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Tracker: Remove objects that are no longer detected #5

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Tracker: Remove objects that are no longer detected #5

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7 changes: 1 addition & 6 deletions mediapipe/calculators/video/tracked_detection_manager_calculator.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -34,7 +34,7 @@ namespace {

using ::mediapipe::NormalizedRect;

constexpr int kDetectionUpdateTimeOutMS = 5000;
constexpr int kDetectionUpdateTimeOutMS = 1000;
constexpr char kDetectionsTag[] = "DETECTIONS";
constexpr char kDetectionBoxesTag[] = "DETECTION_BOXES";
constexpr char kDetectionListTag[] = "DETECTION_LIST";
Expand Down Expand Up @@ -268,11 +268,6 @@ absl::Status TrackedDetectionManagerCalculator::Process(CalculatorContext* cc) {

for (const auto& detection_ptr : all_detections) {
const auto& detection = *detection_ptr.second;
// Only output detections that are synced.
if (detection.last_updated_timestamp() <
cc->InputTimestamp().Microseconds() / 1000) {
continue;
}
output_detections->emplace_back(
GetAxisAlignedDetectionFromTrackedDetection(detection));
output_boxes->emplace_back(detection.bounding_box());
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1 change: 0 additions & 1 deletion mediapipe/util/tracking/tracked_detection_manager.cc
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Expand Up @@ -93,7 +93,6 @@ std::vector<int> TrackedDetectionManager::UpdateDetectionLocation(
}
auto& detection = *detection_ptr->second;
detection.set_bounding_box(bounding_box);
detection.set_last_updated_timestamp(timestamp);

// It's required to do this here in addition to in AddDetection because during
// fast motion, two or more detections of the same object could coexist since
Expand Down