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Srt.py.txt

+
+
+from __future__ import print_function
+import numpy as np
+from kalman_tracker import KalmanBoxTracker
+from data_association import associate_detections_to_trackers
+
+class Sort:
+
+    def __init__(self, length, std, max_age=20, min_hits=5):
+    
+        NOTE: The number of objects returned may differ from the number of detections provided.
+        """
+
+        self.frame_count += 1
+        # Get predicted locations from existing trackers.
+        trks = np.zeros((len(self.trackers), 5))
+        to_del = []
+        ret = []
+        for t, trk in enumerate(trks):
+            pos = self.trackers[t].predict(img) #for kal!
+            trk[:] = [pos[0], pos[1], pos[2], pos[3], 0]
+
+                trk.update([], img)
+
+            d = trk.get_state()
+            # print(d)
+            if ((trk.time_since_update <= self.max_age) 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
+
+            # Remove dead tracklet
+            if trk.time_since_update > self.max_age:
+                self.trackers.pop(i)
+
+        if len(ret) > 0:
+            return np.concatenate(ret)
+
+        return np.empty((0, 7))
+