dnt 0.2.1__py3-none-any.whl → 0.3.1.8__py3-none-any.whl

dnt/track/botsort/bot_tracker/matching.py

@@ -0,0 +1,194 @@
+import numpy as np
+import scipy
+import lap
+from scipy.spatial.distance import cdist
+
+from cython_bbox import bbox_overlaps as bbox_ious
+from bot_tracker import kalman_filter
+
+def merge_matches(m1, m2, shape):
+    O,P,Q = shape
+    m1 = np.asarray(m1)
+    m2 = np.asarray(m2)
+
+    M1 = scipy.sparse.coo_matrix((np.ones(len(m1)), (m1[:, 0], m1[:, 1])), shape=(O, P))
+    M2 = scipy.sparse.coo_matrix((np.ones(len(m2)), (m2[:, 0], m2[:, 1])), shape=(P, Q))
+
+    mask = M1*M2
+    match = mask.nonzero()
+    match = list(zip(match[0], match[1]))
+    unmatched_O = tuple(set(range(O)) - set([i for i, j in match]))
+    unmatched_Q = tuple(set(range(Q)) - set([j for i, j in match]))
+
+    return match, unmatched_O, unmatched_Q
+
+
+def _indices_to_matches(cost_matrix, indices, thresh):
+    matched_cost = cost_matrix[tuple(zip(*indices))]
+    matched_mask = (matched_cost <= thresh)
+
+    matches = indices[matched_mask]
+    unmatched_a = tuple(set(range(cost_matrix.shape[0])) - set(matches[:, 0]))
+    unmatched_b = tuple(set(range(cost_matrix.shape[1])) - set(matches[:, 1]))
+
+    return matches, unmatched_a, unmatched_b
+
+def linear_assignment(cost_matrix, thresh):
+    if cost_matrix.size == 0:
+        return np.empty((0, 2), dtype=int), tuple(range(cost_matrix.shape[0])), tuple(range(cost_matrix.shape[1]))
+    matches, unmatched_a, unmatched_b = [], [], []
+    cost, x, y = lap.lapjv(cost_matrix, extend_cost=True, cost_limit=thresh)
+    for ix, mx in enumerate(x):
+        if mx >= 0:
+            matches.append([ix, mx])
+    unmatched_a = np.where(x < 0)[0]
+    unmatched_b = np.where(y < 0)[0]
+    matches = np.asarray(matches)
+    return matches, unmatched_a, unmatched_b
+
+def ious(atlbrs, btlbrs):
+    """
+    Compute cost based on IoU
+    :type atlbrs: list[tlbr] | np.ndarray
+    :type atlbrs: list[tlbr] | np.ndarray
+
+    :rtype ious np.ndarray
+    """
+    ious = np.zeros((len(atlbrs), len(btlbrs)), dtype=float)
+    if ious.size == 0:
+        return ious
+
+    ious = bbox_ious(
+        np.ascontiguousarray(atlbrs, dtype=float),
+        np.ascontiguousarray(btlbrs, dtype=float)
+    )
+
+    return ious
+
+
+def tlbr_expand(tlbr, scale=1.2):
+    w = tlbr[2] - tlbr[0]
+    h = tlbr[3] - tlbr[1]
+
+    half_scale = 0.5 * scale
+
+    tlbr[0] -= half_scale * w
+    tlbr[1] -= half_scale * h
+    tlbr[2] += half_scale * w
+    tlbr[3] += half_scale * h
+
+    return tlbr
+
+
+def iou_distance(atracks, btracks):
+    """
+    Compute cost based on IoU
+    :type atracks: list[STrack]
+    :type btracks: list[STrack]
+
+    :rtype cost_matrix np.ndarray
+    """
+
+    if (len(atracks)>0 and isinstance(atracks[0], np.ndarray)) or (len(btracks) > 0 and isinstance(btracks[0], np.ndarray)):
+        atlbrs = atracks
+        btlbrs = btracks
+    else:
+        atlbrs = [track.tlbr for track in atracks]
+        btlbrs = [track.tlbr for track in btracks]
+    _ious = ious(atlbrs, btlbrs)
+    cost_matrix = 1 - _ious
+
+    return cost_matrix
+
+
+def v_iou_distance(atracks, btracks):
+    """
+    Compute cost based on IoU
+    :type atracks: list[STrack]
+    :type btracks: list[STrack]
+
+    :rtype cost_matrix np.ndarray
+    """
+
+    if (len(atracks)>0 and isinstance(atracks[0], np.ndarray)) or (len(btracks) > 0 and isinstance(btracks[0], np.ndarray)):
+        atlbrs = atracks
+        btlbrs = btracks
+    else:
+        atlbrs = [track.tlwh_to_tlbr(track.pred_bbox) for track in atracks]
+        btlbrs = [track.tlwh_to_tlbr(track.pred_bbox) for track in btracks]
+    _ious = ious(atlbrs, btlbrs)
+    cost_matrix = 1 - _ious
+
+    return cost_matrix
+
+def embedding_distance(tracks, detections, metric='cosine'):
+    """
+    :param tracks: list[STrack]
+    :param detections: list[BaseTrack]
+    :param metric:
+    :return: cost_matrix np.ndarray
+    """
+
+    cost_matrix = np.zeros((len(tracks), len(detections)), dtype=float)
+    if cost_matrix.size == 0:
+        return cost_matrix
+    det_features = np.asarray([track.curr_feat for track in detections], dtype=float)
+    track_features = np.asarray([track.smooth_feat for track in tracks], dtype=float)
+
+    #det_features = np.array([track.curr_feat for track in detections], dtype=np.float128)
+    #track_features = np.array([track.smooth_feat for track in tracks], dtype=np.float128)
+
+    cost_matrix = np.maximum(0.0, cdist(track_features, det_features, metric))  # / 2.0  # Nomalized features
+    return cost_matrix
+
+
+def gate_cost_matrix(kf, cost_matrix, tracks, detections, only_position=False):
+    if cost_matrix.size == 0:
+        return cost_matrix
+    gating_dim = 2 if only_position else 4
+    gating_threshold = kalman_filter.chi2inv95[gating_dim]
+    # measurements = np.asarray([det.to_xyah() for det in detections])
+    measurements = np.asarray([det.to_xywh() for det in detections])
+    for row, track in enumerate(tracks):
+        gating_distance = kf.gating_distance(
+            track.mean, track.covariance, measurements, only_position)
+        cost_matrix[row, gating_distance > gating_threshold] = np.inf
+    return cost_matrix
+
+
+def fuse_motion(kf, cost_matrix, tracks, detections, only_position=False, lambda_=0.98):
+    if cost_matrix.size == 0:
+        return cost_matrix
+    gating_dim = 2 if only_position else 4
+    gating_threshold = kalman_filter.chi2inv95[gating_dim]
+    # measurements = np.asarray([det.to_xyah() for det in detections])
+    measurements = np.asarray([det.to_xywh() for det in detections])
+    for row, track in enumerate(tracks):
+        gating_distance = kf.gating_distance(
+            track.mean, track.covariance, measurements, only_position, metric='maha')
+        cost_matrix[row, gating_distance > gating_threshold] = np.inf
+        cost_matrix[row] = lambda_ * cost_matrix[row] + (1 - lambda_) * gating_distance
+    return cost_matrix
+
+def fuse_iou(cost_matrix, tracks, detections):
+    if cost_matrix.size == 0:
+        return cost_matrix
+    reid_sim = 1 - cost_matrix
+    iou_dist = iou_distance(tracks, detections)
+    iou_sim = 1 - iou_dist
+    fuse_sim = reid_sim * (1 + iou_sim) / 2
+    det_scores = np.array([det.score for det in detections])
+    det_scores = np.expand_dims(det_scores, axis=0).repeat(cost_matrix.shape[0], axis=0)
+    #fuse_sim = fuse_sim * (1 + det_scores) / 2
+    fuse_cost = 1 - fuse_sim
+    return fuse_cost
+
+def fuse_score(cost_matrix, detections):
+    if cost_matrix.size == 0:
+        return cost_matrix
+    iou_sim = 1 - cost_matrix
+    det_scores = np.array([det.score for det in detections])
+    det_scores = np.expand_dims(det_scores, axis=0).repeat(cost_matrix.shape[0], axis=0)
+    fuse_sim = iou_sim * det_scores
+    fuse_cost = 1 - fuse_sim
+    return fuse_cost

dnt/track/botsort/bot_tracker/mc_bot_sort.py

@@ -0,0 +1,505 @@
+import os, sys
+import matplotlib.pyplot as plt
+import numpy as np
+from collections import deque
+
+from bot_tracker import matching
+from bot_tracker.gmc import GMC
+from bot_tracker.basetrack import BaseTrack, TrackState
+from bot_tracker.kalman_filter import KalmanFilter
+
+from tqdm import tqdm
+import requests
+
+sys.path.append(os.path.abspath(os.path.join(os.path.dirname(__file__), "../../../third_party/fast-reid")))
+
+from fast_reid_interfece import FastReIDInterface #type: ignore
+
+class STrack(BaseTrack):
+    shared_kalman = KalmanFilter()
+
+    def __init__(self, tlwh, score, cls, feat=None, feat_history=50):
+
+        # wait activate
+        self._tlwh = np.asarray(tlwh, dtype=float)
+        self.kalman_filter = None
+        self.mean, self.covariance = None, None
+        self.is_activated = False
+
+        self.cls = -1
+        self.cls_hist = []  # (cls id, freq)
+        self.update_cls(cls, score)
+
+        self.score = score
+        self.tracklet_len = 0
+
+        self.smooth_feat = None
+        self.curr_feat = None
+        if feat is not None:
+            self.update_features(feat)
+        self.features = deque([], maxlen=feat_history)
+        self.alpha = 0.9
+
+    def update_features(self, feat):
+        feat /= np.linalg.norm(feat)
+        self.curr_feat = feat
+        if self.smooth_feat is None:
+            self.smooth_feat = feat
+        else:
+            self.smooth_feat = self.alpha * self.smooth_feat + (1 - self.alpha) * feat
+        self.features.append(feat)
+        self.smooth_feat /= np.linalg.norm(self.smooth_feat)
+
+    def update_cls(self, cls, score):
+        if len(self.cls_hist) > 0:
+            max_freq = 0
+            found = False
+            for c in self.cls_hist:
+                if cls == c[0]:
+                    c[1] += score
+                    found = True
+
+                if c[1] > max_freq:
+                    max_freq = c[1]
+                    self.cls = c[0]
+            if not found:
+                self.cls_hist.append([cls, score])
+                self.cls = cls
+        else:
+            self.cls_hist.append([cls, score])
+            self.cls = cls
+
+    def predict(self):
+        mean_state = self.mean.copy()
+        if self.state != TrackState.Tracked:
+            mean_state[6] = 0
+            mean_state[7] = 0
+
+        self.mean, self.covariance = self.kalman_filter.predict(mean_state, self.covariance)
+
+    @staticmethod
+    def multi_predict(stracks):
+        if len(stracks) > 0:
+            multi_mean = np.asarray([st.mean.copy() for st in stracks])
+            multi_covariance = np.asarray([st.covariance for st in stracks])
+            for i, st in enumerate(stracks):
+                if st.state != TrackState.Tracked:
+                    multi_mean[i][6] = 0
+                    multi_mean[i][7] = 0
+            multi_mean, multi_covariance = STrack.shared_kalman.multi_predict(multi_mean, multi_covariance)
+            for i, (mean, cov) in enumerate(zip(multi_mean, multi_covariance)):
+                stracks[i].mean = mean
+                stracks[i].covariance = cov
+
+    @staticmethod
+    def multi_gmc(stracks, H=np.eye(2, 3)):
+        if len(stracks) > 0:
+            multi_mean = np.asarray([st.mean.copy() for st in stracks])
+            multi_covariance = np.asarray([st.covariance for st in stracks])
+
+            R = H[:2, :2]
+            R8x8 = np.kron(np.eye(4, dtype=float), R)
+            t = H[:2, 2]
+
+            for i, (mean, cov) in enumerate(zip(multi_mean, multi_covariance)):
+                mean = R8x8.dot(mean)
+                mean[:2] += t
+                cov = R8x8.dot(cov).dot(R8x8.transpose())
+
+                stracks[i].mean = mean
+                stracks[i].covariance = cov
+
+    def activate(self, kalman_filter, frame_id):
+        """Start a new tracklet"""
+        self.kalman_filter = kalman_filter
+        self.track_id = self.next_id()
+
+        self.mean, self.covariance = self.kalman_filter.initiate(self.tlwh_to_xywh(self._tlwh))
+
+        self.tracklet_len = 0
+        self.state = TrackState.Tracked
+        if frame_id == 1:
+            self.is_activated = True
+        self.frame_id = frame_id
+        self.start_frame = frame_id
+
+    def re_activate(self, new_track, frame_id, new_id=False):
+
+        self.mean, self.covariance = self.kalman_filter.update(self.mean, self.covariance, self.tlwh_to_xywh(new_track.tlwh))
+        if new_track.curr_feat is not None:
+            self.update_features(new_track.curr_feat)
+        self.tracklet_len = 0
+        self.state = TrackState.Tracked
+        self.is_activated = True
+        self.frame_id = frame_id
+        if new_id:
+            self.track_id = self.next_id()
+        self.score = new_track.score
+
+        self.update_cls(new_track.cls, new_track.score)
+
+    def update(self, new_track, frame_id):
+        """
+        Update a matched track
+        :type new_track: STrack
+        :type frame_id: int
+        :type update_feature: bool
+        :return:
+        """
+        self.frame_id = frame_id
+        self.tracklet_len += 1
+
+        new_tlwh = new_track.tlwh
+
+        self.mean, self.covariance = self.kalman_filter.update(self.mean, self.covariance, self.tlwh_to_xywh(new_tlwh))
+
+        if new_track.curr_feat is not None:
+            self.update_features(new_track.curr_feat)
+
+        self.state = TrackState.Tracked
+        self.is_activated = True
+
+        self.score = new_track.score
+        self.update_cls(new_track.cls, new_track.score)
+
+    @property
+    def tlwh(self):
+        """Get current position in bounding box format `(top left x, top left y,
+                width, height)`.
+        """
+        if self.mean is None:
+            return self._tlwh.copy()
+        ret = self.mean[:4].copy()
+        ret[:2] -= ret[2:] / 2
+        return ret
+
+    @property
+    def tlbr(self):
+        """Convert bounding box to format `(min x, min y, max x, max y)`, i.e.,
+        `(top left, bottom right)`.
+        """
+        ret = self.tlwh.copy()
+        ret[2:] += ret[:2]
+        return ret
+
+    @property
+    def xywh(self):
+        """Convert bounding box to format `(min x, min y, max x, max y)`, i.e.,
+        `(top left, bottom right)`.
+        """
+        ret = self.tlwh.copy()
+        ret[:2] += ret[2:] / 2.0
+        return ret
+
+    @staticmethod
+    def tlwh_to_xyah(tlwh):
+        """Convert bounding box to format `(center x, center y, aspect ratio,
+        height)`, where the aspect ratio is `width / height`.
+        """
+        ret = np.asarray(tlwh).copy()
+        ret[:2] += ret[2:] / 2
+        ret[2] /= ret[3]
+        return ret
+
+    @staticmethod
+    def tlwh_to_xywh(tlwh):
+        """Convert bounding box to format `(center x, center y, width,
+        height)`.
+        """
+        ret = np.asarray(tlwh).copy()
+        ret[:2] += ret[2:] / 2
+        return ret
+
+    def to_xywh(self):
+        return self.tlwh_to_xywh(self.tlwh)
+
+    @staticmethod
+    def tlbr_to_tlwh(tlbr):
+        ret = np.asarray(tlbr).copy()
+        ret[2:] -= ret[:2]
+        return ret
+
+    @staticmethod
+    def tlwh_to_tlbr(tlwh):
+        ret = np.asarray(tlwh).copy()
+        ret[2:] += ret[:2]
+        return ret
+
+    def __repr__(self):
+        return 'OT_{}_({}-{})'.format(self.track_id, self.start_frame, self.end_frame)
+
+class BoTSORT(object):
+    def __init__(self, args, frame_rate=30):
+
+        self.tracked_stracks = []  # type: list[STrack]
+        self.lost_stracks = []  # type: list[STrack]
+        self.removed_stracks = []  # type: list[STrack]
+        BaseTrack.clear_count()
+
+        self.frame_id = 0
+        self.args = args
+
+        self.track_high_thresh = args['track_high_thresh']
+        self.track_low_thresh = args['track_low_thresh']
+        self.new_track_thresh = args['new_track_thresh']
+
+        self.buffer_size = int(frame_rate / 30.0 * args['track_buffer'])
+        self.max_time_lost = self.buffer_size
+        self.kalman_filter = KalmanFilter()
+
+        # ReID module
+        self.proximity_thresh = args['proximity_thresh']
+        self.appearance_thresh = args['appearance_thresh']
+        
+        cfg_path = os.path.abspath(os.path.join(os.path.dirname(__file__), "../../../third_party/fast-reid/configs", args['fast_reid_config']))
+        weight_path = os.path.abspath(os.path.join(os.path.dirname(__file__), "../../../third_party/fast-reid/checkpoint", args['fast_reid_weights']))
+
+        if args['with_reid']:
+            self.encoder = FastReIDInterface(config_file=cfg_path, weights_path=weight_path, 
+                                             device=args['device'], half=args['half'])
+
+        self.gmc = GMC(method=args['cmc_method'], verbose=[args['name'], args['ablation']])
+
+    def update(self, det_results:np.array, img:np.array):
+        '''
+        Parameters:
+            det_results: np.array
+                detections in the format [x1, y1, x2, y2, score, class, features], tlrb format
+            img: np.array
+                image to extract features from
+        '''
+        self.frame_id += 1
+        activated_starcks = []
+        refind_stracks = []
+        lost_stracks = []
+        removed_stracks = []
+
+        if len(det_results):
+            bboxes = det_results[:, :4]          # x1, y1, x2, y2
+            scores = det_results[:, 4]           # detection confidence
+            classes = det_results[:, 5]          # class
+            features = det_results[:, 6:]        # fast-reid features
+
+            # Remove bad detections
+            lowest_inds = scores > self.track_low_thresh    # remove low confidence detections
+            bboxes = bboxes[lowest_inds]
+            scores = scores[lowest_inds]
+            classes = classes[lowest_inds]
+            features = features[lowest_inds]
+
+            # Find high threshold detections
+            remain_inds = scores > self.track_high_thresh  
+            dets = bboxes[remain_inds]
+            scores_keep = scores[remain_inds]
+            classes_keep = classes[remain_inds]
+            features_keep = features[remain_inds]
+        else:
+            bboxes = []
+            scores = []
+            classes = []
+            dets = []
+            scores_keep = []
+            classes_keep = []
+
+        '''Extract embeddings '''
+        if self.args['with_reid']:
+            features_keep = self.encoder.inference(img, dets)   # extract features for bbox from images
+
+        if len(dets) > 0:
+            '''Detections'''
+            if self.args['with_reid']:
+                detections = [STrack(STrack.tlbr_to_tlwh(tlbr), s, c, f) for
+                              (tlbr, s, c, f) in zip(dets, scores_keep, classes_keep, features_keep)]
+            else:
+                detections = [STrack(STrack.tlbr_to_tlwh(tlbr), s, c) for
+                              (tlbr, s, c) in zip(dets, scores_keep, classes_keep)]
+        else:
+            detections = []
+
+        ''' Add newly detected tracklets to tracked_stracks'''
+        unconfirmed = []
+        tracked_stracks = []  # type: list[STrack]
+        for track in self.tracked_stracks:
+            if not track.is_activated:
+                unconfirmed.append(track)
+            else:
+                tracked_stracks.append(track)
+
+        ''' Step 2: First association, with high score detection boxes'''
+        strack_pool = joint_stracks(tracked_stracks, self.lost_stracks)
+
+        # Predict the current location with KF
+        STrack.multi_predict(strack_pool)
+
+        # Fix camera motion
+        warp = self.gmc.apply(img, dets)
+        STrack.multi_gmc(strack_pool, warp)
+        STrack.multi_gmc(unconfirmed, warp)
+
+        # Associate with high score detection boxes
+        ious_dists = matching.iou_distance(strack_pool, detections)
+        ious_dists_mask = (ious_dists > self.proximity_thresh)
+
+        if not self.args['mot20']:
+            ious_dists = matching.fuse_score(ious_dists, detections)
+
+        if self.args['with_reid']:
+            emb_dists = matching.embedding_distance(strack_pool, detections) / 2.0
+            raw_emb_dists = emb_dists.copy()
+            emb_dists[emb_dists > self.appearance_thresh] = 1.0
+            emb_dists[ious_dists_mask] = 1.0
+            dists = np.minimum(ious_dists, emb_dists)
+
+            # Popular ReID method (JDE / FairMOT)
+            # raw_emb_dists = matching.embedding_distance(strack_pool, detections)
+            # dists = matching.fuse_motion(self.kalman_filter, raw_emb_dists, strack_pool, detections)
+            # emb_dists = dists
+
+            # IoU making ReID
+            # dists = matching.embedding_distance(strack_pool, detections)
+            # dists[ious_dists_mask] = 1.0
+        else:
+            dists = ious_dists
+
+        matches, u_track, u_detection = matching.linear_assignment(dists, thresh=self.args['match_thresh'])
+
+        for itracked, idet in matches:
+            track = strack_pool[itracked]
+            det = detections[idet]
+            if track.state == TrackState.Tracked:
+                track.update(detections[idet], self.frame_id)
+                activated_starcks.append(track)
+            else:
+                track.re_activate(det, self.frame_id, new_id=False)
+                refind_stracks.append(track)
+
+        ''' Step 3: Second association, with low score detection boxes'''
+        if len(scores):
+            inds_high = scores < self.args['track_high_thresh']
+            inds_low = scores > self.args['track_low_thresh']
+            inds_second = np.logical_and(inds_low, inds_high)
+            dets_second = bboxes[inds_second]
+            scores_second = scores[inds_second]
+            classes_second = classes[inds_second]
+        else:
+            dets_second = []
+            scores_second = []
+            classes_second = []
+
+        # association the untrack to the low score detections
+        if len(dets_second) > 0:
+            '''Detections'''
+            detections_second = [STrack(STrack.tlbr_to_tlwh(tlbr), s, c) for
+                                 (tlbr, s, c) in zip(dets_second, scores_second, classes_second)]
+        else:
+            detections_second = []
+
+        r_tracked_stracks = [strack_pool[i] for i in u_track if strack_pool[i].state == TrackState.Tracked]
+        dists = matching.iou_distance(r_tracked_stracks, detections_second)
+        matches, u_track, u_detection_second = matching.linear_assignment(dists, thresh=0.5)
+        for itracked, idet in matches:
+            track = r_tracked_stracks[itracked]
+            det = detections_second[idet]
+            if track.state == TrackState.Tracked:
+                track.update(det, self.frame_id)
+                activated_starcks.append(track)
+            else:
+                track.re_activate(det, self.frame_id, new_id=False)
+                refind_stracks.append(track)
+
+        for it in u_track:
+            track = r_tracked_stracks[it]
+            if not track.state == TrackState.Lost:
+                track.mark_lost()
+                lost_stracks.append(track)
+
+        '''Deal with unconfirmed tracks, usually tracks with only one beginning frame'''
+        detections = [detections[i] for i in u_detection]
+        dists = matching.iou_distance(unconfirmed, detections)
+        if not self.args['mot20']:
+            dists = matching.fuse_score(dists, detections)
+        matches, u_unconfirmed, u_detection = matching.linear_assignment(dists, thresh=0.7)
+        for itracked, idet in matches:
+            unconfirmed[itracked].update(detections[idet], self.frame_id)
+            activated_starcks.append(unconfirmed[itracked])
+        for it in u_unconfirmed:
+            track = unconfirmed[it]
+            track.mark_removed()
+            removed_stracks.append(track)
+
+        """ Step 4: Init new stracks"""
+        for inew in u_detection:
+            track = detections[inew]
+            if track.score < self.new_track_thresh:
+                continue
+
+            track.activate(self.kalman_filter, self.frame_id)
+            activated_starcks.append(track)
+
+        """ Step 5: Update state"""
+        for track in self.lost_stracks:
+            if self.frame_id - track.end_frame > self.max_time_lost:
+                track.mark_removed()
+                removed_stracks.append(track)
+
+        """ Merge """
+        self.tracked_stracks = [t for t in self.tracked_stracks if t.state == TrackState.Tracked]
+        self.tracked_stracks = joint_stracks(self.tracked_stracks, activated_starcks)
+        self.tracked_stracks = joint_stracks(self.tracked_stracks, refind_stracks)
+        self.lost_stracks = sub_stracks(self.lost_stracks, self.tracked_stracks)
+        self.lost_stracks.extend(lost_stracks)
+        self.lost_stracks = sub_stracks(self.lost_stracks, self.removed_stracks)
+        self.removed_stracks.extend(removed_stracks)
+        self.tracked_stracks, self.lost_stracks = remove_duplicate_stracks(self.tracked_stracks, self.lost_stracks)
+
+        # output_stracks = [track for track in self.tracked_stracks if track.is_activated]
+        output_stracks = [track for track in self.tracked_stracks]
+
+        return output_stracks
+
+
+def joint_stracks(tlista, tlistb):
+    exists = {}
+    res = []
+    for t in tlista:
+        exists[t.track_id] = 1
+        res.append(t)
+    for t in tlistb:
+        tid = t.track_id
+        if not exists.get(tid, 0):
+            exists[tid] = 1
+            res.append(t)
+    return res
+
+
+def sub_stracks(tlista, tlistb):
+    stracks = {}
+    for t in tlista:
+        stracks[t.track_id] = t
+    for t in tlistb:
+        tid = t.track_id
+        if stracks.get(tid, 0):
+            del stracks[tid]
+    return list(stracks.values())
+
+
+def remove_duplicate_stracks(stracksa, stracksb):
+    pdist = matching.iou_distance(stracksa, stracksb)
+    pairs = np.where(pdist < 0.15)
+    dupa, dupb = list(), list()
+    for p, q in zip(*pairs):
+        timep = stracksa[p].frame_id - stracksa[p].start_frame
+        timeq = stracksb[q].frame_id - stracksb[q].start_frame
+        if timep > timeq:
+            dupb.append(q)
+        else:
+            dupa.append(p)
+    resa = [t for i, t in enumerate(stracksa) if not i in dupa]
+    resb = [t for i, t in enumerate(stracksb) if not i in dupb]
+    return resa, resb
+
+def get_weights(url, output_file):
+    response = requests.get(url, stream=True)
+    with open(output_file, "wb") as handle:
+        for data in tqdm(response.iter_content(), desc="Downloading weights ..."):
+            handle.write(data)