Skip to content

fix: unmatched tracks not marked as Lost when dets_second is empty #2

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
luigivicidomini wants to merge 1 commit into
base: main
Choose a base branch
from
Open

fix: unmatched tracks not marked as Lost when dets_second is empty #2

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
33 changes: 21 additions & 12 deletions src/trackers/bytetrack.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -384,6 +384,13 @@ Eigen::MatrixXf ByteTrack::update(const Eigen::MatrixXf& dets,
}
}

// All unmatched by default, narrowed down inside the if block
std::vector<int> u_track2;
u_track2.reserve(r_tracked_stracks_ptrs.size());
for (size_t i = 0; i < r_tracked_stracks_ptrs.size(); ++i) {
u_track2.push_back(static_cast<int>(i));
}

if (!detections_second.empty() && !r_tracked_stracks_ptrs.empty()) {
Eigen::MatrixXf r_track_xyxy(r_tracked_stracks_ptrs.size(), 4);
Eigen::MatrixXf det2_xyxy(detections_second.size(), 4);
Expand All @@ -397,22 +404,23 @@ Eigen::MatrixXf ByteTrack::update(const Eigen::MatrixXf& dets,
Eigen::MatrixXf dists2 = utils::iou_distance(r_track_xyxy, det2_xyxy);
auto assignment2 = utils::linear_assignment(dists2, 0.5f);

std::vector<int> u_track2, u_detection2;
for (size_t i = 0; i < r_tracked_stracks_ptrs.size(); ++i) {
bool matched = false;
for (const auto& match : assignment2.matches) {
if (match[0] == static_cast<int>(i)) matched = true;
}
if (!matched) u_track2.push_back(i);
}
for (size_t i = 0; i < detections_second.size(); ++i) {

u_track2.clear();
for (size_t i = 0; i < r_tracked_stracks_ptrs.size(); ++i) {
bool matched = false;
for (const auto& match : assignment2.matches) {
if (match[1] == static_cast<int>(i)) matched = true;
if (match[0] == static_cast<int>(i)) matched = true;
}
if (!matched) u_detection2.push_back(i);
if (!matched) u_track2.push_back(static_cast<int>(i));
}

for (const auto& match : assignment2.matches) {
int itracked = match[0];
int idet = match[1];
Expand All @@ -431,13 +439,14 @@ Eigen::MatrixXf ByteTrack::update(const Eigen::MatrixXf& dets,
refind_stracks.push_back(*track);
}
}

for (int idx : u_track2) {
STrack* track = r_tracked_stracks_ptrs[idx];
if (track->state() != ByteTrackState::Lost) {
track->mark_lost();
lost_stracks_new.push_back(*track);
}
}

// Mark remaining unmatched tracks as lost regardless of second stage detections
for (int idx : u_track2) {
STrack* track = r_tracked_stracks_ptrs[idx];
if (track->state() != ByteTrackState::Lost) {
track->mark_lost();
lost_stracks_new.push_back(*track);
}
}

Expand Down