tracker-out-lost-dets

CMakeLists.txt

@@ -35,8 +35,8 @@ link_directories(/root/TensorRT/TensorRT-7.0.0.11-cuda-10.0/lib)
     # include_directories(/usr/include/aarch64-linux-gnu)
 
 # yaml
-# include_directories(/usr/local/include/yaml-cpp)
-include_directories(/usr/include/yaml-cpp)
+include_directories(/usr/local/include/yaml-cpp)
+# include_directories(/usr/include/yaml-cpp)
 
 # glog gflags
 # sudo apt-get install libgoogle-glog*

src/libs/trackers/byte_tracker.cpp

@@ -253,16 +253,16 @@ bool ByteTracker::Exec()
             tracked_bboxes->detections.push_back(t);
 		}
 	}
-	// no detections in, get lost tracks out
-	if(tracked_bboxes->detections.size() == 0){
-		for(auto& ltrack: this->lost_tracks){
-			if(this->frame_id - ltrack.end_frame() <= this->out_lost_threshold){
-				auto t = ltrack.obj_->copy();
-				t->validCoordinate();
-				tracked_bboxes->detections.push_back(t);
-			}
+	// get lost tracks out
+	// if(tracked_bboxes->detections.size() == 0){
+	for(auto& ltrack: this->lost_tracks){
+		if(this->frame_id - ltrack.end_frame() <= this->out_lost_threshold){
+			auto t = ltrack.obj_->copy();
+			t->validCoordinate();
+			tracked_bboxes->detections.push_back(t);
 		}
 	}
+	// }
 	interfaces::SetIOPtr(outputNames[0], tracked_bboxes);
     LOG_INFO << "Get " << tracked_bboxes->detections.size() << " tracked objs. Removed track length: " << this->removed_tracks.size();
     return true;