suppress lost targets

MDP_test.m

@@ -1,7 +1,7 @@
 % testing MDP
 function metrics = MDP_test(seq_idx, tracker)
 
-is_show = 0;
+is_show = 1;
 is_save = 0;
 is_text = 0;
 
@@ -282,4 +282,54 @@
             end
         end
     end
+end
+
+
+% collect dres from trackers
+dres_track = [];
+for i = 1:numel(trackers)
+    tracker = trackers{i};
+    dres = sub(tracker.dres, numel(tracker.dres.fr));
+
+    if tracker.state == 3
+        if isempty(dres_track)
+            dres_track = dres;
+        else
+            dres_track = concatenate_dres(dres_track, dres);
+        end
+    end
+end   
+
+% compute overlaps
+if isempty(dres_track)
+    num_track = 0;
+else
+    num_track = numel(dres_track.fr);
+end
+
+flag = zeros(num_track, 1);
+for i = 1:num_track
+    [~, o] = calc_overlap(dres_track, i, dres_track, 1:num_track);
+    o(i) = 0;
+    o(flag == 1) = 0;
+    [mo, ind] = max(o);
+    if mo > opt.overlap_sup_lost
+        f1 = dres_track.fr(i);
+        f2 = dres_track.fr(ind);
+        if f1 > f2
+            trackers{dres_track.id(ind)}.state = 0;
+            trackers{dres_track.id(ind)}.dres.state(end) = 0;
+            flag(ind) = 1;
+            if opt.is_text
+                fprintf('target %d suppressed\n', dres_track.id(ind));
+            end
+        else
+            trackers{dres_track.id(i)}.state = 0;
+            trackers{dres_track.id(i)}.dres.state(end) = 0;
+            flag(i) = 1;
+            if opt.is_text
+                fprintf('target %d suppressed\n', dres_track.id(i));
+            end
+        end
+    end
 end

bb_points.m

@@ -44,4 +44,10 @@
 stepW = (bb(3)-bb(1)) / (numN - 1);
 stepH = (bb(4)-bb(2)) / (numM - 1);
 
-pt = ntuples(bb(1):stepW:bb(3),(bb(2):stepH:bb(4)));
+pt = ntuples(bb(1):stepW:bb(3),(bb(2):stepH:bb(4)));
+
+if size(pt,2) < numM*numN
+    count = numM * numN - size(pt, 2);
+    app = repmat(pt(:,end), 1, count);
+    pt = [pt, app];
+end

evaluate_cem.m

@@ -2,7 +2,7 @@
 
 opt = globals();
 seq_set = 'train';
-seq_name = 'KITTI-13';
+seq_name = 'ETH-Sunnyday';
 results = '/home/yuxiang/Projects/Multitarget_Tracking/MOTbenchmark/devkit/res/data';
 
 

globals.m

@@ -38,7 +38,7 @@
 opt.threshold_ratio = 0.6;    % aspect ratio threshold in target association
 opt.threshold_dis = 5;        % distance threshold in target association, multiple of the width of target
 opt.rescale_box = [1 1];    % [width height], rescale the bounding box before computing flow
-opt.rescale_img = 0.25;        % rescale the image before computing flow
+opt.rescale_img = 0.5;        % rescale the image before computing flow
 opt.enlarge_box = 5;          % enlarge the box before computing flow
 opt.level_track = 3;          % LK level in tracking
 opt.level_lost =  1;          % LK level in association
@@ -53,7 +53,8 @@
 opt.overlap_occ = 0.7;
 opt.overlap_pos = 0.5;
 opt.overlap_neg = 0.2;
-opt.overlap_sup = 0.95;  % suppress target used in testing only
+opt.overlap_sup = 0.9;      % suppress target used in testing only
+opt.overlap_sup_lost = 0.8;  % suppress target used in testing only
 opt.max_neg = 100;
 
 % training parameters

grid_search.m

@@ -9,37 +9,27 @@
 values = {[1, 1], [0.8, 1], [0.6, 1], [0.6, 0.8]};
 opt = search_parameter(seq_idx, opt, fname, values);
 
-% 2. search for rescale image
-fname = 'rescale_img';
-values = {0.25, 0.5, 0.75, 1};
-opt = search_parameter(seq_idx, opt, fname, values);
-
-% 3. search for enlarge box
+% 2. search for enlarge box
 fname = 'enlarge_box';
-values = {2, 3, 5};
+values = {2, 3, 4, 5};
 opt = search_parameter(seq_idx, opt, fname, values);
 
-% 4. search for max ratio changed allowed in LK
+% 3. search for max ratio changed allowed in LK
 fname = 'max_ratio';
-values = {0.6, 0.7, 0.8};
+values = {0.6, 0.7, 0.8, 0.9};
 opt = search_parameter(seq_idx, opt, fname, values);
 
-% 5. search for weight tracking
+% 4. search for weight tracking
 fname = 'weight_tracking';
 values = {1, 3, 5, 7};
 opt = search_parameter(seq_idx, opt, fname, values);
 
-% 6. search for fb factor
-fname = 'fb_factor';
-values = {10, 20, 30, 40};
-opt = search_parameter(seq_idx, opt, fname, values);
-
-% 7. search for threshold ratio
+% 5. search for threshold ratio
 fname = 'threshold_ratio';
-values = {0.6, 0.7, 0.8};
+values = {0.6, 0.7, 0.8, 0.9};
 opt = search_parameter(seq_idx, opt, fname, values);
 
-% 8. search for threshold dis
+% 6. search for threshold dis
 fname = 'threshold_dis';
 values = {1, 3, 5, 7};
 opt = search_parameter(seq_idx, opt, fname, values);