# Copyright 2022 AI Singapore
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# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
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# https://www.apache.org/licenses/LICENSE-2.0
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"""🎯 Performs multiple object tracking for detected bboxes."""
from typing import Any, Dict
from peekingduck.pipeline.nodes.abstract_node import AbstractNode
from peekingduck.pipeline.nodes.dabble.trackingv1.detection_tracker import (
DetectionTracker,
)
[docs]class Node(AbstractNode):
"""Uses bounding boxes detected by an object detector model to track
multiple objects. :mod:`dabble.tracking` is a useful alternative to
:mod:`model.fairmot` and :mod:`model.jde` as it can track bounding boxes
detected by the upstream object detector and is not limited to only
``"person"`` detections.
Currently, two types of tracking algorithms can be selected: MOSSE and IOU.
Information on the algorithms' performance can be found
:ref:`here <object-tracking-benchmarks>`.
Inputs:
|img_data|
|bboxes_data|
Outputs:
|obj_attrs_data|
:mod:`dabble.tracking` produces the ``ids`` attribute which contains
the tracking IDs of the detections.
Configs:
tracking_type (:obj:`str`): **{"iou", "mosse"}, default="iou"**. |br|
Type of tracking algorithm to be used. For more information about
the trackers, please view the :doc:`Object Counting (Over Time) use
case </use_cases/object_counting_over_time>`.
iou_threshold (:obj:`float`): **[0, 1], default=0.1**. |br|
Minimum IoU value to be used with the matching logic.
max_lost (:obj:`int`): **[0, sys.maxsize), default=10**. |br|
Maximum number of frames to keep "lost" tracks after which they
will be removed. Only used when ``tracking_type = iou``.
"""
def __init__(self, config: Dict[str, Any] = None, **kwargs: Any) -> None:
super().__init__(config, node_path=__name__, **kwargs)
self.tracker = DetectionTracker(self.config)
def run(self, inputs: Dict[str, Any]) -> Dict[str, Any]:
"""Tracks detection bounding boxes.
Args:
inputs (Dict[str, Any]): Dictionary with keys "img", "bboxes", and
"bbox_scores.
Returns:
outputs (Dict[str, Any]): Tracking IDs of bounding boxes.
"obj_attrs" key is used for compatibility with draw nodes.
"""
# Potentially use frame_rate here too since IOUTracker has a
# max_time_lost
metadata = inputs.get("mot_metadata", {"reset_model": False})
reset_model = metadata["reset_model"]
if reset_model:
self._reset_model()
track_ids = self.tracker.track_detections(inputs)
return {"obj_attrs": {"ids": track_ids}}
def _get_config_types(self) -> Dict[str, Any]:
"""Returns dictionary mapping the node's config keys to respective types."""
return {"tracking_type": str, "iou_threshold": float, "max_lost": int}
def _reset_model(self) -> None:
"""Creates a new instance of DetectionTracker."""
self.logger.info(f"Creating new {self.config['tracking_type']} tracker...")
self.tracker = DetectionTracker(self.config)