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New ASSETS and trackers GMC cleanup (#4425)

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Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
This commit is contained in:
Glenn Jocher
2023-08-17 18:19:05 +02:00
committed by GitHub
parent aaba14e6b2
commit 9d27e7ada4
32 changed files with 222 additions and 201 deletions
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3
ultralytics/trackers/bot_sort.py
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@ -110,8 +110,7 @@ class BOTSORT(BYTETracker):
if args.with_reid:
# Haven't supported BoT-SORT(reid) yet
self.encoder = None
# self.gmc = GMC(method=args.cmc_method, verbose=[args.name, args.ablation])
self.gmc = GMC(method=args.cmc_method)
self.gmc = GMC(method=args.gmc_method)
def get_kalmanfilter(self):
"""Returns an instance of KalmanFilterXYWH for object tracking."""

48
ultralytics/trackers/utils/gmc.py
View File

@ -10,7 +10,7 @@ from ultralytics.utils import LOGGER
class GMC:
def __init__(self, method='sparseOptFlow', downscale=2, verbose=None):
def __init__(self, method='sparseOptFlow', downscale=2):
"""Initialize a video tracker with specified parameters."""
super().__init__()
@ -40,28 +40,11 @@ class GMC:
blockSize=3,
useHarrisDetector=False,
k=0.04)
# self.gmc_file = open('GMC_results.txt', 'w')
elif self.method in ['file', 'files']:
seqName = verbose[0]
ablation = verbose[1]
if ablation:
filePath = r'tracker/GMC_files/MOT17_ablation'
else:
filePath = r'tracker/GMC_files/MOTChallenge'
if '-FRCNN' in seqName:
seqName = seqName[:-6]
elif '-DPM' in seqName or '-SDP' in seqName:
seqName = seqName[:-4]
self.gmcFile = open(f'{filePath}/GMC-{seqName}.txt')
if self.gmcFile is None:
raise ValueError(f'Error: Unable to open GMC file in directory:{filePath}')
elif self.method in ['none', 'None']:
self.method = 'none'
elif self.method in ['none', 'None', None]:
self.method = None
else:
raise ValueError(f'Error: Unknown CMC method:{method}')
raise ValueError(f'Error: Unknown GMC method:{method}')
self.prevFrame = None
self.prevKeyPoints = None
@ -77,10 +60,6 @@ class GMC:
return self.applyEcc(raw_frame, detections)
elif self.method == 'sparseOptFlow':
return self.applySparseOptFlow(raw_frame, detections)
elif self.method == 'file':
return self.applyFile(raw_frame, detections)
elif self.method == 'none':
return np.eye(2, 3)
else:
return np.eye(2, 3)
@ -244,7 +223,6 @@ class GMC:
def applySparseOptFlow(self, raw_frame, detections=None):
"""Initialize."""
# t0 = time.time()
height, width, _ = raw_frame.shape
frame = cv2.cvtColor(raw_frame, cv2.COLOR_BGR2GRAY)
H = np.eye(2, 3)
@ -298,22 +276,4 @@ class GMC:
self.prevFrame = frame.copy()
self.prevKeyPoints = copy.copy(keypoints)
# gmc_line = str(1000 * (time.time() - t0)) + "\t" + str(H[0, 0]) + "\t" + str(H[0, 1]) + "\t" + str(
# H[0, 2]) + "\t" + str(H[1, 0]) + "\t" + str(H[1, 1]) + "\t" + str(H[1, 2]) + "\n"
# self.gmc_file.write(gmc_line)
return H
def applyFile(self, raw_frame, detections=None):
"""Return the homography matrix based on the GCPs in the next line of the input GMC file."""
line = self.gmcFile.readline()
tokens = line.split('\t')
H = np.eye(2, 3, dtype=np.float_)
H[0, 0] = float(tokens[1])
H[0, 1] = float(tokens[2])
H[0, 2] = float(tokens[3])
H[1, 0] = float(tokens[4])
H[1, 1] = float(tokens[5])
H[1, 2] = float(tokens[6])
return H