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track_frame.m
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track_frame.m
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function [tracker, qscore, f] = track_frame(tracker, frame_id, frame_image, bboxes_det, index_det, seq_name, opt)
global client_tcp;
% tracked, decide to tracked or occluded
if tracker.state == opt.STATE_TRACKED || tracker.state == opt.STATE_ACTIVATED
tracker = ECO_tracking(frame_id, frame_image, bboxes_det, tracker, opt);
is_tracking_score_good = tracker.eco.is_confident;
is_overlap_ratio_good = mean(tracker.eco.bb_overlaps);
tracker.bb = tracker.eco.bb';
qscore = 0;
if is_tracking_score_good == 1
if seq_name == 'MOT16-03'
overlap_threshold = 0.1;
else
overlap_threshold = 0.8;
end
if tracker.state == opt.STATE_TRACKED && is_overlap_ratio_good > overlap_threshold
label = 1;
elseif tracker.state == opt.STATE_ACTIVATED %&& is_overlap_ratio_good > 0.8
label = 1;
else
label = -1;
end
else
label = -1;
end
% make a decision
if label > 0
if tracker.num_tracked > (0.25 * tracker.fps)
tracker.state = opt.STATE_TRACKED;
else
tracker.state = opt.STATE_ACTIVATED;
end
else
if tracker.state == opt.STATE_ACTIVATED
tracker.state = opt.STATE_STOP;
fprintf('Target %d end.\n', tracker.target_id);
else
tracker.state = opt.STATE_LOST;
end
end
% build the bboxes structure new
if tracker.state == opt.STATE_TRACKED || tracker.state == opt.STATE_ACTIVATED
bbox.x = tracker.bb(1);
bbox.y = tracker.bb(2);
bbox.w = tracker.bb(3) - tracker.bb(1);
bbox.h = tracker.bb(4) - tracker.bb(2);
bbox.r = 1;
bbox.eco_x = tracker.eco.bb(1);
bbox.eco_y = tracker.eco.bb(2);
bbox.eco_w = tracker.eco.bb(3) - tracker.eco.bb(1);
bbox.eco_h = tracker.eco.bb(4) - tracker.eco.bb(2);
if ~isempty(bboxes_det.fr)
o = calc_overlap(bbox, 1, bboxes_det, 1:numel(bboxes_det.fr));
tracker.eco.bb_overlaps(1:end-1) = tracker.eco.bb_overlaps(2:end);
if max(o) > 0.5
tracker.eco.bb_overlaps(end) = 1;
else
tracker.eco.bb_overlaps(end) = 0;
end
else
tracker.eco.bb_overlaps(1:end-1) = tracker.eco.bb_overlaps(2:end);
tracker.eco.bb_overlaps(end) = 0;
end
else
bbox = sub_bboxes(tracker.bboxes, numel(tracker.bboxes.fr));
end
if tracker.state == opt.STATE_ACTIVATED && tracker.eco.bb_overlaps(end) == 0
tracker.state = opt.STATE_STOP;
end
bbox.fr = frame_id;
bbox.id = tracker.target_id;
bbox.state = tracker.state;
tracker.bboxes = concatenate_bboxes(tracker.bboxes, bbox);
% occluded, decide to tracked or occluded
elseif tracker.state == opt.STATE_LOST
% association
if isempty(index_det)
qscore = 0;
label = -1;
f = [];
else
bboxes = sub_bboxes(bboxes_det, index_det);
ctrack = motion_predict(frame_id, tracker, opt);
bboxes_predict.w = tracker.bboxes.w(end);
bboxes_predict.h = tracker.bboxes.h(end);
bboxes_predict.x = ctrack(1) - (bboxes_predict.w - 1) / 2;
bboxes_predict.y = ctrack(2) - (bboxes_predict.h - 1) / 2;
o_predict = calc_overlap(bboxes_predict, 1, bboxes, 1:numel(bboxes.fr));
[motion_score, motion_ind] = max(o_predict);
bboxes_tracker = tracker.bboxes;
index_state = find(bboxes_tracker.state == opt.STATE_TRACKED | bboxes_tracker.state == opt.STATE_ACTIVATED);
bboxes_tracker = sub_bboxes(bboxes_tracker, index_state);
if ~isempty(bboxes_tracker.fr)
fr_tracker = bboxes_tracker.fr(end);
else % for target which is suppressed since the first frame it appears
fr_tracker = 1;
end
traj_dir = ['img_traj/' seq_name '/' num2str(tracker.target_id) '/'];
frame_id_double = double(frame_id);
save('mot_py.mat', 'traj_dir', 'bboxes', 'frame_id_double', 'seq_name');
fwrite(client_tcp, 'client ok');
fread(client_tcp, 9); % size is 9 for 'server ok' message
load('similarity.mat');
[ass_score, ind] = max(similarity);
index_tracked = find(tracker.bboxes.state == opt.STATE_TRACKED | tracker.bboxes.state == opt.STATE_ACTIVATED);
bboxes_tracked = sub_bboxes(tracker.bboxes, index_tracked);
fr_tracked = bboxes_tracked.fr(end);
if frame_id - fr_tracker == 1
prev_c = [bboxes_tracked.x(end) + bboxes_tracked.w(end) / 2, bboxes_tracked.y(end) + bboxes_tracked.h(end) / 2];
prev_w = bboxes_tracked.w(end);
prev_h = bboxes_tracked.h(end);
bboxes_det_one = sub_bboxes(bboxes_det, index_det(ind));
cur_c = [bboxes_det_one.x + bboxes_det_one.w/2, bboxes_det_one.y + bboxes_det_one.h/2];
dis = norm(cur_c - prev_c) / prev_w;
ratio = bboxes_det_one.h / prev_h;
ratio = min(ratio, 1/ratio);
end
if ass_score > opt.association_score_thre
label = 1;
bboxes_det_one = sub_bboxes(bboxes_det, index_det(ind));
fprintf('Target %d associated by appearance.\n', tracker.target_id);
elseif frame_id - fr_tracker < 5 && ass_score > 0.4 && motion_score > 0.5
label = 1;
bboxes_det_one = sub_bboxes(bboxes, motion_ind);
fprintf('Target %d associated by motion.\n', tracker.target_id);
else
label = -1;
end
if label == 1
tracker.eco.rect_position = double(round([bboxes_det_one.x, bboxes_det_one.y, bboxes_det_one.w, bboxes_det_one.h]));
tracker.eco.pos = single([bboxes_det_one.y + (bboxes_det_one.h - 1)/2, bboxes_det_one.x + (bboxes_det_one.w - 1)/2]);
tracker.eco.target_sz = double([bboxes_det_one.h, bboxes_det_one.w]);
tracker.eco.base_target_sz = double(tracker.eco.target_sz / tracker.eco.currentScaleFactor);
tracker.eco.base_target_sz(2) = tracker.eco.base_target_sz(2)* 0.5;
tracker = ECO_tracking(frame_id, frame_image, bboxes_det_one, tracker, opt);
end
end
if label > 0
tracker.bb = tracker.eco.bb';
% association
if tracker.num_tracked > 0.25 * tracker.fps
tracker.state = opt.STATE_TRACKED;
else
tracker.state = opt.STATE_ACTIVATED;
end
% build the bboxes structure
bbox = [];
bbox.fr = frame_id;
bbox.id = tracker.target_id;
bbox.x = tracker.bb(1);
bbox.y = tracker.bb(2);
bbox.w = tracker.bb(3) - tracker.bb(1);
bbox.h = tracker.bb(4) - tracker.bb(2);
bbox.r = 1;
bbox.state = tracker.state;
bbox.eco_x = tracker.eco.bb(1);
bbox.eco_y = tracker.eco.bb(2);
bbox.eco_w = tracker.eco.bb(3) - tracker.eco.bb(1);
bbox.eco_h = tracker.eco.bb(4) - tracker.eco.bb(2);
if tracker.bboxes.fr(end) == frame_id
bboxes = tracker.bboxes;
index = 1:numel(bboxes.fr)-1;
tracker.bboxes = sub_bboxes(bboxes, index);
end
tracker.bboxes = interpolate_traj(tracker.bboxes, bbox, tracker.fps, opt);
if isempty(bboxes_det.fr) == 0
o = calc_overlap(bbox, 1, bboxes_det, 1:numel(bboxes_det.fr));
tracker.eco.bb_overlaps(1:end-1) = tracker.eco.bb_overlaps(2:end);
if max(o) > 0.5
tracker.eco.bb_overlaps(end) = 1;
else
tracker.eco.bb_overlaps(end) = 0;
end
else
tracker.eco.bb_overlaps(1:end-1) = tracker.eco.bb_overlaps(2:end);
tracker.eco.bb_overlaps(end) = 0;
end
else
% no association
tracker.state = opt.STATE_LOST;
bbox = sub_bboxes(tracker.bboxes, numel(tracker.bboxes.fr));
bbox.fr = frame_id;
bbox.id = tracker.target_id;
bbox.state = tracker.state;
if tracker.bboxes.fr(end) == frame_id
bboxes = tracker.bboxes;
index = 1:numel(bboxes.fr)-1;
tracker.bboxes = sub_bboxes(bboxes, index);
end
tracker.bboxes = concatenate_bboxes(tracker.bboxes, bbox);
end
end