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ultralytics 8.1.5 add OBB Tracking support (#7731)

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Signed-off-by: Glenn Jocher <glenn.jocher@ultralytics.com>
Co-authored-by: UltralyticsAssistant <web@ultralytics.com>
Co-authored-by: Glenn Jocher <glenn.jocher@ultralytics.com>
Co-authored-by: Hassaan Farooq <103611273+hassaanfarooq01@users.noreply.github.com>
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Laughing 2024-01-23 08:57:51 +08:00 • committed by GitHub
parent 12a741c76f
commit f56dd0f48e
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11 changed files with 92 additions and 44 deletions
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20
ultralytics/trackers/utils/matching.py
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@ -4,7 +4,7 @@ import numpy as np
import scipy
from scipy.spatial.distance import cdist
from ultralytics.utils.metrics import bbox_ioa
from ultralytics.utils.metrics import bbox_ioa, batch_probiou
try:
import lap # for linear_assignment
@ -74,14 +74,22 @@ def iou_distance(atracks: list, btracks: list) -> np.ndarray:
atlbrs = atracks
btlbrs = btracks
else:
atlbrs = [track.tlbr for track in atracks]
btlbrs = [track.tlbr for track in btracks]
atlbrs = [track.xywha if track.angle is not None else track.xyxy for track in atracks]
btlbrs = [track.xywha if track.angle is not None else track.xyxy for track in btracks]
ious = np.zeros((len(atlbrs), len(btlbrs)), dtype=np.float32)
if len(atlbrs) and len(btlbrs):
ious = bbox_ioa(
np.ascontiguousarray(atlbrs, dtype=np.float32), np.ascontiguousarray(btlbrs, dtype=np.float32), iou=True
)
if len(atlbrs[0]) == 5 and len(btlbrs[0]) == 5:
ious = batch_probiou(
np.ascontiguousarray(atlbrs, dtype=np.float32),
np.ascontiguousarray(btlbrs, dtype=np.float32),
).numpy()
else:
ious = bbox_ioa(
np.ascontiguousarray(atlbrs, dtype=np.float32),
np.ascontiguousarray(btlbrs, dtype=np.float32),
iou=True,
)
return 1 - ious # cost matrix