Skip to content

Commit

Permalink
Update id criteria for splitting
Browse files Browse the repository at this point in the history
  • Loading branch information
Agustín Castro committed Mar 9, 2024
1 parent 7c187a2 commit b15f4a3
Show file tree
Hide file tree
Showing 2 changed files with 64 additions and 30 deletions.
9 changes: 8 additions & 1 deletion demos/multi_camera/src/demo.py
View file
Original file line number Diff line number Diff line change
Expand Up @@ -317,6 +317,12 @@ def run():
default="mean",
help="How a distance between clusters is done when associating trackers from different videos. Either 'mean' or 'max'",
)
parser.add_argument(
"--keep-id-criteria",
type=str,
default="hit_counter",
help="When splitting a cluster, we have to choose which subcluster will keep the id of the old cluster. Either 'age' or 'hit_counter'",
)
parser.add_argument(
"--initialization-delay",
type=float,
Expand Down Expand Up @@ -344,7 +350,7 @@ def run():
parser.add_argument(
"--reid-hit-counter-max",
type=int,
default=500,
default=150,
help="Maximum amount of frames trying to reidentify the object. (Use a value >=0)",
)
parser.add_argument(
Expand Down Expand Up @@ -562,6 +568,7 @@ def clusterizer_distance(tracker1, tracker2):
initialization_delay=args.clusterizer_initialization_delay,
reid_hit_counter_max=args.reid_hit_counter_max,
maximum_time_since_last_update=args.maximum_time_since_last_update,
keep_id_criteria=args.keep_id_criteria,
)

while True:
Expand Down
85 changes: 56 additions & 29 deletions norfair/multi_camera.py
View file
Original file line number Diff line number Diff line change
Expand Up @@ -463,6 +463,32 @@ def swap_cluster_ids(clusters, cluster_number, cluster_number_with_oldest_tracke
return clusters


def conditionally_update_which_id_keeper(
oldest_age,
greatest_hit_counter,
additional_cluster_number_keeping_old_id,
tracked_object,
keep_id_criteria,
):

# keep the id by the age or by the hit_counter if the current cluster is promising
if not tracked_object.live_points.any():
# if this cluster hasn't matched recently, cluster is not promising
return False

if keep_id_criteria == "hit_counter":
update_cluster_number = (greatest_hit_counter < tracked_object.hit_counter) or (
(greatest_hit_counter == tracked_object.hit_counter)
and (oldest_age < tracked_object.age)
)
elif keep_id_criteria == "age":
update_cluster_number = (oldest_age < tracked_object.age) or (
(oldest_age == tracked_object.age)
and (greatest_hit_counter < tracked_object.hit_counter)
)
return update_cluster_number


class MultiCameraClusterizer:
def __init__(
self,
Expand All @@ -475,6 +501,7 @@ def __init__(
initialization_delay: int = 4,
reid_hit_counter_max: int = 0,
maximum_time_since_last_update: int = 1,
keep_id_criteria: str = "hit_counter",
):
"""
Associate trackers from different cameras/videos.
Expand Down Expand Up @@ -515,6 +542,11 @@ def __init__(
- maximum_time_since_last_update: int.
Filter tracked objects that were not detected recently. This can be useful since those tracked objects might have
position that will not match well with their position in a different camera.
- keep_id_criteria: str.
When splitting a cluster, we have to choose which subcluster will keep the id of the old cluster. We have 2 criterias;
'age' criteria: the cluster with the oldest tracked object keeps the cluster id
'hit_counter' criteria: the cluster with the tracked object with greatest hit_counter keeps the cluster id
"""
if max_votes_grow < 1:
raise ValueError("max_votes_grow parameter needs to be >= 1")
Expand All @@ -523,6 +555,11 @@ def __init__(
if memory < 0:
raise ValueError("memory parameter needs to be >= 0")

if keep_id_criteria not in ["age", "hit_counter"]:
raise ValueError(
f"keep_id_criteria can only be either 'age' or 'hit_counter'"
)

self.last_cluster_fake_id = 0
self.last_cluster_id = 0

Expand Down Expand Up @@ -550,6 +587,8 @@ def __init__(
self.reid_hit_counter_max = reid_hit_counter_max + 1
self.maximum_time_since_last_update = maximum_time_since_last_update

self.keep_id_criteria = keep_id_criteria

def update(self, trackers_by_camera):

# increase all reid_hit_counter_by_one
Expand Down Expand Up @@ -663,10 +702,9 @@ def update(self, trackers_by_camera):
# create the aditional clusters
additional_clusters = []

# we will keep the
cluster_number_with_greatest_hit_counter = None
additional_cluster_number_keeping_old_id = 0
greatest_hit_counter = -1
oldest_age_in_that_cluster = -1
oldest_age = -1
for current_cluster_number, tracked_ids in enumerate(
intersection_matrix_ids[cluster_number]
):
Expand All @@ -688,32 +726,21 @@ def update(self, trackers_by_camera):
] = cluster.tracked_objects[camera_name]
new_cluster.reid_hit_counter[camera_name] = 0

if (
(
greatest_hit_counter
< cluster.tracked_objects[camera_name].hit_counter
)
or (
(
greatest_hit_counter
== cluster.tracked_objects[
camera_name
].hit_counter
)
and (
oldest_age_in_that_cluster
< cluster.tracked_objects[camera_name].age
)
update_cluster_number = (
conditionally_update_which_id_keeper(
oldest_age,
greatest_hit_counter,
additional_cluster_number_keeping_old_id,
cluster.tracked_objects[camera_name],
self.keep_id_criteria,
)
or (cluster_number_with_greatest_hit_counter is None)
):
)
if update_cluster_number:
greatest_hit_counter = cluster.tracked_objects[
camera_name
].hit_counter
oldest_age_in_that_cluster = cluster.tracked_objects[
camera_name
].age
cluster_number_with_greatest_hit_counter = (
oldest_age = cluster.tracked_objects[camera_name].age
additional_cluster_number_keeping_old_id = (
current_cluster_number
)

Expand All @@ -723,15 +750,15 @@ def update(self, trackers_by_camera):

cluster.tracked_ids.extend(
additional_clusters[
cluster_number_with_greatest_hit_counter
additional_cluster_number_keeping_old_id
].tracked_ids
)
cluster.tracked_objects = additional_clusters[
cluster_number_with_greatest_hit_counter
additional_cluster_number_keeping_old_id
].tracked_objects
cluster.reid_hit_counter.update(
additional_clusters[
cluster_number_with_greatest_hit_counter
additional_cluster_number_keeping_old_id
].reid_hit_counter
)

Expand All @@ -754,7 +781,7 @@ def update(self, trackers_by_camera):

if (
current_cluster_number
== cluster_number_with_greatest_hit_counter
== additional_cluster_number_keeping_old_id
):
intersection_matrix_ids[
cluster_number
Expand Down

0 comments on commit b15f4a3

Please sign in to comment.