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iou_tracker.rs
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use std::cmp::Reverse;
use std::collections::{
HashMap,
HashSet,
BinaryHeap,
};
use uuid::Uuid;
use crate::mot::mot_errors;
use crate::mot::DistanceBlob;
use crate::mot::SimpleBlob;
use crate::utils::iou;
/// Naive implementation of Multi-object tracker (MOT) with IoU matching
pub struct IoUTracker {
// Max no match (max number of frames when object could not be found again). Default is 75
max_no_match: usize,
// IoU threshold for matching. Default is 0.3
iou_threshold: f32,
// Storage
pub objects: HashMap<Uuid, SimpleBlob>
}
impl IoUTracker {
/// Creates default instance of IoUTracker
///
/// Basic usage:
///
/// ```
/// use mot_rs::mot::IoUTracker;
/// let mut tracker = IoUTracker::default();
/// ```
pub fn default() -> Self {
IoUTracker{
max_no_match: 75,
iou_threshold: 0.0,
objects: HashMap::new(),
}
}
/// Creates news instance of IoUTracker
///
/// Basic usage:
///
/// ```
/// use mot_rs::mot::IoUTracker;
/// let max_no_match: usize = 100;
/// let iou_threshold: f32 = 0.3;
/// let mut tracker = IoUTracker::new(max_no_match, iou_threshold);
/// ```
pub fn new(_max_no_match: usize, _iou_threshold: f32) -> Self {
IoUTracker{
max_no_match: _max_no_match,
iou_threshold: _iou_threshold,
objects: HashMap::new(),
}
}
// Matches new objects to existing ones
pub fn match_objects(&mut self, new_objects: &mut Vec<SimpleBlob>) -> Result<(), mot_errors::TrackerError>{
for (_, object) in self.objects.iter_mut() {
object.deactivate(); // Make sure that object is marked as deactivated
// object.predict_next_position_naive(5);
object.predict_next_position();
}
let mut blobs_to_register: HashMap<Uuid, SimpleBlob> = HashMap::new();
// Add new objects to priority queue
let mut priority_queue: BinaryHeap<Reverse<DistanceBlob>> = BinaryHeap::new();
for new_object in new_objects.iter_mut() {
// Find existing blob with min distance to new one
let mut max_id = Uuid::default();
let mut max_iou = 0.0;
for (j, object) in self.objects.iter() {
let iou_value = iou(&new_object.get_bbox(), &object.get_bbox());
if iou_value > max_iou {
max_iou = iou_value;
max_id = *j;
}
}
let distance_blob = DistanceBlob {
distance_metric_value: max_iou,
min_id: max_id,
blob: new_object,
};
priority_queue.push(Reverse(distance_blob));
}
// We need to prevent double update of objects
let mut reserved_objects: HashSet<Uuid> = HashSet::new();
while let Some(distance_blob) = priority_queue.pop() {
let max_iou = distance_blob.0.distance_metric_value;
let min_id = distance_blob.0.min_id;
// Check if object is already reserved
// Since we are using priority queue with min-heap then we garantee that we will update existing objects with min distance only once.
// For other objects with the same min_id we can create new objects
if reserved_objects.contains(&min_id) {
// Register it immediately and continue
blobs_to_register.insert(distance_blob.0.blob.get_id(), distance_blob.0.blob.clone());
continue;
}
// Filter by min IoU threshold
if max_iou > self.iou_threshold {
match self.objects.get_mut(&min_id) {
Some(v) => {
v.update(&distance_blob.0.blob)?;
// Last but not least:
// We need to update ID of new object to match existing one (that is why we have &mut in function definition)
distance_blob.0.blob.set_id(min_id);
reserved_objects.insert(min_id);
},
None => {
return Err(mot_errors::TrackerError::from(mot_errors::NoObjectInTracker{txt: format!("immposible self.objects.get_mut(&min_id). Object ID {:?}. IoU value: {:?}", min_id, max_iou)}));
}
};
} else {
// Otherwise register object as a new one
blobs_to_register.insert(distance_blob.0.blob.get_id(), distance_blob.0.blob.clone());
}
}
self.objects.extend(blobs_to_register);
// Clean up existing data
self.objects.retain(|_, object| {
object.inc_no_match();
// Remove object if it was not found for a long time
let delete = object.get_no_match_times() > self.max_no_match;
!delete // <- if we want to keep object closure should return true
});
Ok(())
}
}
use std::fmt;
impl fmt::Display for IoUTracker {
fn fmt(&self, f: &mut fmt::Formatter) -> fmt::Result {
write!(f, "Maximum no match: {}\n\tIoU threshold: {}",
self.max_no_match,
self.iou_threshold
)
}
}
mod tests {
use crate::utils::Rect;
use std::collections::BinaryHeap;
#[test]
fn test_match_objects_spread() {
let bboxes_iterations: Vec<Vec<Rect>> = vec![
// Each nested vector represents set of bounding boxes on a single frame
vec![Rect::new(378.0,147.0,173.0,243.0)],
vec![Rect::new(374.0,147.0,180.0,253.0)],
vec![Rect::new(375.0,154.0,178.0,256.0)],
vec![Rect::new(376.0,162.0,177.0,267.0)],
vec![Rect::new(375.0,166.0,178.0,268.0)],
vec![Rect::new(375.0,177.0,186.0,266.0)],
vec![Rect::new(370.0,185.0,197.0,273.0)],
vec![Rect::new(363.0,209.0,203.0,264.0)],
vec![Rect::new(70.0,14.0,227.0,254.0), Rect::new(364.0,214.0,200.0,262.0)],
vec![Rect::new(365.0,218.0,205.0,263.0)],
vec![Rect::new(67.0,23.0,236.0,246.0), Rect::new(366.0,231.0,209.0,260.0)],
vec![Rect::new(73.0,18.0,227.0,264.0), Rect::new(610.0,47.0,324.0,355.0), Rect::new(370.0,238.0,199.0,259.0), Rect::new(381.0,-1.0,103.0,60.0)],
vec![Rect::new(67.0,16.0,229.0,271.0), Rect::new(370.0,250.0,195.0,264.0), Rect::new(381.0,-2.0,106.0,58.0)],
vec![Rect::new(62.0,15.0,233.0,268.0), Rect::new(365.0,257.0,205.0,264.0), Rect::new(379.0,-1.0,109.0,59.0)],
vec![Rect::new(60.0,7.0,234.0,279.0), Rect::new(360.0,269.0,212.0,260.0), Rect::new(380.0,-1.0,109.0,60.0)],
vec![Rect::new(50.0,41.0,251.0,295.0), Rect::new(619.0,25.0,308.0,399.0), Rect::new(361.0,276.0,215.0,265.0), Rect::new(380.0,-1.0,110.0,63.0)],
vec![Rect::new(48.0,36.0,242.0,302.0), Rect::new(622.0,21.0,299.0,411.0), Rect::new(357.0,283.0,222.0,255.0), Rect::new(379.0,0.0,113.0,64.0)],
vec![Rect::new(41.0,28.0,245.0,319.0), Rect::new(625.0,31.0,308.0,392.0), Rect::new(350.0,306.0,239.0,231.0), Rect::new(377.0,0.0,116.0,65.0)],
vec![Rect::new(630.0,98.0,294.0,324.0), Rect::new(346.0,310.0,250.0,239.0), Rect::new(378.0,0.0,112.0,65.0)],
vec![Rect::new(636.0,99.0,290.0,323.0), Rect::new(344.0,320.0,254.0,229.0), Rect::new(378.0,2.0,114.0,65.0)],
vec![Rect::new(636.0,103.0,295.0,318.0), Rect::new(347.0,332.0,251.0,211.0)],
vec![Rect::new(362.0,1.0,147.0,90.0), Rect::new(637.0,104.0,292.0,321.0), Rect::new(337.0,344.0,272.0,196.0)],
vec![Rect::new(360.0,-2.0,152.0,97.0), Rect::new(12.0,74.0,237.0,324.0), Rect::new(639.0,104.0,293.0,316.0), Rect::new(347.0,350.0,258.0,185.0)],
vec![Rect::new(361.0,-4.0,149.0,99.0), Rect::new(9.0,112.0,251.0,313.0), Rect::new(627.0,106.0,314.0,321.0)],
vec![Rect::new(360.0,-3.0,151.0,99.0), Rect::new(15.0,115.0,231.0,311.0), Rect::new(633.0,91.0,297.0,346.0)],
vec![Rect::new(362.0,-7.0,148.0,106.0), Rect::new(10.0,109.0,241.0,320.0), Rect::new(639.0,93.0,294.0,347.0)],
vec![Rect::new(362.0,-9.0,146.0,109.0), Rect::new(12.0,109.0,233.0,326.0), Rect::new(639.0,95.0,288.0,347.0)],
// vec![Rect::new(362.0,-9.0,147.0,111.0), Rect::new(3.0,103.0,236.0,346.0), Rect::new(645.0,98.0,281.0,343.0)], // here one of blobs disappears
// vec![Rect::new(365.0,-10.0,143.0,114.0), Rect::new(645.0,99.0,283.0,345.0), Rect::new(9.0,141.0,238.0,323.0)],
];
let mut mot = super::IoUTracker::new(5, 0.3);
let dt = 1.0/25.00; // emulate 25 fps
for iteration in bboxes_iterations {
let mut blobs: Vec<super::SimpleBlob> = iteration.into_iter().map(|bbox| {
super::SimpleBlob::new_with_dt(bbox, dt)
}).collect();
match mot.match_objects(&mut blobs) {
Ok(_) => {},
Err(err) => {
println!("{:?}", err);
}
};
}
assert_eq!(mot.objects.len(), 4);
// println!("id;track");
// for object in &mot.objects {
// print!("{};", object.0);
// let track = object.1.get_track();
// for (idx, pt) in track.iter().enumerate() {
// if idx == track.len() - 1 {
// print!("{},{}", pt.x, pt.y);
// } else {
// print!("{},{}|", pt.x, pt.y);
// }
// }
// println!();
// }
}
#[test]
fn test_match_objects_naive() {
let bboxes_one: Vec<Vec<i32>> = vec![vec![236, -25, 386, 35], vec![237, -24, 387, 36], vec![238, -22, 388, 38], vec![236, -20, 386, 40], vec![236, -19, 386, 41], vec![237, -18, 387, 42], vec![237, -18, 387, 42], vec![238, -17, 388, 43], vec![237, -14, 387, 46], vec![237, -14, 387, 46], vec![237, -12, 387, 48], vec![237, -12, 387, 48], vec![237, -11, 387, 49], vec![237, -11, 387, 49], vec![237, -10, 387, 50], vec![237, -10, 387, 50], vec![237, -8, 387, 52], vec![237, -8, 387, 52], vec![236, -7, 386, 53], vec![236, -7, 386, 53], vec![236, -6, 386, 54], vec![236, -6, 386, 54], vec![236, -2, 386, 58], vec![235, 0, 385, 60], vec![236, 2, 386, 62], vec![236, 5, 386, 65], vec![236, 9, 386, 69], vec![235, 12, 385, 72], vec![235, 14, 385, 74], vec![233, 16, 383, 76], vec![232, 26, 382, 86], vec![233, 28, 383, 88], vec![233, 40, 383, 100], vec![233, 30, 383, 90], vec![232, 22, 382, 82], vec![232, 34, 382, 94], vec![232, 21, 382, 81], vec![233, 40, 383, 100], vec![232, 40, 382, 100], vec![232, 40, 382, 100], vec![232, 36, 382, 96], vec![232, 53, 382, 113], vec![232, 50, 382, 110], vec![233, 55, 383, 115], vec![232, 50, 382, 110], vec![234, 68, 384, 128], vec![231, 49, 381, 109], vec![232, 68, 382, 128], vec![231, 31, 381, 91], vec![232, 64, 382, 124], vec![233, 71, 383, 131], vec![231, 64, 381, 124], vec![231, 74, 381, 134], vec![231, 64, 381, 124], vec![230, 77, 380, 137], vec![232, 82, 382, 142], vec![232, 78, 382, 138], vec![232, 78, 382, 138], vec![231, 79, 381, 139], vec![231, 79, 381, 139], vec![231, 91, 381, 151], vec![232, 78, 382, 138], vec![232, 78, 382, 138], vec![233, 90, 383, 150], vec![232, 92, 382, 152], vec![232, 92, 382, 152], vec![233, 98, 383, 158], vec![232, 100, 382, 160], vec![231, 92, 381, 152], vec![233, 110, 383, 170], vec![234, 92, 384, 152], vec![234, 92, 384, 152], vec![234, 110, 384, 170], vec![234, 92, 384, 152], vec![233, 104, 383, 164], vec![234, 111, 384, 171], vec![234, 106, 384, 166], vec![234, 106, 384, 166], vec![233, 124, 383, 184], vec![236, 125, 386, 185], vec![236, 125, 386, 185], vec![232, 120, 382, 180], vec![236, 131, 386, 191], vec![232, 132, 382, 192], vec![238, 139, 388, 199], vec![236, 141, 386, 201], vec![232, 151, 382, 211], vec![236, 145, 386, 205], vec![236, 145, 386, 205], vec![231, 133, 381, 193], vec![237, 148, 387, 208], vec![237, 148, 387, 208], vec![237, 148, 387, 208], vec![237, 148, 387, 208], vec![237, 148, 387, 208], vec![237, 148, 387, 208], vec![237, 148, 387, 208], vec![237, 148, 387, 208], vec![237, 148, 387, 208], vec![237, 148, 387, 208], vec![237, 148, 387, 208], vec![237, 148, 387, 208], vec![237, 148, 387, 208], vec![237, 148, 387, 208], vec![237, 148, 387, 208], vec![237, 148, 387, 208], vec![237, 148, 387, 208], vec![237, 148, 387, 208], vec![237, 148, 387, 208], vec![237, 148, 387, 208], vec![237, 148, 387, 208], vec![237, 148, 387, 208]];
let bboxes_two: Vec<Vec<i32>> = vec![vec![321, -25, 471, 35], vec![322, -24, 472, 36], vec![323, -22, 473, 38], vec![321, -20, 471, 40], vec![321, -19, 471, 41], vec![322, -18, 472, 42], vec![322, -18, 472, 42], vec![323, -17, 473, 43], vec![322, -14, 472, 46], vec![322, -14, 472, 46], vec![322, -12, 472, 48], vec![322, -12, 472, 48], vec![322, -11, 472, 49], vec![322, -11, 472, 49], vec![322, -10, 472, 50], vec![322, -10, 472, 50], vec![322, -8, 472, 52], vec![322, -8, 472, 52], vec![321, -7, 471, 53], vec![321, -7, 471, 53], vec![321, -6, 471, 54], vec![321, -6, 471, 54], vec![321, -2, 471, 58], vec![320, 0, 470, 60], vec![321, 2, 471, 62], vec![321, 5, 471, 65], vec![321, 9, 471, 69], vec![320, 12, 470, 72], vec![320, 14, 470, 74], vec![318, 16, 468, 76], vec![317, 26, 467, 86], vec![318, 28, 468, 88], vec![318, 40, 468, 100], vec![318, 30, 468, 90], vec![317, 22, 467, 82], vec![317, 34, 467, 94], vec![317, 21, 467, 81], vec![318, 40, 468, 100], vec![317, 40, 467, 100], vec![317, 40, 467, 100], vec![317, 36, 467, 96], vec![317, 53, 467, 113], vec![317, 50, 467, 110], vec![318, 55, 468, 115], vec![317, 50, 467, 110], vec![319, 68, 469, 128], vec![316, 49, 466, 109], vec![317, 68, 467, 128], vec![316, 31, 466, 91], vec![317, 64, 467, 124], vec![318, 71, 468, 131], vec![316, 64, 466, 124], vec![316, 74, 466, 134], vec![316, 64, 466, 124], vec![315, 77, 465, 137], vec![317, 82, 467, 142], vec![317, 78, 467, 138], vec![317, 78, 467, 138], vec![316, 79, 466, 139], vec![316, 79, 466, 139], vec![316, 91, 466, 151], vec![317, 78, 467, 138], vec![317, 78, 467, 138], vec![318, 90, 468, 150], vec![317, 92, 467, 152], vec![317, 92, 467, 152], vec![318, 98, 468, 158], vec![317, 100, 467, 160], vec![316, 92, 466, 152], vec![318, 110, 468, 170], vec![319, 92, 469, 152], vec![319, 92, 469, 152], vec![319, 110, 469, 170], vec![319, 92, 469, 152], vec![318, 104, 468, 164], vec![319, 111, 469, 171], vec![319, 106, 469, 166], vec![319, 106, 469, 166], vec![318, 124, 468, 184], vec![321, 125, 471, 185], vec![321, 125, 471, 185], vec![317, 120, 467, 180], vec![321, 131, 471, 191], vec![317, 132, 467, 192], vec![323, 139, 473, 199], vec![321, 141, 471, 201], vec![317, 151, 467, 211], vec![321, 145, 471, 205], vec![321, 145, 471, 205], vec![316, 133, 466, 193], vec![322, 148, 472, 208], vec![322, 148, 472, 208], vec![322, 148, 472, 208], vec![322, 148, 472, 208], vec![322, 148, 472, 208], vec![322, 148, 472, 208], vec![322, 148, 472, 208], vec![322, 148, 472, 208], vec![322, 148, 472, 208], vec![322, 148, 472, 208], vec![322, 148, 472, 208], vec![322, 148, 472, 208], vec![322, 148, 472, 208], vec![322, 148, 472, 208], vec![322, 148, 472, 208], vec![322, 148, 472, 208], vec![322, 148, 472, 208], vec![322, 148, 472, 208], vec![322, 148, 472, 208], vec![322, 148, 472, 208], vec![322, 148, 472, 208], vec![322, 148, 472, 208]];
let bboxes_three: Vec<Vec<i32>> = vec![vec![151, -25, 301, 35], vec![152, -24, 302, 36], vec![153, -22, 303, 38], vec![151, -20, 301, 40], vec![151, -19, 301, 41], vec![152, -18, 302, 42], vec![152, -18, 302, 42], vec![153, -17, 303, 43], vec![152, -14, 302, 46], vec![152, -14, 302, 46], vec![152, -12, 302, 48], vec![152, -12, 302, 48], vec![152, -11, 302, 49], vec![152, -11, 302, 49], vec![152, -10, 302, 50], vec![152, -10, 302, 50], vec![152, -8, 302, 52], vec![152, -8, 302, 52], vec![151, -7, 301, 53], vec![151, -7, 301, 53], vec![151, -6, 301, 54], vec![151, -6, 301, 54], vec![151, -2, 301, 58], vec![150, 0, 300, 60], vec![151, 2, 301, 62], vec![151, 5, 301, 65], vec![151, 9, 301, 69], vec![150, 12, 300, 72], vec![150, 14, 300, 74], vec![148, 16, 298, 76], vec![147, 26, 297, 86], vec![148, 28, 298, 88], vec![148, 40, 298, 100], vec![148, 30, 298, 90], vec![147, 22, 297, 82], vec![147, 34, 297, 94], vec![147, 21, 297, 81], vec![148, 40, 298, 100], vec![147, 40, 297, 100], vec![147, 40, 297, 100], vec![147, 36, 297, 96], vec![147, 53, 297, 113], vec![147, 50, 297, 110], vec![148, 55, 298, 115], vec![147, 50, 297, 110], vec![149, 68, 299, 128], vec![146, 49, 296, 109], vec![147, 68, 297, 128], vec![146, 31, 296, 91], vec![147, 64, 297, 124], vec![148, 71, 298, 131], vec![146, 64, 296, 124], vec![146, 74, 296, 134], vec![146, 64, 296, 124], vec![145, 77, 295, 137], vec![147, 82, 297, 142], vec![147, 78, 297, 138], vec![147, 78, 297, 138], vec![146, 79, 296, 139], vec![146, 79, 296, 139], vec![146, 91, 296, 151], vec![147, 78, 297, 138], vec![147, 78, 297, 138], vec![148, 90, 298, 150], vec![147, 92, 297, 152], vec![147, 92, 297, 152], vec![148, 98, 298, 158], vec![147, 100, 297, 160], vec![146, 92, 296, 152], vec![148, 110, 298, 170], vec![149, 92, 299, 152], vec![149, 92, 299, 152], vec![149, 110, 299, 170], vec![149, 92, 299, 152], vec![148, 104, 298, 164], vec![149, 111, 299, 171], vec![149, 106, 299, 166], vec![149, 106, 299, 166], vec![148, 124, 298, 184], vec![151, 125, 301, 185], vec![151, 125, 301, 185], vec![147, 120, 297, 180], vec![151, 131, 301, 191], vec![147, 132, 297, 192], vec![153, 139, 303, 199], vec![151, 141, 301, 201], vec![147, 151, 297, 211], vec![151, 145, 301, 205], vec![151, 145, 301, 205], vec![146, 133, 296, 193], vec![152, 148, 302, 208], vec![152, 148, 302, 208], vec![152, 148, 302, 208], vec![152, 148, 302, 208], vec![152, 148, 302, 208], vec![152, 148, 302, 208], vec![152, 148, 302, 208], vec![152, 148, 302, 208], vec![152, 148, 302, 208], vec![152, 148, 302, 208], vec![152, 148, 302, 208], vec![152, 148, 302, 208], vec![152, 148, 302, 208], vec![152, 148, 302, 208], vec![152, 148, 302, 208], vec![152, 148, 302, 208], vec![152, 148, 302, 208], vec![152, 148, 302, 208], vec![152, 148, 302, 208], vec![152, 148, 302, 208], vec![152, 148, 302, 208], vec![152, 148, 302, 208]];
let mut mot = super::IoUTracker::new(5, 0.3);
let dt = 1.0/25.00; // emulate 25 fps
for (bbox_one, bbox_two, bbox_three) in itertools::izip!(bboxes_one, bboxes_two, bboxes_three) {
let blob_one = super::SimpleBlob::new_with_dt(Rect::new(bbox_one[0] as f32, bbox_one[1] as f32, (bbox_one[2]-bbox_one[0]) as f32, (bbox_one[3]-bbox_one[1]) as f32), dt);
let blob_two = super::SimpleBlob::new_with_dt(Rect::new(bbox_two[0] as f32,bbox_two[1] as f32,(bbox_two[2] -bbox_two[0]) as f32,(bbox_two[3]- bbox_two[1]) as f32), dt);
let blob_three = super::SimpleBlob::new_with_dt(Rect::new(bbox_three[0] as f32,bbox_three[1] as f32,(bbox_three[2] -bbox_three[0]) as f32,(bbox_three[3]- bbox_three[1]) as f32), dt);
let mut blobs = vec![blob_one, blob_two, blob_three];
// for blob in blobs.iter() {
// println!("id before: {:?}", blob.get_id());
// }
match mot.match_objects(&mut blobs) {
Ok(_) => {},
Err(err) => {
println!("{:?}", err);
}
};
// for blob in blobs.iter() {
// println!("\tid after: {:?}", blob.get_id());
// }
}
assert_eq!(mot.objects.len(), 3);
// println!("id;track");
// for object in &mot.objects {
// print!("{};", object.0);
// let track = object.1.get_track();
// for (idx, pt) in track.iter().enumerate() {
// if idx == track.len() - 1 {
// print!("{},{}", pt.x, pt.y);
// } else {
// print!("{},{}|", pt.x, pt.y);
// }
// }
// println!();
// }
}
}