fix bugs of deepsort, add strongsort and sparsetrack

Author: JackWoo0831

README.md

@@ -35,7 +35,8 @@ and the tracker supports:
 - Bot-SORT ([arxiv2206](https://arxiv.org/pdf/2206.14651.pdf))
 - OCSORT ([CVPR2023](https://openaccess.thecvf.com/content/CVPR2023/papers/Cao_Observation-Centric_SORT_Rethinking_SORT_for_Robust_Multi-Object_Tracking_CVPR_2023_paper.pdf))
 - C_BIoU Track ([arxiv2211](https://arxiv.org/pdf/2211.14317v2.pdf))
-- Strong SORT (***coming soon!***)
+- Strong SORT ([IEEE TMM 2023](https://arxiv.org/pdf/2202.13514))
+- Sparse Track ([arxiv 2306](https://arxiv.org/pdf/2306.05238))
 
 and the reid model supports:
 
@@ -51,9 +52,10 @@ The highlights are:
 
 ## 🗺️ Roadmap
 
-- [ ] Add StrongSort
+- [ x ] Add StrongSort and SparseTrack
 - [ x ] Add save video function
 - [ x ] Add timer function to calculate fps
+- [] Add more ReID modules.
 
 ##  🔨 Installation
 
@@ -183,6 +185,10 @@ For example:
 
 - BoT-SORT: `python tracker/track.py --dataset uavdt --detector yolox --tracker botsort --kalman_format bot --detector_model_path weights/yolox_m_uavdt_50epochs.pth.tar`
 
+- Strong SORT: `python tracker/track.py --dataset uavdt --detector yolov8 --tracker strongsort --kalman_format strongsort --detector_model_path weights/yolov8l_UAVDT_60epochs_20230509.pt`
+
+- Sparse Track: `python tracker/track.py --dataset uavdt --detector yolov8 --tracker sparsetrack --kalman_format bot --detector_model_path weights/yolov8l_UAVDT_60epochs_20230509.pt`
+
 ### ✅ Evaluation 
 
 Coming Soon. As an alternative, after obtaining the result txt file, you can use the [Easier to use TrackEval repo](https://github.com/JackWoo0831/Easier_To_Use_TrackEval).

README_CN.md

@@ -31,7 +31,8 @@ git checkout v2  # change to v2 branch !!
 - Bot-SORT ([arxiv2206](https://arxiv.org/pdf/2206.14651.pdf))
 - OCSORT ([CVPR2023](https://openaccess.thecvf.com/content/CVPR2023/papers/Cao_Observation-Centric_SORT_Rethinking_SORT_for_Robust_Multi-Object_Tracking_CVPR_2023_paper.pdf))
 - C_BIoU Track ([arxiv2211](https://arxiv.org/pdf/2211.14317v2.pdf))
-- Strong SORT (***即将推出！***)
+- Strong SORT ([IEEE TMM 2023](https://arxiv.org/pdf/2202.13514))
+- Sparse Track ([arxiv 2306](https://arxiv.org/pdf/2306.05238))
 
 REID模型支持：
 
@@ -47,9 +48,10 @@ REID模型支持：
 
 ## 🗺️ 路线图
 
-- [ ] Add StrongSort
+- [ x ] Add StrongSort and SparseTrack
 - [ x ] Add save video function
 - [ x ] Add timer function to calculate fps
+- [] Add more ReID modules.mer function to calculate fps
 
 ##  🔨 安装
 

tracker/track.py

@@ -26,6 +26,8 @@
 from trackers.c_biou_tracker import C_BIoUTracker
 from trackers.ocsort_tracker import OCSortTracker
 from trackers.deepsort_tracker import DeepSortTracker
+from trackers.strongsort_tracker import StrongSortTracker
+from trackers.sparse_tracker import SparseTracker
 
 # YOLOX modules
 try:
@@ -66,7 +68,9 @@
     'botsort': BotTracker, 
     'c_bioutrack': C_BIoUTracker, 
     'ocsort': OCSortTracker, 
-    'deepsort': DeepSortTracker
+    'deepsort': DeepSortTracker, 
+    'strongsort': StrongSortTracker, 
+    'sparsetrack': SparseTracker
 }
 
 def get_args():

tracker/trackers/botsort_tracker.py

@@ -120,7 +120,7 @@ def update(self, output_results, img, ori_img):
         """
 
         self.frame_id += 1
-        activated_starcks = []
+        activated_tracklets = []
         refind_tracklets = []
         lost_tracklets = []
         removed_tracklets = []
@@ -199,7 +199,7 @@ def update(self, output_results, img, ori_img):
             det = detections[idet]
             if track.state == TrackState.Tracked:
                 track.update(detections[idet], self.frame_id)
-                activated_starcks.append(track)
+                activated_tracklets.append(track)
             else:
                 track.re_activate(det, self.frame_id, new_id=False)
                 refind_tracklets.append(track)
@@ -221,7 +221,7 @@ def update(self, output_results, img, ori_img):
             det = detections_second[idet]
             if track.state == TrackState.Tracked:
                 track.update(det, self.frame_id)
-                activated_starcks.append(track)
+                activated_tracklets.append(track)
             else:
                 track.re_activate(det, self.frame_id, new_id=False)
                 refind_tracklets.append(track)
@@ -252,7 +252,7 @@ def update(self, output_results, img, ori_img):
 
         for itracked, idet in matches:
             unconfirmed[itracked].update(detections[idet], self.frame_id)
-            activated_starcks.append(unconfirmed[itracked])
+            activated_tracklets.append(unconfirmed[itracked])
         for it in u_unconfirmed:
             track = unconfirmed[it]
             track.mark_removed()
@@ -264,7 +264,7 @@ def update(self, output_results, img, ori_img):
             if track.score < self.det_thresh:
                 continue
             track.activate(self.frame_id)
-            activated_starcks.append(track)
+            activated_tracklets.append(track)
 
         """ Step 5: Update state"""
         for track in self.lost_tracklets:
@@ -275,7 +275,7 @@ def update(self, output_results, img, ori_img):
         # print('Ramained match {} s'.format(t4-t3))
 
         self.tracked_tracklets = [t for t in self.tracked_tracklets if t.state == TrackState.Tracked]
-        self.tracked_tracklets = joint_tracklets(self.tracked_tracklets, activated_starcks)
+        self.tracked_tracklets = joint_tracklets(self.tracked_tracklets, activated_tracklets)
         self.tracked_tracklets = joint_tracklets(self.tracked_tracklets, refind_tracklets)
         self.lost_tracklets = sub_tracklets(self.lost_tracklets, self.tracked_tracklets)
         self.lost_tracklets.extend(lost_tracklets)

tracker/trackers/byte_tracker.py

@@ -29,7 +29,7 @@ def update(self, output_results, img, ori_img):
         """
 
         self.frame_id += 1
-        activated_starcks = []
+        activated_tracklets = []
         refind_tracklets = []
         lost_tracklets = []
         removed_tracklets = []
@@ -84,7 +84,7 @@ def update(self, output_results, img, ori_img):
             det = detections[idet]
             if track.state == TrackState.Tracked:
                 track.update(detections[idet], self.frame_id)
-                activated_starcks.append(track)
+                activated_tracklets.append(track)
             else:
                 track.re_activate(det, self.frame_id, new_id=False)
                 refind_tracklets.append(track)
@@ -105,7 +105,7 @@ def update(self, output_results, img, ori_img):
             det = detections_second[idet]
             if track.state == TrackState.Tracked:
                 track.update(det, self.frame_id)
-                activated_starcks.append(track)
+                activated_tracklets.append(track)
             else:
                 track.re_activate(det, self.frame_id, new_id=False)
                 refind_tracklets.append(track)
@@ -124,7 +124,7 @@ def update(self, output_results, img, ori_img):
 
         for itracked, idet in matches:
             unconfirmed[itracked].update(detections[idet], self.frame_id)
-            activated_starcks.append(unconfirmed[itracked])
+            activated_tracklets.append(unconfirmed[itracked])
         for it in u_unconfirmed:
             track = unconfirmed[it]
             track.mark_removed()
@@ -136,7 +136,7 @@ def update(self, output_results, img, ori_img):
             if track.score < self.det_thresh:
                 continue
             track.activate(self.frame_id)
-            activated_starcks.append(track)
+            activated_tracklets.append(track)
 
         """ Step 5: Update state"""
         for track in self.lost_tracklets:
@@ -147,7 +147,7 @@ def update(self, output_results, img, ori_img):
         # print('Ramained match {} s'.format(t4-t3))
 
         self.tracked_tracklets = [t for t in self.tracked_tracklets if t.state == TrackState.Tracked]
-        self.tracked_tracklets = joint_tracklets(self.tracked_tracklets, activated_starcks)
+        self.tracked_tracklets = joint_tracklets(self.tracked_tracklets, activated_tracklets)
         self.tracked_tracklets = joint_tracklets(self.tracked_tracklets, refind_tracklets)
         self.lost_tracklets = sub_tracklets(self.lost_tracklets, self.tracked_tracklets)
         self.lost_tracklets.extend(lost_tracklets)

tracker/trackers/c_biou_tracker.py

@@ -29,7 +29,7 @@ def update(self, output_results, img, ori_img):
         """
 
         self.frame_id += 1
-        activated_starcks = []
+        activated_tracklets = []
         refind_tracklets = []
         lost_tracklets = []
         removed_tracklets = []
@@ -84,7 +84,7 @@ def update(self, output_results, img, ori_img):
             det = detections[idet]
             if track.state == TrackState.Tracked:
                 track.update(detections[idet], self.frame_id)
-                activated_starcks.append(track)
+                activated_tracklets.append(track)
             else:
                 track.re_activate(det, self.frame_id, new_id=False)
                 refind_tracklets.append(track)
@@ -108,7 +108,7 @@ def update(self, output_results, img, ori_img):
             det = detections_second[idet]
             if track.state == TrackState.Tracked:
                 track.update(det, self.frame_id)
-                activated_starcks.append(track)
+                activated_tracklets.append(track)
             else:
                 track.re_activate(det, self.frame_id, new_id=False)
                 refind_tracklets.append(track)
@@ -127,7 +127,7 @@ def update(self, output_results, img, ori_img):
 
         for itracked, idet in matches:
             unconfirmed[itracked].update(detections[idet], self.frame_id)
-            activated_starcks.append(unconfirmed[itracked])
+            activated_tracklets.append(unconfirmed[itracked])
         for it in u_unconfirmed:
             track = unconfirmed[it]
             track.mark_removed()
@@ -139,7 +139,7 @@ def update(self, output_results, img, ori_img):
             if track.score < self.det_thresh:
                 continue
             track.activate(self.frame_id)
-            activated_starcks.append(track)
+            activated_tracklets.append(track)
 
         """ Step 5: Update state"""
         for track in self.lost_tracklets:
@@ -150,7 +150,7 @@ def update(self, output_results, img, ori_img):
         # print('Ramained match {} s'.format(t4-t3))
 
         self.tracked_tracklets = [t for t in self.tracked_tracklets if t.state == TrackState.Tracked]
-        self.tracked_tracklets = joint_tracklets(self.tracked_tracklets, activated_starcks)
+        self.tracked_tracklets = joint_tracklets(self.tracked_tracklets, activated_tracklets)
         self.tracked_tracklets = joint_tracklets(self.tracked_tracklets, refind_tracklets)
         self.lost_tracklets = sub_tracklets(self.lost_tracklets, self.tracked_tracklets)
         self.lost_tracklets.extend(lost_tracklets)

tracker/trackers/deepsort_tracker.py

@@ -121,7 +121,7 @@ def update(self, output_results, img, ori_img):
         """
 
         self.frame_id += 1
-        activated_starcks = []
+        activated_tracklets = []
         refind_tracklets = []
         lost_tracklets = []
         removed_tracklets = []
@@ -176,7 +176,7 @@ def update(self, output_results, img, ori_img):
             det = detections[idet]
             if track.state == TrackState.Tracked:
                 track.update(detections[idet], self.frame_id)
-                activated_starcks.append(track)
+                activated_tracklets.append(track)
             else:
                 track.re_activate(det, self.frame_id, new_id=False)
                 refind_tracklets.append(track)
@@ -194,11 +194,17 @@ def update(self, output_results, img, ori_img):
             det = detection_for_iou[idet]
             if track.state == TrackState.Tracked:
                 track.update(detection_for_iou[idet], self.frame_id)
-                activated_starcks.append(track)
+                activated_tracklets.append(track)
             else:
                 track.re_activate(det, self.frame_id, new_id=False)
                 refind_tracklets.append(track)
 
+        for it in u_track:
+            track = tracklet_for_iou[it]
+            if not track.state == TrackState.Lost:
+                track.mark_lost()
+                lost_tracklets.append(track)
+
 
 
         '''Deal with unconfirmed tracks, usually tracks with only one beginning frame'''
@@ -209,7 +215,7 @@ def update(self, output_results, img, ori_img):
 
         for itracked, idet in matches:
             unconfirmed[itracked].update(detections[idet], self.frame_id)
-            activated_starcks.append(unconfirmed[itracked])
+            activated_tracklets.append(unconfirmed[itracked])
         for it in u_unconfirmed:
             track = unconfirmed[it]
             track.mark_removed()
@@ -221,7 +227,7 @@ def update(self, output_results, img, ori_img):
             if track.score < self.det_thresh:
                 continue
             track.activate(self.frame_id)
-            activated_starcks.append(track)
+            activated_tracklets.append(track)
 
         """ Step 5: Update state"""
         for track in self.lost_tracklets:
@@ -232,7 +238,7 @@ def update(self, output_results, img, ori_img):
         # print('Ramained match {} s'.format(t4-t3))
 
         self.tracked_tracklets = [t for t in self.tracked_tracklets if t.state == TrackState.Tracked]
-        self.tracked_tracklets = joint_tracklets(self.tracked_tracklets, activated_starcks)
+        self.tracked_tracklets = joint_tracklets(self.tracked_tracklets, activated_tracklets)
         self.tracked_tracklets = joint_tracklets(self.tracked_tracklets, refind_tracklets)
         self.lost_tracklets = sub_tracklets(self.lost_tracklets, self.tracked_tracklets)
         self.lost_tracklets.extend(lost_tracklets)
@@ -275,7 +281,7 @@ def gate_cost_matrix(self, cost_matrix, tracks, dets, max_apperance_thresh=0.15,
 
         cost_matrix[cost_matrix > max_apperance_thresh] = gated_cost
         for row, track in enumerate(tracks):
-            gating_distance = track.kalman.gating_distance(measurements, )
+            gating_distance = track.kalman_filter.gating_distance(measurements, )
             cost_matrix[row, gating_distance > gating_threshold] = gated_cost
         return cost_matrix
 

tracker/trackers/kalman_filters/base_kalman.py

@@ -57,7 +57,7 @@ def gating_distance(self, measurements, only_position=False):
         # map state space to measurement space
         mean = self.kf.x.copy()
         mean = np.dot(self.kf.H, mean)
-        covariance = self.kf.P.copy()
+        covariance = np.linalg.multi_dot((self.kf.H, self.kf.P, self.kf.H.T))
 
         if only_position:
             mean, covariance = mean[:2], covariance[:2, :2]