., 2]) / 2.0
centery1 = (bboxes1[..., 1] + bboxes1[..., 3]) / 2.0
centerx2 = (bboxes2[..., 0] + bboxes2[..., 2]) / 2.0
centery2 = (bboxes2[..., 1] + bboxes2[..., 3]) / 2.0
inner_diag = (centerx1 - centerx2) ** 2 + (centery1 - centery2) ** 2
xxc1 = np.minimum(bboxes1[..., 0], bboxes2[..., 0])
yyc1 = np.minimum(bboxes1[..., 1], bboxes2[..., 1])
xxc2 = np.maximum(bboxes1[..., 2], bboxes2[..., 2])
yyc2 = np.maximum(bboxes1[..., 3], bboxes2[..., 3])
outer_diag = (xxc2 - xxc1) ** 2 + (yyc2 - yyc1) ** 2
diou = iou - inner_diag / outer_diag
return (diou + 1) / 2.0 # resize from (-1,1) to (0,1)
def ciou_batch(bboxes1, bboxes2):
"""
:param bbox_p: predict of bbox(N,4)(x1,y1,x2,y2)
:param bbox_g: groundtruth of bbox(N,4)(x1,y1,x2,y2)
:return:
"""
# for details should go to https://arxiv.org/pdf/1902.09630.pdf
# ensure predict's bbox form
bboxes2 = np.expand_dims(bboxes2, 0)
bboxes1 = np.expand_dims(bboxes1, 1)
# calculate the intersection box
xx1 = np.maximum(bboxes1[..., 0], bboxes2[..., 0])
yy1 = np.maximum(bboxes1[..., 1], bboxes2[..., 1])
xx2 = np.minimum(bboxes1[..., 2], bboxes2[..., 2])
yy2 = np.minimum(bboxes1[..., 3], bboxes2[..., 3])
w = np.maximum(0.0, xx2 - xx1)
h = np.maximum(0.0, yy2 - yy1)
wh = w * h
iou = wh / (
(bboxes1[..., 2] - bboxes1[..., 0]) * (bboxes1[..., 3] - bboxes1[..., 1])
+ (bboxes2[..., 2] - bboxes2[..., 0]) * (bboxes2[..., 3] - bboxes2[..., 1])
- wh
)
centerx1 = (bboxes1[..., 0] + bboxes1[..., 2]) / 2.0
centery1 = (bboxes1[..., 1] + bboxes1[..., 3]) / 2.0
centerx2 = (bboxes2[..., 0] + bboxes2[..., 2]) / 2.0
centery2 = (bboxes2[..., 1] + bboxes2[..., 3]) / 2.0
inner_diag = (centerx1 - centerx2) ** 2 + (centery1 - centery2) ** 2
xxc1 = np.minimum(bboxes1[..., 0], bboxes2[..., 0])
yyc1 = np.minimum(bboxes1[..., 1], bboxes2[..., 1])
xxc2 = np.maximum(bboxes1[..., 2], bboxes2[..., 2])
yyc2 = np.maximum(bboxes1[..., 3], bboxes2[..., 3])
outer_diag = (xxc2 - xxc1) ** 2 + (yyc2 - yyc1) ** 2
w1 = bboxes1[..., 2] - bboxes1[..., 0]
h1 = bboxes1[..., 3] - bboxes1[..., 1]
w2 = bboxes2[..., 2] - bboxes2[..., 0]
h2 = bboxes2[..., 3] - bboxes2[..., 1]
# prevent dividing over zero. add one pixel shift
h2 = h2 + 1.0
h1 = h1 + 1.0
arctan = np.arctan(w2 / h2) - np.arctan(w1 / h1)
v = (4 / (np.pi**2)) * (arctan**2)
S = 1 - iou
alpha = v / (S + v)
ciou = iou - inner_diag / outer_diag - alpha * v
return (ciou + 1) / 2.0 # resize from (-1,1) to (0,1)
def ct_dist(bboxes1, bboxes2):
"""
Measure the center distance between two sets of bounding boxes,
this is a coarse implementation, we don't recommend using it only
for association, which can be unstable and sensitive to frame rate
and object speed.
"""
bboxes2 = np.expand_dims(bboxes2, 0)
bboxes1 = np.expand_dims(bboxes1, 1)
centerx1 = (bboxes1[..., 0] + bboxes1[..., 2]) / 2.0
centery1 = (bboxes1[..., 1] + bboxes1[..., 3]) / 2.0
centerx2 = (bboxes2[..., 0] + bboxes2[..., 2]) / 2.0
centery2 = (bboxes2[..., 1] + bboxes2[..., 3]) / 2.0
ct_dist2 = (centerx1 - centerx2) ** 2 + (centery1 - centery2) ** 2
ct_dist = np.sqrt(ct_dist2)
# The linear rescaling is a naive version and needs more study
ct_dist = ct_dist / ct_dist.max()
return ct_dist.max() - ct_dist # resize to (0,1)
def speed_direction_batch(dets, tracks):
tracks = tracks[..., np.newaxis]
CX1, CY1 = (dets[:, 0] + dets[:, 2]) / 2.0, (dets[:, 1] + dets[:, 3]) / 2.0
CX2, CY2 = (tracks[:, 0] + tracks[:, 2]) / 2.0, (tracks[:, 1] + tracks[:, 3]) / 2.0
dx = CX1 - CX2
dy = CY1 - CY2
norm = np.sqrt(dx**2 + dy**2) + 1e-6
dx = dx / norm
dy = dy / norm
return dy, dx # size: num_track x num_det
def linear_assignment(cost_matrix):
try:
import lap
_, x, y = lap.lapjv(cost_matrix, extend_cost=True)
return np.array([[y[i], i] for i in x if i >= 0]) #
except ImportError:
from scipy.optimize import linear_sum_assignment
x, y = linear_sum_assignment(cost_matrix)
return np.array(list(zip(x, y)))
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)
def compute_aw_max_metric(emb_cost, w_association_emb, bottom=0.5):
w_emb = np.full_like(emb_cost, w_association_emb)
for idx in range(emb_cost.shape[0]):
inds = np.argsort(-emb_cost[idx])
# If there's less than two matches, just keep original weight
if len(inds) < 2:
continue
if emb_cost[idx, inds[0]] == 0:
row_weight = 0
else:
row_weight = 1 - max(
(emb_cost[idx, inds[1]] / emb_cost[idx, inds[0]]) - bottom, 0
) / (1 - bottom)
w_emb[idx] *= row_weight
for idj in range(emb_cost.shape[1]):
inds = np.argsort(-emb_cost[:, idj])
# If there's less than two matches, just keep original weight
if len(inds) < 2:
continue
if emb_cost[inds[0], idj] == 0:
col_weight = 0
else:
col_weight = 1 - max(
(emb_cost[inds[1], idj] / emb_cost[inds[0], idj]) - bottom, 0
) / (1 - bottom)
w_emb[:, idj] *= col_weight
return w_emb * emb_cost
def associate(
detections,
trackers,
iou_threshold,
velocities,
previous_obs,
vdc_weight,
emb_cost=None,
w_assoc_emb=None,
aw_off=None,
aw_param=None,
):
if len(trackers) == 0:
return (
np.empty((0, 2), dtype=int),
np.arange(len(detections)),
np.empty((0, 5), dtype=int),
)
Y, X = speed_direction_batch(detections, previous_obs)
inertia_Y, inertia_X = velocities[:, 0], velocities[:, 1]
inertia_Y = np.repeat(inertia_Y[:, np.newaxis], Y.shape[1], axis=1)
inertia_X = np.repeat(inertia_X[:, np.newaxis], X.shape[1], axis=1)
diff_angle_cos = inertia_X * X + inertia_Y * Y
diff_angle_cos = np.clip(diff_angle_cos, a_min=-1, a_max=1)
diff_angle = np.arccos(diff_angle_cos)
diff_angle = (np.pi / 2.0 - np.abs(diff_angle)) / np.pi
valid_mask = np.ones(previous_obs.shape[0])
valid_mask[np.where(previous_obs[:, 4] < 0)] = 0
iou_matrix = iou_batch(detections, trackers)
scores = np.repeat(detections[:, -1][:, np.newaxis], trackers.shape[0], axis=1)
# iou_matrix = iou_matrix * scores # a trick sometiems works, we don't encourage this
valid_mask = np.repeat(valid_mask[:, np.newaxis], X.shape[1], axis=1)
angle_diff_cost = (valid_mask * diff_angle) * vdc_weight
angle_diff_cost = angle_diff_cost.T
angle_diff_cost = angle_diff_cost * scores
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:
if emb_cost is None:
emb_cost = 0
else:
emb_cost = emb_cost.cpu().numpy()
emb_cost[iou_matrix <= 0] = 0
if not aw_off:
emb_cost = compute_aw_max_metric(
emb_cost, w_assoc_emb, bottom=aw_param
)
else:
emb_cost *= w_assoc_emb
final_cost = -(iou_matrix + angle_diff_cost + emb_cost)
matched_indices = linear_assignment(final_cost)
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)
def associate_kitti(
detections, trackers, det_cates, iou_threshold, velocities, previous_obs, vdc_weight
):
if len(trackers) == 0:
return (
np.empty((0, 2), dtype=int),
np.arange(len(detections)),
np.empty((0, 5), dtype=int),
)
"""
Cost from the velocity direction consistency
"""
Y, X = speed_direction_batch(detections, previous_obs)
inertia_Y, inertia_X = velocities[:, 0], velocities[:, 1]
inertia_Y = np.repeat(inertia_Y[:, np.newaxis], Y.shape[1], axis=1)
inertia_X = np.repeat(inertia_X[:, np.newaxis], X.shape[1], axis=1)
diff_angle_cos = inertia_X * X + inertia_Y * Y
diff_angle_cos = np.clip(diff_angle_cos, a_min=-1, a_max=1)
diff_angle = np.arccos(diff_angle_cos)
diff_angle = (np.pi / 2.0 - np.abs(diff_angle)) / np.pi
valid_mask = np.ones(previous_obs.shape[0])
valid_mask[np.where(previous_obs[:, 4] < 0)] = 0
valid_mask = np.repeat(valid_mask[:, np.newaxis], X.shape[1], axis=1)
scores = np.repeat(detections[:, -1][:, np.newaxis], trackers.shape[0], axis=1)
angle_diff_cost = (valid_mask * diff_angle) * vdc_weight
angle_diff_cost = angle_diff_cost.T
angle_diff_cost = angle_diff_cost * scores
"""
Cost from IoU
"""
iou_matrix = iou_batch(detections, trackers)
"""
With multiple categories, generate the cost for catgory mismatch
"""
num_dets = detections.shape[0]
num_trk = trackers.shape[0]
cate_matrix = np.zeros((num_dets, num_trk))
for i in range(num_dets):
for j in range(num_trk):
if det_cates[i] != trackers[j, 4]:
cate_matrix[i][j] = -1e6
cost_matrix = -iou_matrix - angle_diff_cost - cate_matrix
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(cost_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)