byte_tracker-lost-out

configs/tasks/bsw/rgb_yolov5.yaml

@@ -68,5 +68,6 @@ units:
         high_thresh: 0.2
         match_thresh: 0.8
         init_frames: 0
+        out_lost_threshold: 3
         
 

configs/tasks/fusion/fusion_model.yaml

@@ -147,6 +147,7 @@ units:
         high_thresh: 0.2
         match_thresh: 0.8
         init_frames: 0
+        out_lost_threshold: 3
 
 
 

configs/tasks/mots/trades.yaml

@@ -59,6 +59,7 @@ units:
         high_thresh: 0.2
         match_thresh: 0.8
         init_frames: 0
+        out_lost_threshold: 3
 
         
 

configs/tasks/thermal/yolov5.yaml

@@ -87,6 +87,7 @@ units:
         high_thresh: 0.2
         match_thresh: 0.8
         init_frames: 0
+        out_lost_threshold: 3
         
 
 

src/libs/trackers/byte_tracker.cpp

@@ -19,6 +19,9 @@ bool ByteTracker::Init(YAML::Node& node)
 	high_thresh = node["high_thresh"].as<float>();
 	match_thresh = node["match_thresh"].as<float>();
 	init_frames = node["init_frames"].as<int>();
+	if(!node["out_lost_threshold"].IsNull()){
+		out_lost_threshold = node["out_lost_threshold"].as<int>();
+	}
 
 	frame_id = 0;
 	max_time_lost = int(frame_rate / 30.0 * track_buffer);
@@ -250,6 +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);
+			}
+		}
+	}
 	interfaces::SetIOPtr(outputNames[0], tracked_bboxes);
     LOG_INFO << "Get " << tracked_bboxes->detections.size() << " tracked objs. Removed track length: " << this->removed_tracks.size();
     return true;

src/libs/trackers/byte_tracker.h

@@ -45,6 +45,7 @@ private:
 	int frame_id;
 	int max_time_lost;
 	int init_frames = 0;
+	int out_lost_threshold = 3;
 
 	std::vector<Track> tracked_tracks;
 	std::vector<Track> lost_tracks;