Merge pull request #875 from mikel-brostrom/fix-trackers-output

Fix trackers output
mikel-brostrom · May 17, 2023 · 9ebfdc3 · 9ebfdc3
2 parents f8b5b9e + e8d5591
commit 9ebfdc3
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Showing 7 changed files with 18 additions and 11 deletions.
diff --git a/track.py b/track.py
@@ -185,6 +185,7 @@ def run(
             # overwrite bbox results with tracker predictions
             if predictor.tracker_outputs[i].size != 0:
                 predictor.results[i].boxes = Boxes(
+                    # xyxy, (track_id), conf, cls
                     boxes=torch.from_numpy(predictor.tracker_outputs[i]).to(dets.device),
                     orig_shape=im0.shape[:2],  # (height, width)
                 )

diff --git a/trackers/botsort/bot_sort.py b/trackers/botsort/bot_sort.py
@@ -467,8 +467,8 @@ def update(self, output_results, img):
             xyxy = np.squeeze(xyxy, axis=0)
             output.extend(xyxy)
             output.append(tid)
-            output.append(t.cls)
             output.append(t.score)
+            output.append(t.cls)
             outputs.append(output)
 
         outputs = np.asarray(outputs)

diff --git a/trackers/bytetrack/byte_tracker.py b/trackers/bytetrack/byte_tracker.py
@@ -306,8 +306,8 @@ def update(self, dets, _):
             xyxy = np.squeeze(xyxy, axis=0)
             output.extend(xyxy)
             output.append(tid)
-            output.append(t.cls)
             output.append(t.score)
+            output.append(t.cls)
             outputs.append(output)
         outputs = np.asarray(outputs)
         return outputs

diff --git a/trackers/deepocsort/configs/deepocsort.yaml b/trackers/deepocsort/configs/deepocsort.yaml
@@ -1,12 +1,18 @@
-# Trial number:      137
-# HOTA, MOTA, IDF1:  [55.567]
+# Trial number:      0
+# HOTA, MOTA, IDF1:  [58.899, 45.332, 64.646]
 deepocsort:
+  alpha_fixed_emb: 0.9122881591147693
   asso_func: giou
-  conf_thres: 0.5122620708221085
+  aw_off: false
+  aw_param: 0.557644552531807
+  cmc_off: false
+  conf_thres: 0.3912975993275593
   delta_t: 1
   det_thresh: 0
+  embedding_off: false
   inertia: 0.3941737016672115
   iou_thresh: 0.22136877277096445
   max_age: 50
   min_hits: 1
-  use_byte: false
+  new_kf_off: false
+  w_association_emb: 0.8475316645583285
diff --git a/trackers/deepocsort/ocsort.py b/trackers/deepocsort/ocsort.py
@@ -509,7 +509,7 @@ def update(self, dets, img_numpy, tag='blub'):
                 d = trk.last_observation[:4]
             if (trk.time_since_update < 1) and (trk.hit_streak >= self.min_hits or self.frame_count <= self.min_hits):
                 # +1 as MOT benchmark requires positive
-                ret.append(np.concatenate((d, [trk.id + 1], [trk.cls], [trk.conf])).reshape(1, -1))
+                ret.append(np.concatenate((d, [trk.id + 1], [trk.conf], [trk.cls])).reshape(1, -1))
             i -= 1
             # remove dead tracklet
             if trk.time_since_update > self.max_age:
@@ -635,7 +635,7 @@ def update_public(self, dets, cates, scores):
             if trk.time_since_update < 1:
                 if (self.frame_count <= self.min_hits) or (trk.hit_streak >= self.min_hits):
                     # id+1 as MOT benchmark requires positive
-                    ret.append(np.concatenate((d, [trk.id + 1], [trk.cls], [trk.conf])).reshape(1, -1))
+                    ret.append(np.concatenate((d, [trk.id + 1], [trk.conf], [trk.cls])).reshape(1, -1))
                 if trk.hit_streak == self.min_hits:
                     # Head Padding (HP): recover the lost steps during initializing the track
                     for prev_i in range(self.min_hits - 1):
@@ -646,8 +646,8 @@ def update_public(self, dets, cates, scores):
                                     (
                                         prev_observation[:4],
                                         [trk.id + 1],
-                                        [trk.cls],
                                         [trk.conf],
+                                        [trk.cls],
                                     )
                                 )
                             ).reshape(1, -1)

diff --git a/trackers/ocsort/ocsort.py b/trackers/ocsort/ocsort.py
@@ -318,7 +318,7 @@ def update(self, dets, _):
                 d = trk.last_observation[:4]
             if (trk.time_since_update < 1) and (trk.hit_streak >= self.min_hits or self.frame_count <= self.min_hits):
                 # +1 as MOT benchmark requires positive
-                ret.append(np.concatenate((d, [trk.id+1], [trk.cls], [trk.conf])).reshape(1, -1))
+                ret.append(np.concatenate((d, [trk.id+1], [trk.conf], [trk.cls])).reshape(1, -1))
             i -= 1
             # remove dead tracklet
             if(trk.time_since_update > self.max_age):

diff --git a/trackers/strongsort/strong_sort.py b/trackers/strongsort/strong_sort.py
@@ -76,7 +76,7 @@ def update(self, dets,  ori_img):
             class_id = track.class_id
             conf = track.conf
             queue = track.q
-            outputs.append(np.array([x1, y1, x2, y2, track_id, class_id, conf], dtype=np.float))
+            outputs.append(np.array([x1, y1, x2, y2, track_id, conf, class_id], dtype=np.float))
         outputs = np.asarray(outputs)
         return outputs