From 1d4f103b293d294767c77d91953f33868b8d20f1 Mon Sep 17 00:00:00 2001 From: Adrian Kretz Date: Wed, 23 Jun 2021 23:39:27 +0200 Subject: [PATCH 1/7] Add script to run full MOT17 benchmark --- .gitignore | 3 +++ benchmark.sh | 15 +++++++++++++++ documentation/BENCHMARK.md | 36 ++++++++++++++++++++++++++++++++++++ 3 files changed, 54 insertions(+) create mode 100755 benchmark.sh diff --git a/.gitignore b/.gitignore index fe447ef..b7fb5b4 100644 --- a/.gitignore +++ b/.gitignore @@ -63,3 +63,6 @@ typings/ # Development Environment .vscode + +MOT17Labels.zip +benchmark/MOT17/ diff --git a/benchmark.sh b/benchmark.sh new file mode 100755 index 0000000..2ac3873 --- /dev/null +++ b/benchmark.sh @@ -0,0 +1,15 @@ +#!/usr/bin/env bash + +if [ ! -d "benchmark" ]; then + wget -nc https://motchallenge.net/data/MOT17Labels.zip + unzip MOT17Labels.zip "train/*" -d "benchmark" && mv "benchmark/train" "benchmark/MOT17" +fi + +for d in benchmark/MOT17/*/ ; do + node main.js --mode motchallenge --input "${d}det/det.txt" && \ + mv "${d}/det/outputTrackerMOT.txt" "benchmark/MOT17/$(basename ${d}).txt" +done + +pushd benchmark/MOT17 +python3 -m motmetrics.apps.eval_motchallenge . . +popd diff --git a/documentation/BENCHMARK.md b/documentation/BENCHMARK.md index 485d227..5759c55 100644 --- a/documentation/BENCHMARK.md +++ b/documentation/BENCHMARK.md @@ -66,3 +66,39 @@ python3 -m motmetrics.apps.eval_motchallenge . . MOT17-04-DPM 28.6% 34.4% 24.5% 42.8% 60.0% 83 8 43 32 13558 27210 355 549 13.5% 0.224 OVERALL 28.6% 34.4% 24.5% 42.8% 60.0% 83 8 43 32 13558 27210 355 549 13.5% 0.224 ``` + +### Run full benchmark + +In order to benchmark the tracker on all MOT17 training sequences, delete the directory `benchmark` and run + +```bash +./benchmark.sh +``` + +On the first run, the script will download the full MOT17 training benchmark and unpack it. Then, it runs the tracker on each sequence and outputs the evaluation metrics. + +``` + IDF1 IDP IDR Rcll Prcn GT MT PT ML FP FN IDs FM MOTA MOTP IDt IDa IDm +MOT17-04-SDP 62.1% 74.7% 53.2% 69.1% 97.0% 83 32 39 12 1018 14708 138 381 66.6% 0.152 82 61 11 +MOT17-04-DPM 28.6% 34.4% 24.5% 42.8% 60.0% 83 8 43 32 13558 27210 355 549 13.5% 0.224 110 240 10 +MOT17-05-DPM 34.2% 45.9% 27.3% 41.7% 70.1% 133 9 68 56 1227 4035 131 182 22.0% 0.258 101 57 34 +MOT17-05-FRCNN 45.0% 60.4% 35.9% 52.3% 87.9% 133 24 64 45 498 3302 74 79 44.0% 0.173 83 27 36 +MOT17-11-FRCNN 55.1% 72.8% 44.4% 55.7% 91.5% 75 15 36 24 491 4177 57 59 49.9% 0.097 37 33 13 +MOT17-05-SDP 43.2% 52.7% 36.6% 59.2% 85.2% 133 32 75 26 712 2823 102 146 47.4% 0.167 109 36 43 +MOT17-02-FRCNN 31.5% 52.4% 22.6% 34.8% 80.7% 62 6 25 31 1547 12123 107 138 25.9% 0.127 59 60 12 +MOT17-09-FRCNN 43.5% 60.8% 33.8% 53.6% 96.4% 26 6 16 4 107 2473 41 42 50.8% 0.096 27 19 5 +MOT17-10-FRCNN 39.5% 45.3% 35.0% 58.6% 75.8% 57 15 35 7 2395 5318 279 342 37.8% 0.164 156 124 13 +MOT17-04-FRCNN 49.5% 67.6% 39.0% 53.2% 92.4% 83 17 43 23 2092 22240 105 101 48.6% 0.108 42 67 4 +MOT17-13-DPM 27.4% 38.9% 21.1% 28.6% 52.6% 110 11 44 55 3000 8313 164 292 1.4% 0.282 50 126 16 +MOT17-13-SDP 59.4% 74.9% 49.3% 55.2% 83.9% 110 44 28 38 1235 5210 133 238 43.5% 0.213 82 71 25 +MOT17-02-SDP 34.0% 45.5% 27.1% 45.3% 76.0% 62 9 35 18 2663 10166 233 401 29.7% 0.202 117 122 10 +MOT17-13-FRCNN 49.3% 57.6% 43.1% 57.0% 76.4% 110 35 49 26 2053 5001 275 322 37.0% 0.172 160 137 33 +MOT17-02-DPM 23.0% 42.1% 15.8% 26.5% 70.5% 62 4 20 38 2063 13662 168 270 14.5% 0.261 65 108 7 +MOT17-10-SDP 48.4% 55.5% 42.9% 67.8% 87.8% 57 23 30 4 1211 4138 198 315 56.8% 0.205 114 84 5 +MOT17-09-DPM 34.2% 34.0% 34.4% 58.0% 57.3% 26 5 19 2 2303 2238 84 164 13.1% 0.275 49 39 7 +MOT17-09-SDP 48.2% 62.0% 39.4% 58.0% 91.4% 26 8 16 2 292 2239 52 83 51.5% 0.150 37 23 8 +MOT17-10-DPM 30.0% 36.6% 25.4% 42.8% 61.7% 57 7 30 20 3411 7339 219 388 14.6% 0.266 65 158 9 +MOT17-11-DPM 44.1% 48.4% 40.5% 53.8% 64.3% 75 11 32 32 2820 4361 68 82 23.2% 0.225 27 44 6 +MOT17-11-SDP 53.0% 62.1% 46.2% 66.8% 89.8% 75 20 38 17 715 3135 76 112 58.4% 0.149 44 41 13 +OVERALL 42.9% 54.6% 35.4% 51.3% 79.2% 1638 341 785 512 45411 164211 3059 4686 36.9% 0.175 1616 1677 320 +``` From aab43a6678952f512a2d0a2fa79a9c06c924c56f Mon Sep 17 00:00:00 2001 From: Adrian Kretz Date: Wed, 23 Jun 2021 23:47:35 +0200 Subject: [PATCH 2/7] Remove short trajectories in MOT17 benchmark --- documentation/BENCHMARK.md | 50 +++++++++++++++++++------------------- main.js | 10 ++++++++ 2 files changed, 35 insertions(+), 25 deletions(-) diff --git a/documentation/BENCHMARK.md b/documentation/BENCHMARK.md index 5759c55..633c6d3 100644 --- a/documentation/BENCHMARK.md +++ b/documentation/BENCHMARK.md @@ -62,9 +62,9 @@ python3 -m motmetrics.apps.eval_motchallenge . . - Result ``` - IDF1 IDP IDR Rcll Prcn GT MT PT ML FP FN IDs FM MOTA MOTP -MOT17-04-DPM 28.6% 34.4% 24.5% 42.8% 60.0% 83 8 43 32 13558 27210 355 549 13.5% 0.224 -OVERALL 28.6% 34.4% 24.5% 42.8% 60.0% 83 8 43 32 13558 27210 355 549 13.5% 0.224 + IDF1 IDP IDR Rcll Prcn GT MT PT ML FP FN IDs FM MOTA MOTP IDt IDa IDm +MOT17-04-DPM 29.4% 36.6% 24.5% 42.5% 63.5% 83 8 43 32 11616 27366 264 469 17.5% 0.224 110 151 12 +OVERALL 29.4% 36.6% 24.5% 42.5% 63.5% 83 8 43 32 11616 27366 264 469 17.5% 0.224 110 151 12 ``` ### Run full benchmark @@ -79,26 +79,26 @@ On the first run, the script will download the full MOT17 training benchmark and ``` IDF1 IDP IDR Rcll Prcn GT MT PT ML FP FN IDs FM MOTA MOTP IDt IDa IDm -MOT17-04-SDP 62.1% 74.7% 53.2% 69.1% 97.0% 83 32 39 12 1018 14708 138 381 66.6% 0.152 82 61 11 -MOT17-04-DPM 28.6% 34.4% 24.5% 42.8% 60.0% 83 8 43 32 13558 27210 355 549 13.5% 0.224 110 240 10 -MOT17-05-DPM 34.2% 45.9% 27.3% 41.7% 70.1% 133 9 68 56 1227 4035 131 182 22.0% 0.258 101 57 34 -MOT17-05-FRCNN 45.0% 60.4% 35.9% 52.3% 87.9% 133 24 64 45 498 3302 74 79 44.0% 0.173 83 27 36 -MOT17-11-FRCNN 55.1% 72.8% 44.4% 55.7% 91.5% 75 15 36 24 491 4177 57 59 49.9% 0.097 37 33 13 -MOT17-05-SDP 43.2% 52.7% 36.6% 59.2% 85.2% 133 32 75 26 712 2823 102 146 47.4% 0.167 109 36 43 -MOT17-02-FRCNN 31.5% 52.4% 22.6% 34.8% 80.7% 62 6 25 31 1547 12123 107 138 25.9% 0.127 59 60 12 -MOT17-09-FRCNN 43.5% 60.8% 33.8% 53.6% 96.4% 26 6 16 4 107 2473 41 42 50.8% 0.096 27 19 5 -MOT17-10-FRCNN 39.5% 45.3% 35.0% 58.6% 75.8% 57 15 35 7 2395 5318 279 342 37.8% 0.164 156 124 13 -MOT17-04-FRCNN 49.5% 67.6% 39.0% 53.2% 92.4% 83 17 43 23 2092 22240 105 101 48.6% 0.108 42 67 4 -MOT17-13-DPM 27.4% 38.9% 21.1% 28.6% 52.6% 110 11 44 55 3000 8313 164 292 1.4% 0.282 50 126 16 -MOT17-13-SDP 59.4% 74.9% 49.3% 55.2% 83.9% 110 44 28 38 1235 5210 133 238 43.5% 0.213 82 71 25 -MOT17-02-SDP 34.0% 45.5% 27.1% 45.3% 76.0% 62 9 35 18 2663 10166 233 401 29.7% 0.202 117 122 10 -MOT17-13-FRCNN 49.3% 57.6% 43.1% 57.0% 76.4% 110 35 49 26 2053 5001 275 322 37.0% 0.172 160 137 33 -MOT17-02-DPM 23.0% 42.1% 15.8% 26.5% 70.5% 62 4 20 38 2063 13662 168 270 14.5% 0.261 65 108 7 -MOT17-10-SDP 48.4% 55.5% 42.9% 67.8% 87.8% 57 23 30 4 1211 4138 198 315 56.8% 0.205 114 84 5 -MOT17-09-DPM 34.2% 34.0% 34.4% 58.0% 57.3% 26 5 19 2 2303 2238 84 164 13.1% 0.275 49 39 7 -MOT17-09-SDP 48.2% 62.0% 39.4% 58.0% 91.4% 26 8 16 2 292 2239 52 83 51.5% 0.150 37 23 8 -MOT17-10-DPM 30.0% 36.6% 25.4% 42.8% 61.7% 57 7 30 20 3411 7339 219 388 14.6% 0.266 65 158 9 -MOT17-11-DPM 44.1% 48.4% 40.5% 53.8% 64.3% 75 11 32 32 2820 4361 68 82 23.2% 0.225 27 44 6 -MOT17-11-SDP 53.0% 62.1% 46.2% 66.8% 89.8% 75 20 38 17 715 3135 76 112 58.4% 0.149 44 41 13 -OVERALL 42.9% 54.6% 35.4% 51.3% 79.2% 1638 341 785 512 45411 164211 3059 4686 36.9% 0.175 1616 1677 320 +MOT17-04-SDP 62.2% 74.8% 53.2% 69.0% 97.1% 83 32 39 12 982 14737 121 367 66.7% 0.152 82 46 12 +MOT17-04-DPM 29.4% 36.6% 24.5% 42.5% 63.5% 83 8 43 32 11616 27366 264 469 17.5% 0.224 110 151 12 +MOT17-05-DPM 34.3% 48.2% 26.7% 40.2% 72.8% 133 9 63 61 1040 4133 94 150 23.9% 0.257 101 27 39 +MOT17-05-FRCNN 44.8% 61.3% 35.3% 51.6% 89.6% 133 24 56 53 414 3347 63 69 44.7% 0.172 82 20 39 +MOT17-11-FRCNN 55.4% 74.2% 44.2% 55.3% 92.8% 75 15 34 26 405 4219 45 50 50.5% 0.096 35 22 12 +MOT17-05-SDP 43.1% 53.9% 35.9% 58.0% 87.0% 133 31 64 38 597 2905 84 128 48.2% 0.165 108 21 45 +MOT17-02-FRCNN 31.6% 52.8% 22.6% 34.6% 81.1% 62 6 25 31 1502 12148 93 127 26.0% 0.126 55 49 11 +MOT17-09-FRCNN 43.6% 61.2% 33.8% 53.4% 96.8% 26 6 16 4 95 2481 37 39 50.9% 0.096 27 16 6 +MOT17-10-FRCNN 40.0% 46.8% 35.0% 57.9% 77.6% 57 15 35 7 2150 5405 228 311 39.4% 0.162 147 89 16 +MOT17-04-FRCNN 49.5% 67.8% 39.0% 53.2% 92.4% 83 17 43 23 2077 22271 93 90 48.6% 0.108 42 56 5 +MOT17-13-DPM 28.8% 45.8% 21.0% 27.1% 59.2% 110 10 42 58 2172 8489 75 207 7.8% 0.282 48 42 19 +MOT17-13-SDP 60.3% 78.0% 49.1% 54.5% 86.6% 110 43 25 42 980 5294 72 199 45.5% 0.212 70 24 27 +MOT17-02-SDP 34.3% 46.8% 27.1% 44.7% 77.1% 62 9 34 19 2468 10275 176 353 30.5% 0.201 114 72 13 +MOT17-13-FRCNN 50.4% 61.1% 42.9% 55.9% 79.6% 110 35 46 29 1667 5129 200 259 39.9% 0.169 141 83 34 +MOT17-02-DPM 23.3% 44.5% 15.8% 25.7% 72.4% 62 4 19 39 1814 13811 107 218 15.3% 0.260 62 55 12 +MOT17-10-SDP 48.9% 56.9% 42.8% 67.4% 89.5% 57 23 30 4 1010 4189 163 290 58.2% 0.205 108 60 9 +MOT17-09-DPM 35.1% 35.8% 34.4% 57.6% 59.9% 26 5 19 2 2055 2260 77 161 17.5% 0.275 49 32 7 +MOT17-09-SDP 48.5% 63.5% 39.2% 57.6% 93.2% 26 7 17 2 222 2260 46 78 52.5% 0.150 35 18 7 +MOT17-10-DPM 30.9% 39.6% 25.3% 41.7% 65.3% 57 7 30 20 2852 7479 119 299 18.6% 0.264 61 66 10 +MOT17-11-DPM 46.5% 54.9% 40.3% 53.2% 72.5% 75 10 30 35 1904 4413 52 68 32.5% 0.224 27 31 9 +MOT17-11-SDP 53.2% 62.9% 46.2% 66.5% 90.7% 75 19 39 17 646 3161 55 100 59.1% 0.149 40 28 15 +OVERALL 43.5% 56.7% 35.3% 50.8% 81.6% 1638 335 749 554 38668 165772 2264 4032 38.6% 0.174 1544 1008 359 ``` diff --git a/main.js b/main.js index fc98f1f..03817fe 100755 --- a/main.js +++ b/main.js @@ -247,6 +247,16 @@ fs.readFile(`${pathRawDetectionsInput}`, function (err, f) { } }); }); + } else { + // Compute the lengths of all trajectories + const count = MOToutput.reduce((acc, e) => { + var id = e.split(',')[1]; + return acc.set(id, (acc.get(id) || 0) + 1); + }, new Map()); + + // MOT detections have a lot of false positives, so it's better to remove + // short trajectories, which are likely due to false positives + MOToutput = MOToutput.filter(line => count.get(line.split(',')[1]) >= 10); } if (!MODE_MOTChallenge) { From 9d26c8a1f62cc80745a05b1f14d61982967e8a8b Mon Sep 17 00:00:00 2001 From: Adrian Kretz Date: Thu, 24 Jun 2021 00:34:33 +0200 Subject: [PATCH 3/7] Add Hungarian algorithm for matching --- package.json | 1 + tracker.js | 268 ++++++++++++++++++++++++++++++--------------------- 2 files changed, 158 insertions(+), 111 deletions(-) diff --git a/package.json b/package.json index ee440c2..806ae3b 100644 --- a/package.json +++ b/package.json @@ -19,6 +19,7 @@ "dependencies": { "lodash.isequal": "^4.5.0", "minimist": "^1.2.0", + "munkres-js": "^1.2.2", "uuid": "^3.2.1" }, "devDependencies": { diff --git a/tracker.js b/tracker.js index 8c7f762..d51fa3c 100644 --- a/tracker.js +++ b/tracker.js @@ -3,6 +3,7 @@ var ItemTracked = itemTrackedModule.ItemTracked; var kdTree = require('./lib/kdTree-min.js').kdTree; var isEqual = require('lodash.isequal') var iouAreas = require('./utils').iouAreas +var munkres = require('munkres-js'); var DEBUG_MODE = false; @@ -39,7 +40,10 @@ const params = { distanceFunc: iouDistance, // The distance limit for matching. If values need to be excluded from // matching set their distance to something greater than the distance limit - distanceLimit: 10000 + distanceLimit: 10000, + // The algorithm used to match tracks with new detections. Can be either + // 'kdTree' or 'munkres'. + matchingAlgorithm: 'kdTree', } // A dictionary of itemTracked currently tracked @@ -84,96 +88,136 @@ exports.updateTrackedItemsWithNewFrame = function(detectionsOfThisFrame, frameNb // Match existing Tracked items with the items detected in the new frame // For each look in the new detection to find the closest match if(detectionsOfThisFrame.length > 0) { - mapOfItemsTracked.forEach(function(itemTracked) { - - // First predict the new position of the itemTracked - var predictedPosition = itemTracked.predictNextPosition() - - // Make available for matching - itemTracked.makeAvailable(); - - // Search for a detection that matches - var treeSearchResult = treeDetectionsOfThisFrame.nearest(predictedPosition, 1, params.distanceLimit)[0]; - - // Only for debug assessments of predictions - var treeSearchResultWithoutPrediction = treeDetectionsOfThisFrame.nearest(itemTracked, 1, params.distanceLimit)[0]; - // Only if we enable the extra refinement - var treeSearchMultipleResults = treeDetectionsOfThisFrame.nearest(predictedPosition, 2, params.distanceLimit); - - // If we have found something - if(treeSearchResult) { - - // This is an extra refinement that happens in 0.001% of tracked items matching - // If IOU overlap is super similar for two potential match, add an extra check - // if(treeSearchMultipleResults.length === 2) { - - // var indexFirstChoice = 0; - // if(treeSearchMultipleResults[0][1] > treeSearchMultipleResults[1][1]) { - // indexFirstChoice = 1; - // } - - // var detectionFirstChoice = { - // bbox: treeSearchMultipleResults[indexFirstChoice][0], - // distance: treeSearchMultipleResults[indexFirstChoice][1] - // } - - // var detectionSecondChoice = { - // bbox: treeSearchMultipleResults[1 - indexFirstChoice][0], - // distance: treeSearchMultipleResults[1 - indexFirstChoice][1] - // } - - // const deltaDistance = Math.abs(detectionFirstChoice.distance - detectionSecondChoice.distance); - - // if(deltaDistance < 0.05) { - - // detectionFirstChoice.area = detectionFirstChoice.bbox.w * detectionFirstChoice.bbox.h; - // detectionSecondChoice.area = detectionSecondChoice.bbox.w * detectionSecondChoice.bbox.h; - // var itemTrackedArea = itemTracked.w * itemTracked.h; - - // var deltaAreaFirstChoice = Math.abs(detectionFirstChoice.area - itemTrackedArea) / (detectionFirstChoice.area + itemTrackedArea); - // var deltaAreaSecondChoice = Math.abs(detectionSecondChoice.area - itemTrackedArea) / (detectionSecondChoice.area + itemTrackedArea); - - // // Compare the area of each, priorize the detections that as a overal similar area - // // even if it overlaps less - // if(deltaAreaFirstChoice > deltaAreaSecondChoice) { - // if(Math.abs(deltaAreaFirstChoice - deltaAreaSecondChoice) > 0.5) { - // if(DEBUG_MODE) { - // console.log('Switch choice ! wise it seems different for frame: ' + frameNb + ' itemTracked ' + itemTracked.idDisplay) - // console.log(Math.abs(deltaAreaFirstChoice - deltaAreaSecondChoice)); - // } - // // Change tree search result: - // treeSearchResult = treeSearchMultipleResults[1 - indexFirstChoice] - // } - // } - // } - // } - - if(DEBUG_MODE) { - // Assess different results between predition or not - if(!isEqual(treeSearchResult[0], treeSearchResultWithoutPrediction && treeSearchResultWithoutPrediction[0])) { - console.log('Making the pre-prediction led to a difference result:'); - console.log('For frame ' + frameNb + ' itemNb ' + itemTracked.idDisplay) + if (params.matchingAlgorithm === 'munkres') { + var trackedItemIds = Array.from(mapOfItemsTracked.keys()); + + var costMatrix = Array.from(mapOfItemsTracked.values()). + map(itemTracked => { + var predictedPosition = itemTracked.predictNextPosition(); + return detectionsOfThisFrame.map( + detection => params.distanceFunc(predictedPosition, detection)); + }); + + mapOfItemsTracked.forEach(function(itemTracked) { + itemTracked.makeAvailable(); + }); + + munkres(costMatrix). + filter(m => costMatrix[m[0]][m[1]] <= params.distanceLimit). + forEach(m => { + var itemTracked = mapOfItemsTracked.get(trackedItemIds[m[0]]); + var updatedTrackedItemProperties = detectionsOfThisFrame[m[1]]; + matchedList[m[1]] = { idDisplay: itemTracked.idDisplay }; + itemTracked. + makeUnavailable(). + update(updatedTrackedItemProperties, frameNb); + }); + + matchedList.forEach(function(matched, index) { + if (!matched) { + if (Math.min(...costMatrix.map(m => m[index])) > params.distanceLimit) { + var newItemTracked = ItemTracked(detectionsOfThisFrame[index], frameNb, params.unMatchedFramesTolerance, params.fastDelete) + mapOfItemsTracked.set(newItemTracked.id, newItemTracked) + newItemTracked.makeUnavailable(); + costMatrix.push(detectionsOfThisFrame.map( + detection => params.distanceFunc(newItemTracked, detection))); } } + }); + } else if (params.matchingAlgorithm === 'kdTree') { + mapOfItemsTracked.forEach(function(itemTracked) { + + // First predict the new position of the itemTracked + var predictedPosition = itemTracked.predictNextPosition() + + // Make available for matching + itemTracked.makeAvailable(); + + // Search for a detection that matches + var treeSearchResult = treeDetectionsOfThisFrame.nearest(predictedPosition, 1, params.distanceLimit)[0]; + + // Only for debug assessments of predictions + var treeSearchResultWithoutPrediction = treeDetectionsOfThisFrame.nearest(itemTracked, 1, params.distanceLimit)[0]; + // Only if we enable the extra refinement + var treeSearchMultipleResults = treeDetectionsOfThisFrame.nearest(predictedPosition, 2, params.distanceLimit); + + // If we have found something + if(treeSearchResult) { + + // This is an extra refinement that happens in 0.001% of tracked items matching + // If IOU overlap is super similar for two potential match, add an extra check + // if(treeSearchMultipleResults.length === 2) { + + // var indexFirstChoice = 0; + // if(treeSearchMultipleResults[0][1] > treeSearchMultipleResults[1][1]) { + // indexFirstChoice = 1; + // } + + // var detectionFirstChoice = { + // bbox: treeSearchMultipleResults[indexFirstChoice][0], + // distance: treeSearchMultipleResults[indexFirstChoice][1] + // } + + // var detectionSecondChoice = { + // bbox: treeSearchMultipleResults[1 - indexFirstChoice][0], + // distance: treeSearchMultipleResults[1 - indexFirstChoice][1] + // } + + // const deltaDistance = Math.abs(detectionFirstChoice.distance - detectionSecondChoice.distance); + + // if(deltaDistance < 0.05) { + + // detectionFirstChoice.area = detectionFirstChoice.bbox.w * detectionFirstChoice.bbox.h; + // detectionSecondChoice.area = detectionSecondChoice.bbox.w * detectionSecondChoice.bbox.h; + // var itemTrackedArea = itemTracked.w * itemTracked.h; + + // var deltaAreaFirstChoice = Math.abs(detectionFirstChoice.area - itemTrackedArea) / (detectionFirstChoice.area + itemTrackedArea); + // var deltaAreaSecondChoice = Math.abs(detectionSecondChoice.area - itemTrackedArea) / (detectionSecondChoice.area + itemTrackedArea); + + // // Compare the area of each, priorize the detections that as a overal similar area + // // even if it overlaps less + // if(deltaAreaFirstChoice > deltaAreaSecondChoice) { + // if(Math.abs(deltaAreaFirstChoice - deltaAreaSecondChoice) > 0.5) { + // if(DEBUG_MODE) { + // console.log('Switch choice ! wise it seems different for frame: ' + frameNb + ' itemTracked ' + itemTracked.idDisplay) + // console.log(Math.abs(deltaAreaFirstChoice - deltaAreaSecondChoice)); + // } + // // Change tree search result: + // treeSearchResult = treeSearchMultipleResults[1 - indexFirstChoice] + // } + // } + // } + // } + + if(DEBUG_MODE) { + // Assess different results between predition or not + if(!isEqual(treeSearchResult[0], treeSearchResultWithoutPrediction && treeSearchResultWithoutPrediction[0])) { + console.log('Making the pre-prediction led to a difference result:'); + console.log('For frame ' + frameNb + ' itemNb ' + itemTracked.idDisplay) + } + } - var indexClosestNewDetectedItem = detectionsOfThisFrame.indexOf(treeSearchResult[0]); - // If this detections was not already matched to a tracked item - // (otherwise it would be matched to two tracked items...) - if(!matchedList[indexClosestNewDetectedItem]) { - matchedList[indexClosestNewDetectedItem] = { - idDisplay: itemTracked.idDisplay + var indexClosestNewDetectedItem = detectionsOfThisFrame.indexOf(treeSearchResult[0]); + // If this detections was not already matched to a tracked item + // (otherwise it would be matched to two tracked items...) + if(!matchedList[indexClosestNewDetectedItem]) { + matchedList[indexClosestNewDetectedItem] = { + idDisplay: itemTracked.idDisplay + } + // Update properties of tracked object + var updatedTrackedItemProperties = detectionsOfThisFrame[indexClosestNewDetectedItem] + mapOfItemsTracked.get(itemTracked.id) + .makeUnavailable() + .update(updatedTrackedItemProperties, frameNb) + } else { + // Means two already tracked item are concurrent to get assigned a new detections + // Rule is to priorize the oldest one to avoid id-reassignment } - // Update properties of tracked object - var updatedTrackedItemProperties = detectionsOfThisFrame[indexClosestNewDetectedItem] - mapOfItemsTracked.get(itemTracked.id) - .makeUnavailable() - .update(updatedTrackedItemProperties, frameNb) - } else { - // Means two already tracked item are concurrent to get assigned a new detections - // Rule is to priorize the oldest one to avoid id-reassignment } - } - }); + }); + } else { + throw `Unknown matching algorithm "${params.matchingAlgorithm}"`; + } } else { if(DEBUG_MODE) { console.log('[Tracker] Nothing detected for frame nº' + frameNb) @@ -184,32 +228,34 @@ exports.updateTrackedItemsWithNewFrame = function(detectionsOfThisFrame, frameNb }); } - // Add any unmatched items as new trackedItem only if those new items are not too similar - // to existing trackedItems this avoids adding some double match of YOLO and bring down drasticly reassignments - if(mapOfItemsTracked.size > 0) { // Safety check to see if we still have object tracked (could have been deleted previously) - // Rebuild tracked item tree to take in account the new positions - treeItemsTracked = new kdTree(Array.from(mapOfItemsTracked.values()), params.distanceFunc, ["x", "y", "w", "h"]); - // console.log(`Nb new items Unmatched : ${matchedList.filter((isMatched) => isMatched === false).length}`) - matchedList.forEach(function(matched, index) { - // Iterate through unmatched new detections - if(!matched) { - // Do not add as new tracked item if it is to similar to an existing one - var treeSearchResult = treeItemsTracked.nearest(detectionsOfThisFrame[index], 1, params.distanceLimit)[0]; - - if(!treeSearchResult) { - var newItemTracked = ItemTracked(detectionsOfThisFrame[index], frameNb, params.unMatchedFramesTolerance, params.fastDelete) - // Add it to the map - mapOfItemsTracked.set(newItemTracked.id, newItemTracked) - // Add it to the kd tree - treeItemsTracked.insert(newItemTracked); - // Make unvailable - newItemTracked.makeUnavailable(); - } else { - // console.log('Do not add, its overlapping an existing object') + if (params.matchingAlgorithm === 'kdTree') { + // Add any unmatched items as new trackedItem only if those new items are not too similar + // to existing trackedItems this avoids adding some double match of YOLO and bring down drasticly reassignments + if(mapOfItemsTracked.size > 0) { // Safety check to see if we still have object tracked (could have been deleted previously) + // Rebuild tracked item tree to take in account the new positions + treeItemsTracked = new kdTree(Array.from(mapOfItemsTracked.values()), params.distanceFunc, ["x", "y", "w", "h"]); + // console.log(`Nb new items Unmatched : ${matchedList.filter((isMatched) => isMatched === false).length}`) + matchedList.forEach(function(matched, index) { + // Iterate through unmatched new detections + if(!matched) { + // Do not add as new tracked item if it is to similar to an existing one + var treeSearchResult = treeItemsTracked.nearest(detectionsOfThisFrame[index], 1, params.distanceLimit)[0]; + + if(!treeSearchResult) { + var newItemTracked = ItemTracked(detectionsOfThisFrame[index], frameNb, params.unMatchedFramesTolerance, params.fastDelete) + // Add it to the map + mapOfItemsTracked.set(newItemTracked.id, newItemTracked) + // Add it to the kd tree + treeItemsTracked.insert(newItemTracked); + // Make unvailable + newItemTracked.makeUnavailable(); + } else { + // console.log('Do not add, its overlapping an existing object') + } } - } - }); - } + }); + } + } // Start killing the itemTracked (and predicting next position) // that are tracked but haven't been matched this frame From af0e7d03c839c41561e89d9d2d346379306b0d34 Mon Sep 17 00:00:00 2001 From: Adrian Kretz Date: Thu, 24 Jun 2021 13:24:18 +0200 Subject: [PATCH 4/7] Ignore DPM detections with negative confidence --- documentation/BENCHMARK.md | 52 +++++++++++++++++++------------------- main.js | 10 +++++--- 2 files changed, 32 insertions(+), 30 deletions(-) diff --git a/documentation/BENCHMARK.md b/documentation/BENCHMARK.md index 633c6d3..1f02047 100644 --- a/documentation/BENCHMARK.md +++ b/documentation/BENCHMARK.md @@ -62,9 +62,9 @@ python3 -m motmetrics.apps.eval_motchallenge . . - Result ``` - IDF1 IDP IDR Rcll Prcn GT MT PT ML FP FN IDs FM MOTA MOTP IDt IDa IDm -MOT17-04-DPM 29.4% 36.6% 24.5% 42.5% 63.5% 83 8 43 32 11616 27366 264 469 17.5% 0.224 110 151 12 -OVERALL 29.4% 36.6% 24.5% 42.5% 63.5% 83 8 43 32 11616 27366 264 469 17.5% 0.224 110 151 12 + IDF1 IDP IDR Rcll Prcn GT MT PT ML FP FN IDs FM MOTA MOTP IDt IDa IDm +MOT17-04-DPM 33.5% 53.8% 24.3% 39.0% 86.4% 83 4 45 34 2924 29004 239 393 32.4% 0.217 106 141 10 +OVERALL 33.5% 53.8% 24.3% 39.0% 86.4% 83 4 45 34 2924 29004 239 393 32.4% 0.217 106 141 10 ``` ### Run full benchmark @@ -78,27 +78,27 @@ In order to benchmark the tracker on all MOT17 training sequences, delete the di On the first run, the script will download the full MOT17 training benchmark and unpack it. Then, it runs the tracker on each sequence and outputs the evaluation metrics. ``` - IDF1 IDP IDR Rcll Prcn GT MT PT ML FP FN IDs FM MOTA MOTP IDt IDa IDm -MOT17-04-SDP 62.2% 74.8% 53.2% 69.0% 97.1% 83 32 39 12 982 14737 121 367 66.7% 0.152 82 46 12 -MOT17-04-DPM 29.4% 36.6% 24.5% 42.5% 63.5% 83 8 43 32 11616 27366 264 469 17.5% 0.224 110 151 12 -MOT17-05-DPM 34.3% 48.2% 26.7% 40.2% 72.8% 133 9 63 61 1040 4133 94 150 23.9% 0.257 101 27 39 -MOT17-05-FRCNN 44.8% 61.3% 35.3% 51.6% 89.6% 133 24 56 53 414 3347 63 69 44.7% 0.172 82 20 39 -MOT17-11-FRCNN 55.4% 74.2% 44.2% 55.3% 92.8% 75 15 34 26 405 4219 45 50 50.5% 0.096 35 22 12 -MOT17-05-SDP 43.1% 53.9% 35.9% 58.0% 87.0% 133 31 64 38 597 2905 84 128 48.2% 0.165 108 21 45 -MOT17-02-FRCNN 31.6% 52.8% 22.6% 34.6% 81.1% 62 6 25 31 1502 12148 93 127 26.0% 0.126 55 49 11 -MOT17-09-FRCNN 43.6% 61.2% 33.8% 53.4% 96.8% 26 6 16 4 95 2481 37 39 50.9% 0.096 27 16 6 -MOT17-10-FRCNN 40.0% 46.8% 35.0% 57.9% 77.6% 57 15 35 7 2150 5405 228 311 39.4% 0.162 147 89 16 -MOT17-04-FRCNN 49.5% 67.8% 39.0% 53.2% 92.4% 83 17 43 23 2077 22271 93 90 48.6% 0.108 42 56 5 -MOT17-13-DPM 28.8% 45.8% 21.0% 27.1% 59.2% 110 10 42 58 2172 8489 75 207 7.8% 0.282 48 42 19 -MOT17-13-SDP 60.3% 78.0% 49.1% 54.5% 86.6% 110 43 25 42 980 5294 72 199 45.5% 0.212 70 24 27 -MOT17-02-SDP 34.3% 46.8% 27.1% 44.7% 77.1% 62 9 34 19 2468 10275 176 353 30.5% 0.201 114 72 13 -MOT17-13-FRCNN 50.4% 61.1% 42.9% 55.9% 79.6% 110 35 46 29 1667 5129 200 259 39.9% 0.169 141 83 34 -MOT17-02-DPM 23.3% 44.5% 15.8% 25.7% 72.4% 62 4 19 39 1814 13811 107 218 15.3% 0.260 62 55 12 -MOT17-10-SDP 48.9% 56.9% 42.8% 67.4% 89.5% 57 23 30 4 1010 4189 163 290 58.2% 0.205 108 60 9 -MOT17-09-DPM 35.1% 35.8% 34.4% 57.6% 59.9% 26 5 19 2 2055 2260 77 161 17.5% 0.275 49 32 7 -MOT17-09-SDP 48.5% 63.5% 39.2% 57.6% 93.2% 26 7 17 2 222 2260 46 78 52.5% 0.150 35 18 7 -MOT17-10-DPM 30.9% 39.6% 25.3% 41.7% 65.3% 57 7 30 20 2852 7479 119 299 18.6% 0.264 61 66 10 -MOT17-11-DPM 46.5% 54.9% 40.3% 53.2% 72.5% 75 10 30 35 1904 4413 52 68 32.5% 0.224 27 31 9 -MOT17-11-SDP 53.2% 62.9% 46.2% 66.5% 90.7% 75 19 39 17 646 3161 55 100 59.1% 0.149 40 28 15 -OVERALL 43.5% 56.7% 35.3% 50.8% 81.6% 1638 335 749 554 38668 165772 2264 4032 38.6% 0.174 1544 1008 359 + IDF1 IDP IDR Rcll Prcn GT MT PT ML FP FN IDs FM MOTA MOTP IDt IDa IDm +MOT17-04-SDP 62.2% 74.8% 53.2% 69.0% 97.1% 83 32 39 12 982 14737 121 367 66.7% 0.152 82 46 12 +MOT17-04-DPM 33.5% 53.8% 24.3% 39.0% 86.4% 83 4 45 34 2924 29004 239 393 32.4% 0.217 106 141 10 +MOT17-05-DPM 36.1% 62.7% 25.3% 35.6% 88.1% 133 11 49 73 333 4456 60 110 29.9% 0.247 65 20 25 +MOT17-05-FRCNN 44.8% 61.3% 35.3% 51.6% 89.6% 133 24 56 53 414 3347 63 69 44.7% 0.172 82 20 39 +MOT17-11-FRCNN 55.4% 74.2% 44.2% 55.3% 92.8% 75 15 34 26 405 4219 45 50 50.5% 0.096 35 22 12 +MOT17-05-SDP 43.1% 53.9% 35.9% 58.0% 87.0% 133 31 64 38 597 2905 84 128 48.2% 0.165 108 21 45 +MOT17-02-FRCNN 31.6% 52.8% 22.6% 34.6% 81.1% 62 6 25 31 1502 12148 93 127 26.0% 0.126 55 49 11 +MOT17-09-FRCNN 43.6% 61.2% 33.8% 53.4% 96.8% 26 6 16 4 95 2481 37 39 50.9% 0.096 27 16 6 +MOT17-10-FRCNN 40.0% 46.8% 35.0% 57.9% 77.6% 57 15 35 7 2150 5405 228 311 39.4% 0.162 147 89 16 +MOT17-04-FRCNN 49.5% 67.8% 39.0% 53.2% 92.4% 83 17 43 23 2077 22271 93 90 48.6% 0.108 42 56 5 +MOT17-13-DPM 24.9% 69.5% 15.2% 19.1% 87.6% 110 8 25 77 316 9416 35 102 16.1% 0.272 25 25 15 +MOT17-13-SDP 60.3% 78.0% 49.1% 54.5% 86.6% 110 43 25 42 980 5294 72 199 45.5% 0.212 70 24 27 +MOT17-02-SDP 34.3% 46.8% 27.1% 44.7% 77.1% 62 9 34 19 2468 10275 176 353 30.5% 0.201 114 72 13 +MOT17-13-FRCNN 50.4% 61.1% 42.9% 55.9% 79.6% 110 35 46 29 1667 5129 200 259 39.9% 0.169 141 83 34 +MOT17-02-DPM 22.8% 64.0% 13.9% 18.8% 86.6% 62 3 15 44 541 15090 47 103 15.6% 0.247 23 29 5 +MOT17-10-SDP 48.9% 56.9% 42.8% 67.4% 89.5% 57 23 30 4 1010 4189 163 290 58.2% 0.205 108 60 9 +MOT17-09-DPM 42.3% 52.8% 35.3% 53.3% 79.6% 26 2 19 5 725 2489 72 164 38.3% 0.273 50 23 5 +MOT17-09-SDP 48.5% 63.5% 39.2% 57.6% 93.2% 26 7 17 2 222 2260 46 78 52.5% 0.150 35 18 7 +MOT17-10-DPM 29.4% 49.6% 20.9% 36.1% 85.9% 57 7 18 32 762 8198 77 141 29.6% 0.251 36 48 8 +MOT17-11-DPM 50.3% 72.6% 38.5% 49.7% 93.6% 75 9 25 41 323 4748 45 58 45.8% 0.219 31 26 12 +MOT17-11-SDP 53.2% 62.9% 46.2% 66.5% 90.7% 75 19 39 17 646 3161 55 100 59.1% 0.149 40 28 15 +OVERALL 44.7% 62.6% 34.7% 49.2% 88.7% 1638 326 699 613 21139 171222 2051 3531 42.3% 0.170 1422 916 331 ``` diff --git a/main.js b/main.js index 03817fe..1f12d8a 100755 --- a/main.js +++ b/main.js @@ -143,11 +143,13 @@ fs.readFile(`${pathRawDetectionsInput}`, function (err, f) { confidence: parseFloat(detectionOfThisFrameArray[6]) * 100, name: "" } - // If it's the first object for this frame, init empty array - if (!detections[detectionFrameIndex]) { - detections[detectionFrameIndex] = [] + if (detection.confidence > 0) { + // If it's the first object for this frame, init empty array + if (!detections[detectionFrameIndex]) { + detections[detectionFrameIndex] = [] + } + detections[detectionFrameIndex].push(detection); } - detections[detectionFrameIndex].push(detection); } }); } From 4db25bae81e492e4c8990f62196952bfa6254e96 Mon Sep 17 00:00:00 2001 From: Valentin Sawadski Date: Thu, 10 Feb 2022 16:57:29 +0000 Subject: [PATCH 5/7] Fixes package-lock.json after adding munkres-js Closes #30 --- package-lock.json | 1471 ++++++++++++++++++++++++++++++++++++++++++++- 1 file changed, 1469 insertions(+), 2 deletions(-) diff --git a/package-lock.json b/package-lock.json index 5ef2371..433285b 100644 --- a/package-lock.json +++ b/package-lock.json @@ -1,8 +1,1470 @@ { "name": "node-moving-things-tracker", - "version": "0.8.0", - "lockfileVersion": 1, + "version": "0.8.1", + "lockfileVersion": 2, "requires": true, + "packages": { + "": { + "name": "node-moving-things-tracker", + "version": "0.8.1", + "license": "MIT", + "dependencies": { + "lodash.isequal": "^4.5.0", + "minimist": "^1.2.0", + "munkres-js": "^1.2.2", + "uuid": "^3.2.1" + }, + "bin": { + 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Older versions may use Math.random() in certain circumstances, which is known to be problematic. See https://v8.dev/blog/math-random for details.", + "bin": { + "uuid": "bin/uuid" + } + } + }, "dependencies": { "@mrmlnc/readdir-enhanced": { "version": "2.2.1", @@ -736,6 +2198,11 @@ "integrity": "sha1-VgiurfwAvmwpAd9fmGF4jeDVl8g=", "dev": true }, + "munkres-js": { + "version": "1.2.2", + "resolved": "https://registry.npmjs.org/munkres-js/-/munkres-js-1.2.2.tgz", + "integrity": "sha1-4D2YBo1F1YexX1Y+uGDrZ6qFKLc=" + }, "nanomatch": { "version": "1.2.13", "resolved": "https://registry.npmjs.org/nanomatch/-/nanomatch-1.2.13.tgz", From 9fabf3fd2ed504fe461872d6b3f3bdb0e98a4158 Mon Sep 17 00:00:00 2001 From: Valentin Sawadski Date: Thu, 10 Feb 2022 17:14:31 +0000 Subject: [PATCH 6/7] Chore: Updates Node.JS LTS in GitHub Action Closes - Update Node Version in automated testing. #32 --- .github/workflows/node.js.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/node.js.yml b/.github/workflows/node.js.yml index be06cde..3dca212 100644 --- a/.github/workflows/node.js.yml +++ b/.github/workflows/node.js.yml @@ -13,7 +13,7 @@ jobs: strategy: matrix: - node-version: [10.x, 12.x, 14.x] + node-version: [12.x, 14.x, 16.x] steps: - uses: actions/checkout@v2 From 3dc1f8ec88a67949821802d0e9d3393b3e383670 Mon Sep 17 00:00:00 2001 From: Valentin Sawadski Date: Thu, 10 Feb 2022 17:50:40 +0000 Subject: [PATCH 7/7] 0.9.0 --- package-lock.json | 4 ++-- package.json | 2 +- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/package-lock.json b/package-lock.json index 433285b..e6a2ded 100644 --- a/package-lock.json +++ b/package-lock.json @@ -1,12 +1,12 @@ { "name": "node-moving-things-tracker", - "version": "0.8.1", + "version": "0.9.0", "lockfileVersion": 2, "requires": true, "packages": { "": { "name": "node-moving-things-tracker", - "version": "0.8.1", + "version": "0.9.0", "license": "MIT", "dependencies": { "lodash.isequal": "^4.5.0", diff --git a/package.json b/package.json index b71104a..9c08763 100644 --- a/package.json +++ b/package.json @@ -1,6 +1,6 @@ { "name": "node-moving-things-tracker", - "version": "0.8.1", + "version": "0.9.0", "description": "Tracker by detections in javascript for node.js / browsers", "url": "https://github.com/opendatacam/node-moving-things-tracker", "main": "main.js",