supervisely 6.73.418__py3-none-any.whl → 6.73.420__py3-none-any.whl

supervisely/nn/tracker/deep_sort/deep_sort/linear_assignment.py

@@ -1,202 +0,0 @@
-# vim: expandtab:ts=4:sw=4
-from __future__ import absolute_import
-
-import numpy as np
-
-# pylint: disable=import-error
-from scipy.optimize import linear_sum_assignment
-
-from supervisely.nn.tracker.deep_sort.deep_sort import kalman_filter
-
-INFTY_COST = 1e5
-
-
-def min_cost_matching(
-    distance_metric, max_distance, tracks, detections, track_indices=None, detection_indices=None
-):
-    """Solve linear assignment problem.
-
-    Parameters
-    ----------
-    distance_metric : Callable[List[Track], List[Detection], List[int], List[int]) -> ndarray
-        The distance metric is given a list of tracks and detections as well as
-        a list of N track indices and M detection indices. The metric should
-        return the NxM dimensional cost matrix, where element (i, j) is the
-        association cost between the i-th track in the given track indices and
-        the j-th detection in the given detection_indices.
-    max_distance : float
-        Gating threshold. Associations with cost larger than this value are
-        disregarded.
-    tracks : List[track.Track]
-        A list of predicted tracks at the current time step.
-    detections : List[detection.Detection]
-        A list of detections at the current time step.
-    track_indices : List[int]
-        List of track indices that maps rows in `cost_matrix` to tracks in
-        `tracks` (see description above).
-    detection_indices : List[int]
-        List of detection indices that maps columns in `cost_matrix` to
-        detections in `detections` (see description above).
-
-    Returns
-    -------
-    (List[(int, int)], List[int], List[int])
-        Returns a tuple with the following three entries:
-        * A list of matched track and detection indices.
-        * A list of unmatched track indices.
-        * A list of unmatched detection indices.
-
-    """
-    if track_indices is None:
-        track_indices = np.arange(len(tracks))
-    if detection_indices is None:
-        detection_indices = np.arange(len(detections))
-
-    if len(detection_indices) == 0 or len(track_indices) == 0:
-        return [], track_indices, detection_indices  # Nothing to match.
-
-    cost_matrix = distance_metric(tracks, detections, track_indices, detection_indices)
-    cost_matrix[cost_matrix > max_distance] = max_distance + 1e-5
-    indices = linear_sum_assignment(cost_matrix)
-    indices = np.asarray(indices)
-    indices = np.transpose(indices)
-    matches, unmatched_tracks, unmatched_detections = [], [], []
-    for col, detection_idx in enumerate(detection_indices):
-        if col not in indices[:, 1]:
-            unmatched_detections.append(detection_idx)
-    for row, track_idx in enumerate(track_indices):
-        if row not in indices[:, 0]:
-            unmatched_tracks.append(track_idx)
-    for row, col in indices:
-        track_idx = track_indices[row]
-        detection_idx = detection_indices[col]
-        if cost_matrix[row, col] > max_distance:
-            unmatched_tracks.append(track_idx)
-            unmatched_detections.append(detection_idx)
-        else:
-            matches.append((track_idx, detection_idx))
-    return matches, unmatched_tracks, unmatched_detections
-
-
-def matching_cascade(
-    distance_metric,
-    max_distance,
-    cascade_depth,
-    tracks,
-    detections,
-    track_indices=None,
-    detection_indices=None,
-):
-    """Run matching cascade.
-
-    Parameters
-    ----------
-    distance_metric : Callable[List[Track], List[Detection], List[int], List[int]) -> ndarray
-        The distance metric is given a list of tracks and detections as well as
-        a list of N track indices and M detection indices. The metric should
-        return the NxM dimensional cost matrix, where element (i, j) is the
-        association cost between the i-th track in the given track indices and
-        the j-th detection in the given detection indices.
-    max_distance : float
-        Gating threshold. Associations with cost larger than this value are
-        disregarded.
-    cascade_depth: int
-        The cascade depth, should be se to the maximum track age.
-    tracks : List[track.Track]
-        A list of predicted tracks at the current time step.
-    detections : List[detection.Detection]
-        A list of detections at the current time step.
-    track_indices : Optional[List[int]]
-        List of track indices that maps rows in `cost_matrix` to tracks in
-        `tracks` (see description above). Defaults to all tracks.
-    detection_indices : Optional[List[int]]
-        List of detection indices that maps columns in `cost_matrix` to
-        detections in `detections` (see description above). Defaults to all
-        detections.
-
-    Returns
-    -------
-    (List[(int, int)], List[int], List[int])
-        Returns a tuple with the following three entries:
-        * A list of matched track and detection indices.
-        * A list of unmatched track indices.
-        * A list of unmatched detection indices.
-
-    """
-    if track_indices is None:
-        track_indices = list(range(len(tracks)))
-    if detection_indices is None:
-        detection_indices = list(range(len(detections)))
-
-    unmatched_detections = detection_indices
-    matches = []
-    for level in range(cascade_depth):
-        if len(unmatched_detections) == 0:  # No detections left
-            break
-
-        track_indices_l = [k for k in track_indices if tracks[k].time_since_update == 1 + level]
-        if len(track_indices_l) == 0:  # Nothing to match at this level
-            continue
-
-        matches_l, _, unmatched_detections = min_cost_matching(
-            distance_metric, max_distance, tracks, detections, track_indices_l, unmatched_detections
-        )
-        matches += matches_l
-    unmatched_tracks = list(set(track_indices) - set(k for k, _ in matches))
-    return matches, unmatched_tracks, unmatched_detections
-
-
-def gate_cost_matrix(
-    kf,
-    cost_matrix,
-    tracks,
-    detections,
-    track_indices,
-    detection_indices,
-    gated_cost=INFTY_COST,
-    only_position=False,
-):
-    """Invalidate infeasible entries in cost matrix based on the state
-    distributions obtained by Kalman filtering.
-
-    Parameters
-    ----------
-    kf : The Kalman filter.
-    cost_matrix : ndarray
-        The NxM dimensional cost matrix, where N is the number of track indices
-        and M is the number of detection indices, such that entry (i, j) is the
-        association cost between `tracks[track_indices[i]]` and
-        `detections[detection_indices[j]]`.
-    tracks : List[track.Track]
-        A list of predicted tracks at the current time step.
-    detections : List[detection.Detection]
-        A list of detections at the current time step.
-    track_indices : List[int]
-        List of track indices that maps rows in `cost_matrix` to tracks in
-        `tracks` (see description above).
-    detection_indices : List[int]
-        List of detection indices that maps columns in `cost_matrix` to
-        detections in `detections` (see description above).
-    gated_cost : Optional[float]
-        Entries in the cost matrix corresponding to infeasible associations are
-        set this value. Defaults to a very large value.
-    only_position : Optional[bool]
-        If True, only the x, y position of the state distribution is considered
-        during gating. Defaults to False.
-
-    Returns
-    -------
-    ndarray
-        Returns the modified cost matrix.
-
-    """
-    gating_dim = 2 if only_position else 4
-    gating_threshold = kalman_filter.chi2inv95[gating_dim]
-    measurements = np.asarray([detections[i].to_xyah() for i in detection_indices])
-    for row, track_idx in enumerate(track_indices):
-        track = tracks[track_idx]
-        gating_distance = kf.gating_distance(
-            track.mean, track.covariance, measurements, only_position
-        )
-        cost_matrix[row, gating_distance > gating_threshold] = gated_cost
-    return cost_matrix

supervisely/nn/tracker/deep_sort/deep_sort/nn_matching.py

@@ -1,176 +0,0 @@
-# vim: expandtab:ts=4:sw=4
-import numpy as np
-
-
-def _pdist(a, b):
-    """Compute pair-wise squared distance between points in `a` and `b`.
-
-    Parameters
-    ----------
-    a : array_like
-        An NxM matrix of N samples of dimensionality M.
-    b : array_like
-        An LxM matrix of L samples of dimensionality M.
-
-    Returns
-    -------
-    ndarray
-        Returns a matrix of size len(a), len(b) such that eleement (i, j)
-        contains the squared distance between `a[i]` and `b[j]`.
-
-    """
-    a, b = np.asarray(a), np.asarray(b)
-    if len(a) == 0 or len(b) == 0:
-        return np.zeros((len(a), len(b)))
-    a2, b2 = np.square(a).sum(axis=1), np.square(b).sum(axis=1)
-    r2 = -2. * np.dot(a, b.T) + a2[:, None] + b2[None, :]
-    r2 = np.clip(r2, 0., float(np.inf))
-    return r2
-
-
-def _cosine_distance(a, b, data_is_normalized=False):
-    """Compute pair-wise cosine distance between points in `a` and `b`.
-
-    Parameters
-    ----------
-    a : array_like
-        An NxM matrix of N samples of dimensionality M.
-    b : array_like
-        An LxM matrix of L samples of dimensionality M.
-    data_is_normalized : Optional[bool]
-        If True, assumes rows in a and b are unit length vectors.
-        Otherwise, a and b are explicitly normalized to lenght 1.
-
-    Returns
-    -------
-    ndarray
-        Returns a matrix of size len(a), len(b) such that eleement (i, j)
-        contains the squared distance between `a[i]` and `b[j]`.
-
-    """
-    if not data_is_normalized:
-        a = np.asarray(a) / np.linalg.norm(a, axis=1, keepdims=True)
-        b = np.asarray(b) / np.linalg.norm(b, axis=1, keepdims=True)
-    return 1. - np.dot(a, b.T)
-
-
-def _nn_euclidean_distance(x, y):
-    """ Helper function for nearest neighbor distance metric (Euclidean).
-
-    Parameters
-    ----------
-    x : ndarray
-        A matrix of N row-vectors (sample points).
-    y : ndarray
-        A matrix of M row-vectors (query points).
-
-    Returns
-    -------
-    ndarray
-        A vector of length M that contains for each entry in `y` the
-        smallest Euclidean distance to a sample in `x`.
-
-    """
-    distances = _pdist(x, y)
-    return np.maximum(0.0, distances.min(axis=0))
-
-
-def _nn_cosine_distance(x, y):
-    """ Helper function for nearest neighbor distance metric (cosine).
-
-    Parameters
-    ----------
-    x : ndarray
-        A matrix of N row-vectors (sample points).
-    y : ndarray
-        A matrix of M row-vectors (query points).
-
-    Returns
-    -------
-    ndarray
-        A vector of length M that contains for each entry in `y` the
-        smallest cosine distance to a sample in `x`.
-
-    """
-    distances = _cosine_distance(x, y)
-    return distances.min(axis=0)
-
-
-class NearestNeighborDistanceMetric(object):
-    """
-    A nearest neighbor distance metric that, for each target, returns
-    the closest distance to any sample that has been observed so far.
-
-    Parameters
-    ----------
-    metric : str
-        Either "euclidean" or "cosine".
-    matching_threshold: float
-        The matching threshold. Samples with larger distance are considered an
-        invalid match.
-    budget : Optional[int]
-        If not None, fix samples per class to at most this number. Removes
-        the oldest samples when the budget is reached.
-
-    Attributes
-    ----------
-    samples : Dict[int -> List[ndarray]]
-        A dictionary that maps from target identities to the list of samples
-        that have been observed so far.
-
-    """
-
-    def __init__(self, metric, matching_threshold, budget=None):
-
-        if metric == "euclidean":
-            self._metric = _nn_euclidean_distance
-        elif metric == "cosine":
-            self._metric = _nn_cosine_distance
-        else:
-            raise ValueError(
-                "Invalid metric; must be either 'euclidean' or 'cosine'")
-        self.matching_threshold = matching_threshold
-        self.budget = budget
-        self.samples = {}
-
-    def partial_fit(self, features, targets, active_targets):
-        """Update the distance metric with new data.
-
-        Parameters
-        ----------
-        features : ndarray
-            An NxM matrix of N features of dimensionality M.
-        targets : ndarray
-            An integer array of associated target identities.
-        active_targets : List[int]
-            A list of targets that are currently present in the scene.
-
-        """
-        for feature, target in zip(features, targets):
-            self.samples.setdefault(target, []).append(feature)
-            if self.budget is not None:
-                self.samples[target] = self.samples[target][-self.budget:]
-        self.samples = {k: self.samples[k] for k in active_targets}
-
-    def distance(self, features, targets):
-        """Compute distance between features and targets.
-
-        Parameters
-        ----------
-        features : ndarray
-            An NxM matrix of N features of dimensionality M.
-        targets : List[int]
-            A list of targets to match the given `features` against.
-
-        Returns
-        -------
-        ndarray
-            Returns a cost matrix of shape len(targets), len(features), where
-            element (i, j) contains the closest squared distance between
-            `targets[i]` and `features[j]`.
-
-        """
-        cost_matrix = np.zeros((len(targets), len(features)))
-        for i, target in enumerate(targets):
-            cost_matrix[i, :] = self._metric(self.samples[target], features)
-        return cost_matrix

supervisely/nn/tracker/deep_sort/deep_sort/track.py

@@ -1,166 +0,0 @@
-# vim: expandtab:ts=4:sw=4
-
-
-class TrackState:
-    """
-    Enumeration type for the single target track state. Newly created tracks are
-    classified as `tentative` until enough evidence has been collected. Then,
-    the track state is changed to `confirmed`. Tracks that are no longer alive
-    are classified as `deleted` to mark them for removal from the set of active
-    tracks.
-
-    """
-
-    Tentative = 1
-    Confirmed = 2
-    Deleted = 3
-
-
-class Track:
-    """
-    A single target track with state space `(x, y, a, h)` and associated
-    velocities, where `(x, y)` is the center of the bounding box, `a` is the
-    aspect ratio and `h` is the height.
-
-    Parameters
-    ----------
-    mean : ndarray
-        Mean vector of the initial state distribution.
-    covariance : ndarray
-        Covariance matrix of the initial state distribution.
-    track_id : int
-        A unique track identifier.
-    n_init : int
-        Number of consecutive detections before the track is confirmed. The
-        track state is set to `Deleted` if a miss occurs within the first
-        `n_init` frames.
-    max_age : int
-        The maximum number of consecutive misses before the track state is
-        set to `Deleted`.
-    feature : Optional[ndarray]
-        Feature vector of the detection this track originates from. If not None,
-        this feature is added to the `features` cache.
-
-    Attributes
-    ----------
-    mean : ndarray
-        Mean vector of the initial state distribution.
-    covariance : ndarray
-        Covariance matrix of the initial state distribution.
-    track_id : int
-        A unique track identifier.
-    hits : int
-        Total number of measurement updates.
-    age : int
-        Total number of frames since first occurance.
-    time_since_update : int
-        Total number of frames since last measurement update.
-    state : TrackState
-        The current track state.
-    features : List[ndarray]
-        A cache of features. On each measurement update, the associated feature
-        vector is added to this list.
-
-    """
-
-    def __init__(self, mean, covariance, track_id, n_init, max_age,
-                 feature=None):
-        self.mean = mean
-        self.covariance = covariance
-        self.track_id = track_id
-        self.hits = 1
-        self.age = 1
-        self.time_since_update = 0
-
-        self.state = TrackState.Tentative
-        self.features = []
-        if feature is not None:
-            self.features.append(feature)
-
-        self._n_init = n_init
-        self._max_age = max_age
-
-    def to_tlwh(self):
-        """Get current position in bounding box format `(top left x, top left y,
-        width, height)`.
-
-        Returns
-        -------
-        ndarray
-            The bounding box.
-
-        """
-        ret = self.mean[:4].copy()
-        ret[2] *= ret[3]
-        ret[:2] -= ret[2:] / 2
-        return ret
-
-    def to_tlbr(self):
-        """Get current position in bounding box format `(min x, miny, max x,
-        max y)`.
-
-        Returns
-        -------
-        ndarray
-            The bounding box.
-
-        """
-        ret = self.to_tlwh()
-        ret[2:] = ret[:2] + ret[2:]
-        return ret
-
-    def predict(self, kf):
-        """Propagate the state distribution to the current time step using a
-        Kalman filter prediction step.
-
-        Parameters
-        ----------
-        kf : kalman_filter.KalmanFilter
-            The Kalman filter.
-
-        """
-        self.mean, self.covariance = kf.predict(self.mean, self.covariance)
-        self.age += 1
-        self.time_since_update += 1
-
-    def update(self, kf, detection):
-        """Perform Kalman filter measurement update step and update the feature
-        cache.
-
-        Parameters
-        ----------
-        kf : kalman_filter.KalmanFilter
-            The Kalman filter.
-        detection : Detection
-            The associated detection.
-
-        """
-        self.mean, self.covariance = kf.update(
-            self.mean, self.covariance, detection.to_xyah())
-        self.features.append(detection.feature)
-
-        self.hits += 1
-        self.time_since_update = 0
-        if self.state == TrackState.Tentative and self.hits >= self._n_init:
-            self.state = TrackState.Confirmed
-
-    def mark_missed(self):
-        """Mark this track as missed (no association at the current time step).
-        """
-        if self.state == TrackState.Tentative:
-            self.state = TrackState.Deleted
-        elif self.time_since_update > self._max_age:
-            self.state = TrackState.Deleted
-
-    def is_tentative(self):
-        """Returns True if this track is tentative (unconfirmed).
-        """
-        return self.state == TrackState.Tentative
-
-    def is_confirmed(self):
-        """Returns True if this track is confirmed."""
-        return self.state == TrackState.Confirmed
-
-    def is_deleted(self):
-        """Returns True if this track is dead and should be deleted."""
-        return self.state == TrackState.Deleted

supervisely/nn/tracker/deep_sort/deep_sort/tracker.py

@@ -1,145 +0,0 @@
-# vim: expandtab:ts=4:sw=4
-from __future__ import absolute_import
-
-import numpy as np
-
-from supervisely.nn.tracker.deep_sort.deep_sort import (
-    iou_matching,
-    kalman_filter,
-    linear_assignment,
-)
-from supervisely.nn.tracker.deep_sort.deep_sort.track import Track
-
-
-class Tracker:
-    """
-    This is the multi-target tracker.
-
-    Parameters
-    ----------
-    metric : nn_matching.NearestNeighborDistanceMetric
-        A distance metric for measurement-to-track association.
-    max_age : int
-        Maximum number of missed misses before a track is deleted.
-    n_init : int
-        Number of consecutive detections before the track is confirmed. The
-        track state is set to `Deleted` if a miss occurs within the first
-        `n_init` frames.
-
-    Attributes
-    ----------
-    metric : nn_matching.NearestNeighborDistanceMetric
-        The distance metric used for measurement to track association.
-    max_age : int
-        Maximum number of missed misses before a track is deleted.
-    n_init : int
-        Number of frames that a track remains in initialization phase.
-    kf : kalman_filter.KalmanFilter
-        A Kalman filter to filter target trajectories in image space.
-    tracks : List[Track]
-        The list of active tracks at the current time step.
-
-    """
-
-    def __init__(self, metric, max_iou_distance=0.7, max_age=30, n_init=3):
-        self.metric = metric
-        self.max_iou_distance = max_iou_distance
-        self.max_age = max_age
-        self.n_init = n_init
-
-        self.kf = kalman_filter.KalmanFilter()
-        self.tracks = []
-        self._next_id = 1
-
-    def predict(self):
-        """Propagate track state distributions one time step forward.
-
-        This function should be called once every time step, before `update`.
-        """
-        for track in self.tracks:
-            track.predict(self.kf)
-
-    def update(self, detections):
-        """Perform measurement update and track management.
-
-        Parameters
-        ----------
-        detections : List[deep_sort.detection.Detection]
-            A list of detections at the current time step.
-
-        """
-        # Run matching cascade.
-        matches, unmatched_tracks, unmatched_detections = self._match(detections)
-
-        # Update track set.
-        for track_idx, detection_idx in matches:
-            self.tracks[track_idx].update(self.kf, detections[detection_idx])
-        for track_idx in unmatched_tracks:
-            self.tracks[track_idx].mark_missed()
-        for detection_idx in unmatched_detections:
-            self._initiate_track(detections[detection_idx])
-        self.tracks = [t for t in self.tracks if not t.is_deleted()]
-
-        # Update distance metric.
-        active_targets = [t.track_id for t in self.tracks if t.is_confirmed()]
-        features, targets = [], []
-        for track in self.tracks:
-            if not track.is_confirmed():
-                continue
-            features += track.features
-            targets += [track.track_id for _ in track.features]
-            track.features = []
-        self.metric.partial_fit(np.asarray(features), np.asarray(targets), active_targets)
-
-    def _match(self, detections):
-
-        def gated_metric(tracks, dets, track_indices, detection_indices):
-            features = np.array([dets[i].feature for i in detection_indices])
-            targets = np.array([tracks[i].track_id for i in track_indices])
-            cost_matrix = self.metric.distance(features, targets)
-            cost_matrix = linear_assignment.gate_cost_matrix(
-                self.kf, cost_matrix, tracks, dets, track_indices, detection_indices
-            )
-
-            return cost_matrix
-
-        # Split track set into confirmed and unconfirmed tracks.
-        confirmed_tracks = [i for i, t in enumerate(self.tracks) if t.is_confirmed()]
-        unconfirmed_tracks = [i for i, t in enumerate(self.tracks) if not t.is_confirmed()]
-
-        # Associate confirmed tracks using appearance features.
-        matches_a, unmatched_tracks_a, unmatched_detections = linear_assignment.matching_cascade(
-            gated_metric,
-            self.metric.matching_threshold,
-            self.max_age,
-            self.tracks,
-            detections,
-            confirmed_tracks,
-        )
-
-        # Associate remaining tracks together with unconfirmed tracks using IOU.
-        iou_track_candidates = unconfirmed_tracks + [
-            k for k in unmatched_tracks_a if self.tracks[k].time_since_update == 1
-        ]
-        unmatched_tracks_a = [
-            k for k in unmatched_tracks_a if self.tracks[k].time_since_update != 1
-        ]
-        matches_b, unmatched_tracks_b, unmatched_detections = linear_assignment.min_cost_matching(
-            iou_matching.iou_cost,
-            self.max_iou_distance,
-            self.tracks,
-            detections,
-            iou_track_candidates,
-            unmatched_detections,
-        )
-
-        matches = matches_a + matches_b
-        unmatched_tracks = list(set(unmatched_tracks_a + unmatched_tracks_b))
-        return matches, unmatched_tracks, unmatched_detections
-
-    def _initiate_track(self, detection):
-        mean, covariance = self.kf.initiate(detection.to_xyah())
-        self.tracks.append(
-            Track(mean, covariance, self._next_id, self.n_init, self.max_age, detection.feature)
-        )
-        self._next_id += 1