diff --git a/.github/workflows/node.js.yml b/.github/workflows/node.js.yml new file mode 100644 index 0000000..3dca212 --- /dev/null +++ b/.github/workflows/node.js.yml @@ -0,0 +1,26 @@ +# This workflow will do a clean install of node dependencies, build the source code and run tests across different versions of node +# For more information see: https://help.github.com/actions/language-and-framework-guides/using-nodejs-with-github-actions + +name: Node.js CI + +# Trigger the workflow on push or pull request +on: [push, pull_request] + +jobs: + build: + + runs-on: ubuntu-latest + + strategy: + matrix: + node-version: [12.x, 14.x, 16.x] + + steps: + - uses: actions/checkout@v2 + - name: Use Node.js ${{ matrix.node-version }} + uses: actions/setup-node@v1 + with: + node-version: ${{ matrix.node-version }} + - run: npm ci + - run: npm run build --if-present + - run: npm test diff --git a/.gitignore b/.gitignore index d7e4058..b7fb5b4 100644 --- a/.gitignore +++ b/.gitignore @@ -57,5 +57,12 @@ typings/ # dotenv environment variables file .env +# macOS System Files .DS_Store +.nosync +# Development Environment +.vscode + +MOT17Labels.zip +benchmark/MOT17/ diff --git a/ItemTracked.js b/ItemTracked.js index 5874467..5da4f87 100644 --- a/ItemTracked.js +++ b/ItemTracked.js @@ -12,19 +12,23 @@ var computeVelocityVector = require('./utils').computeVelocityVector // "name": "car" // } +/** The maximum length of the item history. */ +exports.ITEM_HISTORY_MAX_LENGTH = 15; + // Use a simple incremental unique id for the display var idDisplay = 0; -exports.ItemTracked = function(properties, frameNb, DEFAULT_UNMATCHEDFRAMES_TOLERANCE){ - var DEFAULT_UNMATCHEDFRAMES_TOLERANCE = DEFAULT_UNMATCHEDFRAMES_TOLERANCE; +exports.ItemTracked = function(properties, frameNb, unMatchedFramesTolerance, fastDelete){ + var DEFAULT_UNMATCHEDFRAMES_TOLERANCE = unMatchedFramesTolerance; var itemTracked = {}; // ==== Private ===== // Am I available to be matched? itemTracked.available = true; // Should I be deleted? itemTracked.delete = false; + itemTracked.fastDelete = fastDelete; // How many unmatched frame should I survive? - itemTracked.frameUnmatchedLeftBeforeDying = DEFAULT_UNMATCHEDFRAMES_TOLERANCE; + itemTracked.frameUnmatchedLeftBeforeDying = unMatchedFramesTolerance; itemTracked.isZombie = false; itemTracked.appearFrame = frameNb; itemTracked.disappearFrame = null; @@ -47,6 +51,9 @@ exports.ItemTracked = function(properties, frameNb, DEFAULT_UNMATCHEDFRAMES_TOLE h: properties.h, confidence: properties.confidence }); + if(itemTracked.itemHistory.length >= exports.ITEM_HISTORY_MAX_LENGTH) { + itemTracked.itemHistory.shift(); + } itemTracked.velocity = { dx: 0, dy: 0 @@ -78,6 +85,9 @@ exports.ItemTracked = function(properties, frameNb, DEFAULT_UNMATCHEDFRAMES_TOLE h: this.h, confidence: this.confidence }); + if(itemTracked.itemHistory.length >= exports.ITEM_HISTORY_MAX_LENGTH) { + itemTracked.itemHistory.shift(); + } this.name = properties.name; if(this.nameCount[properties.name]) { this.nameCount[properties.name]++; @@ -98,7 +108,7 @@ exports.ItemTracked = function(properties, frameNb, DEFAULT_UNMATCHEDFRAMES_TOLE return this; } itemTracked.countDown = function(frameNb) { - // Set frame disappear number + // Set frame disappear number if(this.disappearFrame === null) { this.disappearFrame = frameNb; this.disappearArea = { @@ -111,7 +121,7 @@ exports.ItemTracked = function(properties, frameNb, DEFAULT_UNMATCHEDFRAMES_TOLE this.frameUnmatchedLeftBeforeDying--; this.isZombie = true; // If it was matched less than 1 time, it should die quick - if(this.nbTimeMatched <= 1) { + if(this.fastDelete && this.nbTimeMatched <= 1) { this.frameUnmatchedLeftBeforeDying = -1; } } @@ -123,6 +133,9 @@ exports.ItemTracked = function(properties, frameNb, DEFAULT_UNMATCHEDFRAMES_TOLE h: this.h, confidence: this.confidence }); + if(itemTracked.itemHistory.length >= exports.ITEM_HISTORY_MAX_LENGTH) { + itemTracked.itemHistory.shift(); + } this.x = this.x + this.velocity.dx this.y = this.y + this.velocity.dy } @@ -141,11 +154,18 @@ exports.ItemTracked = function(properties, frameNb, DEFAULT_UNMATCHEDFRAMES_TOLE } // Velocity vector based on the last 15 frames itemTracked.updateVelocityVector = function() { - var AVERAGE_NBFRAME = 15; - if(this.itemHistory.length <= AVERAGE_NBFRAME) { - return computeVelocityVector(this.itemHistory[0], this.itemHistory[this.itemHistory.length - 1], this.itemHistory.length); + if(exports.ITEM_HISTORY_MAX_LENGTH <= 2) { + return { dx: undefined, dy: undefined, } + } + + if(this.itemHistory.length <= exports.ITEM_HISTORY_MAX_LENGTH) { + const start = this.itemHistory[0]; + const end = this.itemHistory[this.itemHistory.length - 1]; + return computeVelocityVector(start, end, this.itemHistory.length); } else { - return computeVelocityVector(this.itemHistory[this.itemHistory.length - AVERAGE_NBFRAME], this.itemHistory[this.itemHistory.length - 1], AVERAGE_NBFRAME); + const start = this.itemHistory[this.itemHistory.length - exports.ITEM_HISTORY_MAX_LENGTH]; + const end = this.itemHistory[this.itemHistory.length - 1]; + return computeVelocityVector(start, end, exports.ITEM_HISTORY_MAX_LENGTH); } } @@ -195,7 +215,7 @@ exports.ItemTracked = function(properties, frameNb, DEFAULT_UNMATCHEDFRAMES_TOLE } itemTracked.toMOT = function(frameIndex) { - return `${frameIndex},${this.idDisplay},${this.x},${this.y},${this.w},${this.h},${this.confidence / 100},-1,-1,-1`; + return `${frameIndex},${this.idDisplay},${this.x - this.w / 2},${this.y - this.h / 2},${this.w},${this.h},${this.confidence / 100},-1,-1,-1`; } itemTracked.toJSONGenericInfo = function() { @@ -212,3 +232,6 @@ exports.ItemTracked = function(properties, frameNb, DEFAULT_UNMATCHEDFRAMES_TOLE return itemTracked; }; +exports.reset = function() { + idDisplay = 0; +} diff --git a/README.md b/README.md index 4ebd39f..cd428aa 100644 --- a/README.md +++ b/README.md @@ -191,10 +191,29 @@ node-moving-things-tracker --mode motchallenge --input PATH_TO_MOT_DETECTIONS.tx # Output will be in the same folder as input under the name outputTrackerMOT.txt ``` +## Benchmark + +How to benchmark against MOT Challenge : https://github.com/opendatacam/node-moving-things-tracker/blob/master/documentation/BENCHMARK.md + ## Limitations No params tweaking is possible via command-line for now, it is currently optimized for tracking cars in traffic videos. +## How does it work + +Based on V-IOU tracker: https://github.com/bochinski/iou-tracker/ , paper: http://elvera.nue.tu-berlin.de/files/1547Bochinski2018.pdf + +In order to define if an object is the same from one frame to another, we compare the overlapping areas between the two detections between the frames. + +![screen shot 2017-10-18 at 15 57 25](https://user-images.githubusercontent.com/533590/31719755-295303c0-b41d-11e7-8059-3ff7bcefd722.png) + +By computing the intersection over union: + +![screen shot 2017-10-18 at 16 02 12](https://user-images.githubusercontent.com/533590/31719948-c6b69abe-b41d-11e7-8aac-5306e331f8b1.png) + +On top of this we added some prediction mecanism for next frame based on velocity / acceleration vector to avoid ID reassignment when the object is missed only for a few frames. + + ## License [MIT License](LICENSE) 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..1f02047 100644 --- a/documentation/BENCHMARK.md +++ b/documentation/BENCHMARK.md @@ -62,7 +62,43 @@ 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 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 + +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 62.2% 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 edf8aae..639608c 100755 --- a/main.js +++ b/main.js @@ -32,7 +32,7 @@ if (args.debug) { // If input path not specified abort if (!pathRawDetectionsInput) { - console.error('Please specify the path to the raw detections file'); + //console.error('Please specify the path to the raw detections file'); return; } @@ -135,19 +135,24 @@ fs.readFile(`${pathRawDetectionsInput}`, function (err, f) { var detectionOfThisFrameArray = line.split(","); var detectionFrameIndex = parseInt(detectionOfThisFrameArray[0], 10); if (!Number.isNaN(detectionFrameIndex)) { + var w = parseFloat(detectionOfThisFrameArray[4]); + var h = parseFloat(detectionOfThisFrameArray[5]); + var detection = { - x: parseFloat(detectionOfThisFrameArray[2]), - y: parseFloat(detectionOfThisFrameArray[3]), - w: parseFloat(detectionOfThisFrameArray[4]), - h: parseFloat(detectionOfThisFrameArray[5]), + x: parseFloat(detectionOfThisFrameArray[2]) + w / 2, + y: parseFloat(detectionOfThisFrameArray[3]) + h / 2, + w, + h, 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); } }); } @@ -247,6 +252,16 @@ 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) { diff --git a/package-lock.json b/package-lock.json index 9f89fc4..4d6e45b 100644 --- a/package-lock.json +++ b/package-lock.json @@ -1,19 +1,2628 @@ { "name": "node-moving-things-tracker", - "version": "0.6.0", - "lockfileVersion": 1, + "version": "0.9.1", + "lockfileVersion": 2, "requires": true, + "packages": { + "": { + "name": "node-moving-things-tracker", + "version": "0.9.1", + "license": "MIT", + "dependencies": { + "lodash.isequal": "^4.5.0", + "minimist": "^1.2.0", + "munkres-js": "^1.2.2", + "uuid": "^3.2.1" + }, + "bin": { + "node-moving-things-tracker": "main.js" + }, + "devDependencies": { + "jasmine": "^3.6.1" + } + }, + "node_modules/@mrmlnc/readdir-enhanced": { + "version": 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detections in javascript for node.js / browsers", - "url": "https://github.com/tdurand/node-moving-things-tracker", + "url": "https://github.com/opendatacam/node-moving-things-tracker", "main": "main.js", "bin": { "node-moving-things-tracker": "main.js" }, "scripts": { - "test": "echo \"Error: no test specified\" && exit 1" + "test": "jasmine" }, "author": "@tdurand", "contributors": [ - "Benedikt Groß (http://benedikt-gross.de/)" + "Benedikt Groß (http://benedikt-gross.de/)", + "Valentin Sawadski (https://github.com/vsaw/)", + "Adrian Kretz (https://github.com/akretz)" ], "license": "MIT", "dependencies": { "lodash.isequal": "^4.5.0", "minimist": "^1.2.0", + "munkres-js": "^1.2.2", "uuid": "^3.2.1" }, - "devDependencies": {} + "devDependencies": { + "jasmine": "^3.6.1" + } } diff --git a/spec/ItemTracked.spec.js b/spec/ItemTracked.spec.js new file mode 100644 index 0000000..3ad628a --- /dev/null +++ b/spec/ItemTracked.spec.js @@ -0,0 +1,54 @@ +const ItemTracked = require('../ItemTracked'); + +describe("ItemTracked", function () { + const properties = { + x: null, + y: null, + w: null, + h: null, + name: "dummy", + confidence: null + }; + + describe("idDisplay", function () { + const item1 = ItemTracked.ItemTracked(properties); + const item2 = ItemTracked.ItemTracked(properties); + + it('starts at 0', function () { + expect(item1.idDisplay).toBe(0); + }); + + it('icrements IDs', function () { + expect(item1.idDisplay).toBeLessThan(item2.idDisplay); + }); + + it('resets IDs', function () { + ItemTracked.reset(); + const item3 = ItemTracked.ItemTracked(properties); + expect(item3.idDisplay).toBe(0); + }); + }); + + describe('itemHistory', () => { + it('stops at max length', () => { + const item1 = ItemTracked.ItemTracked(properties); + for (var i = 0; i < ItemTracked.ITEM_HISTORY_MAX_LENGTH + 2; i++) { + item1.update(properties, i); + expect(item1.itemHistory.length).toBeLessThanOrEqual(ItemTracked.ITEM_HISTORY_MAX_LENGTH); + } + }); + + it('does not store history', () => { + const originalItemHistoryMaxLen = ItemTracked.ITEM_HISTORY_MAX_LENGTH; + ItemTracked.ITEM_HISTORY_MAX_LENGTH = 0; + const item1 = ItemTracked.ItemTracked(properties); + + for (var i = 0; i < ItemTracked.ITEM_HISTORY_MAX_LENGTH + 2; i++) { + item1.update(properties, i); + expect(item1.itemHistory.length).toBe(ItemTracked.ITEM_HISTORY_MAX_LENGTH); + } + + ItemTracked.ITEM_HISTORY_MAX_LENGTH = originalItemHistoryMaxLen; + }); + }); +}); diff --git a/spec/Tracker.spec.js b/spec/Tracker.spec.js new file mode 100644 index 0000000..e2cd6ef --- /dev/null +++ b/spec/Tracker.spec.js @@ -0,0 +1,126 @@ +const Tracker = require('../tracker'); + +const detections = [ + [ + { + x: 0.688212, + y: 0.755398, + w: 0.026031, + h: 0.048941, + confidence: 16.5444, + name: 'object' + } + ], + [], // This empty frame ensure that the object will be removed if fastDelete is enabled. + [ + { + x: 0.686925, + y: 0.796403, + w: 0.028142, + h: 0.050919, + confidence: 25.7651, + name: 'object' + } + ], + [ + { + x: 0.686721, + y: 0.837579, + w: 0.027887, + h: 0.054398, + confidence: 34.285399999999996, + name: 'object' + } + ], + [ + { + x: 0.686436, + y: 0.877328, + w: 0.026603, + h: 0.058, + confidence: 18.104300000000002, + name: 'object' + } + ] +]; + +describe('Tracker', function () { + beforeEach(function () { + Tracker.reset(); + Tracker.setParams({ + fastDelete: true, + unMatchedFramesTolerance: 5, + iouLimit: 0.05 + }); + + detections.forEach((frame, frameNb) => { + Tracker.updateTrackedItemsWithNewFrame(frame, frameNb); + }); + }); + + describe('reset', function () { + it('resets ItemTracker idDisplay', function () { + Tracker.reset(); + + Tracker.updateTrackedItemsWithNewFrame(detections[0], 0); + + expect(Tracker.getJSONOfTrackedItems()[0].id).toBe(0); + }); + }); + + describe('fast delete', function () { + it('removes items with fast delete', function () { + expect(Tracker.getJSONOfTrackedItems()[0].id).toBeGreaterThan(0); + }); + + it('keeps the item if fastDelete is disabled', function () { + Tracker.setParams({ fastDelete: false }); + Tracker.reset(); + + detections.forEach((frame, frameNb) => { + Tracker.updateTrackedItemsWithNewFrame(frame, frameNb); + }); + + expect(Tracker.getJSONOfTrackedItems()[0].id).toBe(0); + }); + }); + + describe('custom distance function', function() { + var distanceSpy; + beforeEach(function() { + distanceSpy = jasmine.createSpy('distance spy', Tracker.iouDistance); + + Tracker.reset(); + Tracker.setParams({ distanceFunc: distanceSpy }); + detections.forEach((frame, frameNb) => { + Tracker.updateTrackedItemsWithNewFrame(frame, frameNb); + }); + }); + + it('called the custom distance', function() { + expect(distanceSpy).toHaveBeenCalled(); + }); + }); + + describe('distance limit', function() { + const d1 = detections[0][0]; + const d2 = detections[2][0]; + const params = { distanceLimit: 20000 }; + + beforeAll(function() { + Tracker.setParams(params); + }); + + it('is under limit if match successful', function() { + expect(Tracker.computeDistance(d1, d2)).toBeLessThanOrEqual(params.distanceLimit); + }); + + it('is above distance limit if match fails', function() { + Tracker.setParams({ + distanceLimit: params.distanceLimit, + iouLimit: 0.99 + }); + expect(Tracker.computeDistance(d1, d2)).toBeGreaterThan(params.distanceLimit); + }) + }); +}); diff --git a/spec/support/jasmine.json b/spec/support/jasmine.json new file mode 100644 index 0000000..370fc44 --- /dev/null +++ b/spec/support/jasmine.json @@ -0,0 +1,11 @@ +{ + "spec_dir": "spec", + "spec_files": [ + "**/*[sS]pec.js" + ], + "helpers": [ + "helpers/**/*.js" + ], + "stopSpecOnExpectationFailure": false, + "random": true +} diff --git a/tracker.js b/tracker.js index 2c555a5..d51fa3c 100644 --- a/tracker.js +++ b/tracker.js @@ -1,36 +1,14 @@ -var ItemTracked = require('./ItemTracked').ItemTracked; +const itemTrackedModule = require('./ItemTracked'); +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; -// DEFAULT_UNMATCHEDFRAMES_TOLERANCE -// This the number of frame we wait when an object isn't matched before considering it gone -var DEFAULT_UNMATCHEDFRAMES_TOLERANCE = 5; -// IOU_LIMIT, exclude things from beeing matched if their IOU is lower than this -// 1 means total overlap whereas 0 means no overlap -var IOU_LIMIT = 0.05 - -// A dictionary of itemTracked currently tracked -// key: uuid -// value: ItemTracked object -var mapOfItemsTracked = new Map(); - -// A dictionnary keeping memory of all tracked object (even after they disappear) -// Useful to ouput the file of all items tracked -var mapOfAllItemsTracked = new Map(); - -// By default, we do not keep all the history in memory -var keepAllHistoryInMemory = false; - -// Implementation detail, we store the distance in a KDTREE, we want to be able to exclude values from -// the kdtree search by assigning them KDTREESEARCH_LIMIT + 1 -var KDTREESEARCH_LIMIT = 10000; - - // Distance function -const computeDistance = function(item1, item2) { +const iouDistance = function(item1, item2) { // IOU distance, between 0 and 1 // The smaller the less overlap var iou = iouAreas(item1, item2); @@ -39,29 +17,64 @@ const computeDistance = function(item1, item2) { var distance = 1 - iou; // If the overlap is iou < 0.95, exclude value - if(distance > (1 - IOU_LIMIT)) { - distance = KDTREESEARCH_LIMIT + 1; + if(distance > (1 - params.iouLimit)) { + distance = params.distanceLimit + 1; } return distance; } -exports.computeDistance = computeDistance; +const params = { + // DEFAULT_UNMATCHEDFRAMES_TOLERANCE + // This the number of frame we wait when an object isn't matched before considering it gone + unMatchedFramesTolerance: 5, + // DEFAULT_IOU_LIMIT, exclude things from beeing matched if their IOU is lower than this + // 1 means total overlap whereas 0 means no overlap + iouLimit: 0.05, + // Remove new objects fast if they could not be matched in the next frames. + // Setting this to false ensures the object will stick around at least + // unMatchedFramesTolerance frames, even if they could neven be matched in + // subsequent frames. + fastDelete: true, + // The function to use to determine the distance between to detected objects + 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, + // The algorithm used to match tracks with new detections. Can be either + // 'kdTree' or 'munkres'. + matchingAlgorithm: 'kdTree', +} + +// A dictionary of itemTracked currently tracked +// key: uuid +// value: ItemTracked object +var mapOfItemsTracked = new Map(); + +// A dictionnary keeping memory of all tracked object (even after they disappear) +// Useful to ouput the file of all items tracked +var mapOfAllItemsTracked = new Map(); + +// By default, we do not keep all the history in memory +var keepAllHistoryInMemory = false; + + +exports.computeDistance = iouDistance; exports.updateTrackedItemsWithNewFrame = function(detectionsOfThisFrame, frameNb) { // A kd-tree containing all the itemtracked // Need to rebuild on each frame, because itemTracked positions have changed - var treeItemsTracked = new kdTree(Array.from(mapOfItemsTracked.values()), computeDistance, ["x", "y", "w", "h"]); + var treeItemsTracked = new kdTree(Array.from(mapOfItemsTracked.values()), params.distanceFunc, ["x", "y", "w", "h"]); // Contruct a kd tree for the detections of this frame - var treeDetectionsOfThisFrame = new kdTree(detectionsOfThisFrame, computeDistance, ["x", "y", "w", "h"]); + var treeDetectionsOfThisFrame = new kdTree(detectionsOfThisFrame, params.distanceFunc, ["x", "y", "w", "h"]); // SCENARIO 1: itemsTracked map is empty if(mapOfItemsTracked.size === 0) { // Just add every detected item as item Tracked detectionsOfThisFrame.forEach(function(itemDetected) { - var newItemTracked = new ItemTracked(itemDetected, frameNb, DEFAULT_UNMATCHEDFRAMES_TOLERANCE) + var newItemTracked = new ItemTracked(itemDetected, frameNb, params.unMatchedFramesTolerance, params.fastDelete) // Add it to the map mapOfItemsTracked.set(newItemTracked.id, newItemTracked) // Add it to the kd tree @@ -75,128 +88,176 @@ 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, KDTREESEARCH_LIMIT)[0]; - - // Only for debug assessments of predictions - var treeSearchResultWithoutPrediction = treeDetectionsOfThisFrame.nearest(itemTracked, 1, KDTREESEARCH_LIMIT)[0]; - // Only if we enable the extra refinement - var treeSearchMultipleResults = treeDetectionsOfThisFrame.nearest(predictedPosition, 2, KDTREESEARCH_LIMIT); - - // 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 { - console.log('Nothing detected for frame nº' + frameNb) + if(DEBUG_MODE) { + console.log('[Tracker] Nothing detected for frame nº' + frameNb) + } + // Make existing tracked item available for deletion (to avoid ghost) + mapOfItemsTracked.forEach(function(itemTracked) { + itemTracked.makeAvailable(); + }); } - // 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()), computeDistance, ["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, KDTREESEARCH_LIMIT)[0]; - - if(!treeSearchResult) { - var newItemTracked = ItemTracked(detectionsOfThisFrame[index], frameNb, DEFAULT_UNMATCHEDFRAMES_TOLERANCE) - // 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) + // Start killing the itemTracked (and predicting next position) // that are tracked but haven't been matched this frame mapOfItemsTracked.forEach(function(itemTracked) { if(itemTracked.available) { @@ -211,13 +272,20 @@ exports.updateTrackedItemsWithNewFrame = function(detectionsOfThisFrame, frameNb } } }); - + } } exports.reset = function() { mapOfItemsTracked = new Map(); mapOfAllItemsTracked = new Map(); + itemTrackedModule.reset(); +} + +exports.setParams = function(newParams) { + Object.keys(newParams).forEach((key) => { + params[key] = newParams[key]; + }); } exports.enableKeepInMemory = function() { diff --git a/utils.js b/utils.js index af0b414..30f6436 100644 --- a/utils.js +++ b/utils.js @@ -7,11 +7,11 @@ exports.isDetectionTooLarge = (detections, largestAllowed) => { } const isInsideArea = (area, point) => { - const xMin = area.x - const xMax = area.x + area.w; - const yMin = area.y - const yMax = area.y + area.h; - + const xMin = area.x - area.w / 2; + const xMax = area.x + area.w / 2; + const yMin = area.y - area.h / 2; + const yMax = area.y + area.h / 2; + if(point.x >= xMin && point.x <= xMax && point.y >= yMin && @@ -35,10 +35,10 @@ exports.ignoreObjectsNotToDetect = (detections, objectsToDetect) => { const getRectangleEdges = (item) => { return { - x0: item.x, - y0: item.y, - x1: item.x + item.w, - y1: item.y + item.h + x0: item.x - item.w / 2, + y0: item.y - item.h / 2, + x1: item.x + item.w / 2, + y1: item.y + item.h / 2, } } @@ -109,13 +109,17 @@ exports.computeVelocityVector = (item1, item2, nbFrame) => { */ -exports.computeBearingIn360 = function(dx, dy) { - var a = Math.atan(dy / dx) - a = a * 180 / Math.PI - if(dx < 0) { - a = a + 180 - } else if (dy < 0) { - a = a + 360 +exports.computeBearingIn360 = function(dx,dy) { + var angle = Math.atan(dx/dy)/(Math.PI/180) + if ( angle > 0 ) { + if (dy > 0) + return angle; + else + return 180 + angle; + } else { + if (dx > 0) + return 180 + angle; + else + return 360 + angle; } - return a; }