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Fix linear_assignment using scipy and unassigned lost tracks #9

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Fix linear_assignment using scipy and unassigned lost tracks #9

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14 changes: 9 additions & 5 deletions SFSORT.py
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Original file line number Diff line number Diff line change
Expand Up @@ -208,8 +208,12 @@ def update(self, boxes, scores):

# Add unmatched tracks to the lost list
unmatched_track_pool = []
for track_address in unmatched_tracks:
unmatched_track_pool.append(track_pool[track_address])
if high_score.any():
for track_address in unmatched_tracks:
unmatched_track_pool.append(track_pool[track_address])
else:
unmatched_track_pool = track_pool

next_lost_tracks = unmatched_track_pool.copy()

# Try to associate remained tracks with intermediate score detections
Expand Down Expand Up @@ -331,10 +335,10 @@ def linear_assignment(cost_matrix, thresh):
else:
row_ind, col_ind = linear_sum_assignment(cost_matrix)
matches = np.array([[row, col] for row, col in zip(row_ind, col_ind) if cost_matrix[row, col] <= thresh])
matched_rows = set(row_ind)
matched_cols = set(col_ind)
matched_rows = set(matches[:, 0]) if matches.size > 0 else set()
matched_cols = set(matches[:, 1]) if matches.size > 0 else set()
unmatched_a = np.array([i for i in range(cost_matrix.shape[0]) if i not in matched_rows])
unmatched_b = np.array([j for j in range(cost_matrix.shape[1]) if j not in matched_cols])

return matches, unmatched_a, unmatched_b