eye-cv 1.0.0__py3-none-any.whl

eye/core/trackers/sort_tracker.py

@@ -0,0 +1,200 @@
+"""SORT tracker implementation."""
+
+import numpy as np
+from filterpy.kalman import KalmanFilter
+
+
+class SORTTracker:
+    """Simple Online and Realtime Tracking (SORT) implementation."""
+    
+    def __init__(self, max_age=30, min_hits=3, iou_threshold=0.3):
+        self.max_age = max_age
+        self.min_hits = min_hits
+        self.iou_threshold = iou_threshold
+        self.trackers = []
+        self.frame_count = 0
+        
+    def update(self, dets):
+        """Update tracker with detections."""
+        self.frame_count += 1
+        
+        # Get predicted locations from existing trackers
+        trks = np.zeros((len(self.trackers), 5))
+        to_del = []
+        for t, trk in enumerate(trks):
+            pos = self.trackers[t].predict()[0]
+            trk[:] = [pos[0], pos[1], pos[2], pos[3], 0]
+            if np.any(np.isnan(pos)):
+                to_del.append(t)
+        
+        trks = np.ma.compress_rows(np.ma.masked_invalid(trks))
+        for t in reversed(to_del):
+            self.trackers.pop(t)
+        
+        # Associate detections to trackers
+        matched, unmatched_dets, unmatched_trks = self._associate(dets, trks)
+        
+        # Update matched trackers
+        for m in matched:
+            self.trackers[m[1]].update(dets[m[0], :])
+        
+        # Create new trackers for unmatched detections
+        for i in unmatched_dets:
+            trk = KalmanBoxTracker(dets[i, :])
+            self.trackers.append(trk)
+        
+        # Get results
+        ret = []
+        i = len(self.trackers)
+        for trk in reversed(self.trackers):
+            d = trk.get_state()[0]
+            if (trk.time_since_update < 1) and (trk.hit_streak >= self.min_hits or self.frame_count <= self.min_hits):
+                ret.append(np.concatenate((d, [trk.id + 1])).reshape(1, -1))
+            i -= 1
+            if trk.time_since_update > self.max_age:
+                self.trackers.pop(i)
+        
+        if len(ret) > 0:
+            return np.concatenate(ret)
+        return np.empty((0, 5))
+    
+    def _associate(self, detections, trackers):
+        """Associate detections to trackers."""
+        if len(trackers) == 0:
+            return np.empty((0, 2), dtype=int), np.arange(len(detections)), np.empty((0, 5), dtype=int)
+        
+        iou_matrix = self._iou_batch(detections, trackers)
+        
+        if min(iou_matrix.shape) > 0:
+            a = (iou_matrix > self.iou_threshold).astype(np.int32)
+            if a.sum(1).max() == 1 and a.sum(0).max() == 1:
+                matched_indices = np.stack(np.where(a), axis=1)
+            else:
+                matched_indices = self._linear_assignment(-iou_matrix)
+        else:
+            matched_indices = np.empty(shape=(0, 2))
+        
+        unmatched_detections = []
+        for d, det in enumerate(detections):
+            if d not in matched_indices[:, 0]:
+                unmatched_detections.append(d)
+        
+        unmatched_trackers = []
+        for t, trk in enumerate(trackers):
+            if t not in matched_indices[:, 1]:
+                unmatched_trackers.append(t)
+        
+        matches = []
+        for m in matched_indices:
+            if iou_matrix[m[0], m[1]] < self.iou_threshold:
+                unmatched_detections.append(m[0])
+                unmatched_trackers.append(m[1])
+            else:
+                matches.append(m.reshape(1, 2))
+        
+        if len(matches) == 0:
+            matches = np.empty((0, 2), dtype=int)
+        else:
+            matches = np.concatenate(matches, axis=0)
+        
+        return matches, np.array(unmatched_detections), np.array(unmatched_trackers)
+    
+    @staticmethod
+    def _iou_batch(bb_test, bb_gt):
+        """Compute IoU between two sets of boxes."""
+        bb_gt = np.expand_dims(bb_gt, 0)
+        bb_test = np.expand_dims(bb_test, 1)
+        
+        xx1 = np.maximum(bb_test[..., 0], bb_gt[..., 0])
+        yy1 = np.maximum(bb_test[..., 1], bb_gt[..., 1])
+        xx2 = np.minimum(bb_test[..., 2], bb_gt[..., 2])
+        yy2 = np.minimum(bb_test[..., 3], bb_gt[..., 3])
+        w = np.maximum(0., xx2 - xx1)
+        h = np.maximum(0., yy2 - yy1)
+        wh = w * h
+        o = wh / ((bb_test[..., 2] - bb_test[..., 0]) * (bb_test[..., 3] - bb_test[..., 1])
+                  + (bb_gt[..., 2] - bb_gt[..., 0]) * (bb_gt[..., 3] - bb_gt[..., 1]) - wh)
+        return o
+    
+    @staticmethod
+    def _linear_assignment(cost_matrix):
+        """Linear assignment using scipy or lap."""
+        try:
+            import lap
+            _, x, y = lap.lapjv(cost_matrix, extend_cost=True)
+            return np.array([[y[i], i] for i in x if i >= 0])
+        except ImportError:
+            from scipy.optimize import linear_sum_assignment
+            x, y = linear_sum_assignment(cost_matrix)
+            return np.array(list(zip(x, y)))
+    
+    def reset(self):
+        """Reset tracker."""
+        self.trackers = []
+        self.frame_count = 0
+
+
+class KalmanBoxTracker:
+    """Kalman Filter tracker for bounding boxes."""
+    
+    count = 0
+    
+    def __init__(self, bbox):
+        self.kf = KalmanFilter(dim_x=7, dim_z=4)
+        self.kf.F = np.array([[1,0,0,0,1,0,0],[0,1,0,0,0,1,0],[0,0,1,0,0,0,1],[0,0,0,1,0,0,0],
+                              [0,0,0,0,1,0,0],[0,0,0,0,0,1,0],[0,0,0,0,0,0,1]])
+        self.kf.H = np.array([[1,0,0,0,0,0,0],[0,1,0,0,0,0,0],[0,0,1,0,0,0,0],[0,0,0,1,0,0,0]])
+        self.kf.R[2:, 2:] *= 10.
+        self.kf.P[4:, 4:] *= 1000.
+        self.kf.P *= 10.
+        self.kf.Q[-1, -1] *= 0.01
+        self.kf.Q[4:, 4:] *= 0.01
+        
+        self.kf.x[:4] = self._convert_bbox_to_z(bbox)
+        self.time_since_update = 0
+        self.id = KalmanBoxTracker.count
+        KalmanBoxTracker.count += 1
+        self.history = []
+        self.hits = 0
+        self.hit_streak = 0
+        self.age = 0
+    
+    def update(self, bbox):
+        self.time_since_update = 0
+        self.history = []
+        self.hits += 1
+        self.hit_streak += 1
+        self.kf.update(self._convert_bbox_to_z(bbox))
+    
+    def predict(self):
+        if (self.kf.x[6] + self.kf.x[2]) <= 0:
+            self.kf.x[6] *= 0.0
+        self.kf.predict()
+        self.age += 1
+        if self.time_since_update > 0:
+            self.hit_streak = 0
+        self.time_since_update += 1
+        self.history.append(self._convert_x_to_bbox(self.kf.x))
+        return self.history[-1]
+    
+    def get_state(self):
+        return self._convert_x_to_bbox(self.kf.x)
+    
+    @staticmethod
+    def _convert_bbox_to_z(bbox):
+        w = bbox[2] - bbox[0]
+        h = bbox[3] - bbox[1]
+        x = bbox[0] + w / 2.
+        y = bbox[1] + h / 2.
+        s = w * h
+        r = w / float(h)
+        return np.array([x, y, s, r]).reshape((4, 1))
+    
+    @staticmethod
+    def _convert_x_to_bbox(x, score=None):
+        w = np.sqrt(x[2] * x[3])
+        h = x[2] / w
+        if score is None:
+            return np.array([x[0] - w / 2., x[1] - h / 2., x[0] + w / 2., x[1] + h / 2.]).reshape((1, 4))
+        else:
+            return np.array([x[0] - w / 2., x[1] - h / 2., x[0] + w / 2., x[1] + h / 2., score]).reshape((1, 5))

eye/core/tracking.py

@@ -0,0 +1,146 @@
+from __future__ import annotations
+
+from enum import Enum
+from typing import Optional
+
+import numpy as np
+
+from eye.detection.core import Detections
+from eye.core.trackers.sort_tracker import SORTTracker
+from eye.core.trackers.bytetrack_tracker import ByteTrackTracker
+
+
+class TrackerType(str, Enum):
+    SORT = "sort"
+    BYTETRACK = "bytetrack"
+
+
+def _inflate_xyxy(xyxy: np.ndarray, factor: float) -> np.ndarray:
+    if factor is None or factor == 1.0:
+        return xyxy
+    xyxy = np.asarray(xyxy, dtype=np.float32)
+    w = xyxy[:, 2] - xyxy[:, 0]
+    h = xyxy[:, 3] - xyxy[:, 1]
+    cx = xyxy[:, 0] + 0.5 * w
+    cy = xyxy[:, 1] + 0.5 * h
+    w2 = 0.5 * w * factor
+    h2 = 0.5 * h * factor
+    out = np.empty_like(xyxy, dtype=np.float32)
+    out[:, 0] = cx - w2
+    out[:, 1] = cy - h2
+    out[:, 2] = cx + w2
+    out[:, 3] = cy + h2
+    return out
+
+
+def _iou_matrix(a: np.ndarray, b: np.ndarray) -> np.ndarray:
+    """IoU matrix between a (N,4) and b (M,4) in xyxy."""
+    if a.size == 0 or b.size == 0:
+        return np.zeros((a.shape[0], b.shape[0]), dtype=np.float32)
+
+    a = a.astype(np.float32)
+    b = b.astype(np.float32)
+
+    xx1 = np.maximum(a[:, None, 0], b[None, :, 0])
+    yy1 = np.maximum(a[:, None, 1], b[None, :, 1])
+    xx2 = np.minimum(a[:, None, 2], b[None, :, 2])
+    yy2 = np.minimum(a[:, None, 3], b[None, :, 3])
+
+    inter_w = np.maximum(0.0, xx2 - xx1)
+    inter_h = np.maximum(0.0, yy2 - yy1)
+    inter = inter_w * inter_h
+
+    area_a = (a[:, 2] - a[:, 0]) * (a[:, 3] - a[:, 1])
+    area_b = (b[:, 2] - b[:, 0]) * (b[:, 3] - b[:, 1])
+
+    union = area_a[:, None] + area_b[None, :] - inter
+    return inter / (union + 1e-6)
+
+
+def _assign_ids_by_iou(
+    det_xyxy: np.ndarray,
+    trk_xyxy: np.ndarray,
+    trk_ids: np.ndarray,
+    min_iou: float,
+) -> np.ndarray:
+    """Greedy IoU assignment. Returns per-detection tracker_id, -1 if unmatched."""
+    n = det_xyxy.shape[0]
+    if n == 0 or trk_xyxy.shape[0] == 0:
+        return np.full((n,), -1, dtype=np.int64)
+
+    ious = _iou_matrix(det_xyxy, trk_xyxy)
+    assigned = np.full((n,), -1, dtype=np.int64)
+
+    used_tracks: set[int] = set()
+    for det_i in range(n):
+        best_j = int(np.argmax(ious[det_i]))
+        best_iou = float(ious[det_i, best_j])
+        if best_iou < min_iou:
+            continue
+        if best_j in used_tracks:
+            continue
+        used_tracks.add(best_j)
+        assigned[det_i] = int(trk_ids[best_j])
+
+    return assigned
+
+
+class Tracker:
+    """Compatibility tracker wrapper.
+
+    This exists to support example scripts that use `eye.Tracker` + `eye.TrackerType`.
+    For production, you can still use `eye.ByteTrack` directly.
+    """
+
+    def __init__(
+        self,
+        tracker_type: TrackerType = TrackerType.BYTETRACK,
+        inflation_factor: float = 1.0,
+        max_age: int = 30,
+        min_hits: int = 3,
+        iou_threshold: float = 0.3,
+        high_threshold: float = 0.5,
+        low_threshold: float = 0.1,
+        min_iou_assignment: float = 0.3,
+    ) -> None:
+        self.tracker_type = TrackerType(tracker_type)
+        self.inflation_factor = float(inflation_factor)
+        self.min_iou_assignment = float(min_iou_assignment)
+
+        if self.tracker_type == TrackerType.SORT:
+            self._tracker = SORTTracker(max_age=max_age, min_hits=min_hits, iou_threshold=iou_threshold)
+        else:
+            self._tracker = ByteTrackTracker(
+                max_age=max_age,
+                min_hits=min_hits,
+                iou_threshold=iou_threshold,
+                high_threshold=high_threshold,
+                low_threshold=low_threshold,
+            )
+
+    def update(self, detections: Detections) -> Detections:
+        if detections is None or len(detections) == 0:
+            if detections is not None:
+                detections.tracker_id = np.empty((0,), dtype=np.int64)
+            return detections
+
+        xyxy = np.asarray(detections.xyxy, dtype=np.float32)
+        conf = getattr(detections, "confidence", None)
+        if conf is None:
+            conf = np.ones((xyxy.shape[0],), dtype=np.float32)
+        conf = np.asarray(conf, dtype=np.float32).reshape(-1)
+
+        inflated = _inflate_xyxy(xyxy, self.inflation_factor)
+        dets_for_tracker = np.column_stack([inflated, conf])
+
+        tracked = self._tracker.update(dets_for_tracker)
+        if tracked is None or tracked.size == 0:
+            detections.tracker_id = np.full((len(detections),), -1, dtype=np.int64)
+            return detections[detections.tracker_id != -1]
+
+        trk_xyxy = np.asarray(tracked[:, :4], dtype=np.float32)
+        trk_ids = np.asarray(tracked[:, 4], dtype=np.int64)
+
+        assigned = _assign_ids_by_iou(inflated, trk_xyxy, trk_ids, min_iou=self.min_iou_assignment)
+        detections.tracker_id = assigned
+        return detections[detections.tracker_id != -1]