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<title>motrackers.iou_tracker — Multi-object trackers in Python 1.0.0 documentation</title>
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<li class="toctree-l1"><a class="reference internal" href="../../includeme/readmefile.html">Multi-object trackers in Python</a></li>
<li class="toctree-l1"><a class="reference internal" href="../../includeme/readmefile.html#example-tf-mobilenetssd-centroidtracker">Example: <cite>TF-MobileNetSSD + CentroidTracker</cite></a></li>
<li class="toctree-l1"><a class="reference internal" href="../../includeme/readmefile.html#example-yolov3-centroidtracker">Example: <cite>YOLOv3 + CentroidTracker</cite></a></li>
<li class="toctree-l1"><a class="reference internal" href="../../includeme/apidocuments.html">Tracker</a></li>
<li class="toctree-l1"><a class="reference internal" href="../../includeme/apidocuments.html#sort">SORT</a></li>
<li class="toctree-l1"><a class="reference internal" href="../../includeme/apidocuments.html#iou-tracker">IOU Tracker</a></li>
<li class="toctree-l1"><a class="reference internal" href="../../includeme/apidocuments.html#kalman-filter-based-centroid-tracker">Kalman Filter based Centroid Tracker</a></li>
<li class="toctree-l1"><a class="reference internal" href="../../includeme/apidocuments.html#tracks">Tracks</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../../includeme/apidocuments.html#object-detection">Object Detection</a></li>
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<h1>Source code for motrackers.iou_tracker</h1><div class="highlight"><pre>
<span></span><span class="kn">from</span> <span class="nn">motrackers.utils.misc</span> <span class="kn">import</span> <span class="n">iou_xywh</span> <span class="k">as</span> <span class="n">iou</span>
<span class="kn">from</span> <span class="nn">motrackers.tracker</span> <span class="kn">import</span> <span class="n">Tracker</span>
<div class="viewcode-block" id="IOUTracker"><a class="viewcode-back" href="../../includeme/apidocuments.html#motrackers.iou_tracker.IOUTracker">[docs]</a><span class="k">class</span> <span class="nc">IOUTracker</span><span class="p">(</span><span class="n">Tracker</span><span class="p">):</span>
<span class="sd">"""</span>
<span class="sd"> Intersection over Union Tracker.</span>
<span class="sd"> References</span>
<span class="sd"> ----------</span>
<span class="sd"> * Implementation of this algorithm is heavily based on https://github.com/bochinski/iou-tracker</span>
<span class="sd"> Args:</span>
<span class="sd"> max_lost (int): Maximum number of consecutive frames object was not detected.</span>
<span class="sd"> tracker_output_format (str): Output format of the tracker.</span>
<span class="sd"> min_detection_confidence (float): Threshold for minimum detection confidence.</span>
<span class="sd"> max_detection_confidence (float): Threshold for max. detection confidence.</span>
<span class="sd"> iou_threshold (float): Intersection over union minimum value.</span>
<span class="sd"> """</span>
<span class="k">def</span> <span class="fm">__init__</span><span class="p">(</span>
<span class="bp">self</span><span class="p">,</span>
<span class="n">max_lost</span><span class="o">=</span><span class="mi">2</span><span class="p">,</span>
<span class="n">iou_threshold</span><span class="o">=</span><span class="mf">0.5</span><span class="p">,</span>
<span class="n">min_detection_confidence</span><span class="o">=</span><span class="mf">0.4</span><span class="p">,</span>
<span class="n">max_detection_confidence</span><span class="o">=</span><span class="mf">0.7</span><span class="p">,</span>
<span class="n">tracker_output_format</span><span class="o">=</span><span class="s1">'mot_challenge'</span>
<span class="p">):</span>
<span class="bp">self</span><span class="o">.</span><span class="n">iou_threshold</span> <span class="o">=</span> <span class="n">iou_threshold</span>
<span class="bp">self</span><span class="o">.</span><span class="n">max_detection_confidence</span> <span class="o">=</span> <span class="n">max_detection_confidence</span>
<span class="bp">self</span><span class="o">.</span><span class="n">min_detection_confidence</span> <span class="o">=</span> <span class="n">min_detection_confidence</span>
<span class="nb">super</span><span class="p">(</span><span class="n">IOUTracker</span><span class="p">,</span> <span class="bp">self</span><span class="p">)</span><span class="o">.</span><span class="fm">__init__</span><span class="p">(</span><span class="n">max_lost</span><span class="o">=</span><span class="n">max_lost</span><span class="p">,</span> <span class="n">tracker_output_format</span><span class="o">=</span><span class="n">tracker_output_format</span><span class="p">)</span>
<div class="viewcode-block" id="IOUTracker.update"><a class="viewcode-back" href="../../includeme/apidocuments.html#motrackers.iou_tracker.IOUTracker.update">[docs]</a> <span class="k">def</span> <span class="nf">update</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">bboxes</span><span class="p">,</span> <span class="n">detection_scores</span><span class="p">,</span> <span class="n">class_ids</span><span class="p">):</span>
<span class="n">detections</span> <span class="o">=</span> <span class="n">Tracker</span><span class="o">.</span><span class="n">preprocess_input</span><span class="p">(</span><span class="n">bboxes</span><span class="p">,</span> <span class="n">class_ids</span><span class="p">,</span> <span class="n">detection_scores</span><span class="p">)</span>
<span class="bp">self</span><span class="o">.</span><span class="n">frame_count</span> <span class="o">+=</span> <span class="mi">1</span>
<span class="n">track_ids</span> <span class="o">=</span> <span class="nb">list</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">tracks</span><span class="o">.</span><span class="n">keys</span><span class="p">())</span>
<span class="n">updated_tracks</span> <span class="o">=</span> <span class="p">[]</span>
<span class="k">for</span> <span class="n">track_id</span> <span class="ow">in</span> <span class="n">track_ids</span><span class="p">:</span>
<span class="k">if</span> <span class="nb">len</span><span class="p">(</span><span class="n">detections</span><span class="p">)</span> <span class="o">></span> <span class="mi">0</span><span class="p">:</span>
<span class="n">idx</span><span class="p">,</span> <span class="n">best_match</span> <span class="o">=</span> <span class="nb">max</span><span class="p">(</span><span class="nb">enumerate</span><span class="p">(</span><span class="n">detections</span><span class="p">),</span> <span class="n">key</span><span class="o">=</span><span class="k">lambda</span> <span class="n">x</span><span class="p">:</span> <span class="n">iou</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">tracks</span><span class="p">[</span><span class="n">track_id</span><span class="p">]</span><span class="o">.</span><span class="n">bbox</span><span class="p">,</span> <span class="n">x</span><span class="p">[</span><span class="mi">1</span><span class="p">][</span><span class="mi">0</span><span class="p">]))</span>
<span class="p">(</span><span class="n">bb</span><span class="p">,</span> <span class="n">cid</span><span class="p">,</span> <span class="n">scr</span><span class="p">)</span> <span class="o">=</span> <span class="n">best_match</span>
<span class="k">if</span> <span class="n">iou</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">tracks</span><span class="p">[</span><span class="n">track_id</span><span class="p">]</span><span class="o">.</span><span class="n">bbox</span><span class="p">,</span> <span class="n">bb</span><span class="p">)</span> <span class="o">></span> <span class="bp">self</span><span class="o">.</span><span class="n">iou_threshold</span><span class="p">:</span>
<span class="bp">self</span><span class="o">.</span><span class="n">_update_track</span><span class="p">(</span><span class="n">track_id</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">frame_count</span><span class="p">,</span> <span class="n">bb</span><span class="p">,</span> <span class="n">scr</span><span class="p">,</span> <span class="n">class_id</span><span class="o">=</span><span class="n">cid</span><span class="p">,</span>
<span class="n">iou_score</span><span class="o">=</span><span class="n">iou</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">tracks</span><span class="p">[</span><span class="n">track_id</span><span class="p">]</span><span class="o">.</span><span class="n">bbox</span><span class="p">,</span> <span class="n">bb</span><span class="p">))</span>
<span class="n">updated_tracks</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">track_id</span><span class="p">)</span>
<span class="k">del</span> <span class="n">detections</span><span class="p">[</span><span class="n">idx</span><span class="p">]</span>
<span class="k">if</span> <span class="nb">len</span><span class="p">(</span><span class="n">updated_tracks</span><span class="p">)</span> <span class="o">==</span> <span class="mi">0</span> <span class="ow">or</span> <span class="n">track_id</span> <span class="ow">is</span> <span class="ow">not</span> <span class="n">updated_tracks</span><span class="p">[</span><span class="o">-</span><span class="mi">1</span><span class="p">]:</span>
<span class="bp">self</span><span class="o">.</span><span class="n">tracks</span><span class="p">[</span><span class="n">track_id</span><span class="p">]</span><span class="o">.</span><span class="n">lost</span> <span class="o">+=</span> <span class="mi">1</span>
<span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">tracks</span><span class="p">[</span><span class="n">track_id</span><span class="p">]</span><span class="o">.</span><span class="n">lost</span> <span class="o">></span> <span class="bp">self</span><span class="o">.</span><span class="n">max_lost</span><span class="p">:</span>
<span class="bp">self</span><span class="o">.</span><span class="n">_remove_track</span><span class="p">(</span><span class="n">track_id</span><span class="p">)</span>
<span class="k">for</span> <span class="n">bb</span><span class="p">,</span> <span class="n">cid</span><span class="p">,</span> <span class="n">scr</span> <span class="ow">in</span> <span class="n">detections</span><span class="p">:</span>
<span class="bp">self</span><span class="o">.</span><span class="n">_add_track</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">frame_count</span><span class="p">,</span> <span class="n">bb</span><span class="p">,</span> <span class="n">scr</span><span class="p">,</span> <span class="n">class_id</span><span class="o">=</span><span class="n">cid</span><span class="p">)</span>
<span class="n">outputs</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_get_tracks</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">tracks</span><span class="p">)</span>
<span class="k">return</span> <span class="n">outputs</span></div></div>
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