Custom Tracker deepstream

Accelerated Computing Intelligent Video Analytics DeepStream SDK
1

DeepStream Version - 7.1
• JetPack Version (valid for Jetson only)
• TensorRT Version - 10.3.0.26
• NVIDIA GPU Driver Version (valid for GPU only) - 565.57.01

• Issue Type( questions, new requirements, bugs) - question about best practices
• How to reproduce the issue ? I attach example code

#include "Tracker.h"
#include "BYTETracker.h"
#include <fstream>

NvMOTContext::NvMOTContext(const NvMOTConfig &configIn, NvMOTConfigResponse &configResponse) {
    configResponse.summaryStatus = NvMOTConfigStatus_OK;
}

NvMOTContext::~NvMOTContext()
{
}

NvMOTStatus NvMOTContext::processFrame(const NvMOTProcessParams *params, NvMOTTrackedObjBatch *pTrackedObjectsBatch) {
    for (uint streamIdx = 0; streamIdx < pTrackedObjectsBatch->numFilled; streamIdx++){
        NvMOTTrackedObjList   *trackedObjList = &pTrackedObjectsBatch->list[streamIdx];
        NvMOTFrame            *frame          = &params->frameList[streamIdx];
        std::vector<NvObject> nvObjects(frame->objectsIn.numFilled);
        for (uint32_t numObjects = 0; numObjects < frame->objectsIn.numFilled; numObjects++) {
            NvMOTObjToTrack *objectToTrack = &frame->objectsIn.list[numObjects];
            NvObject nvObject;
            nvObject.prob = objectToTrack->confidence;
            nvObject.label = objectToTrack->classId;
            nvObject.rect[0] = objectToTrack->bbox.x;
            nvObject.rect[1] = objectToTrack->bbox.y;
            nvObject.rect[2] = objectToTrack->bbox.width;
            nvObject.rect[3] = objectToTrack->bbox.height;
            nvObject.associatedObjectIn = objectToTrack;
            nvObjects.push_back(nvObject);
        }

        if (byteTrackerMap.find(frame->streamID) == byteTrackerMap.end())
            byteTrackerMap.insert(std::pair<uint64_t, std::shared_ptr<BYTETracker>>(frame->streamID, std::make_shared<BYTETracker>(15, 30)));

        std::vector<STrack> outputTracks = byteTrackerMap.at(frame->streamID)->update(nvObjects);

        if (trackedObjList->numAllocated != MAX_TARGETS_PER_STREAM)
        {
            // Reallocate memory space
            delete trackedObjList->list;
            trackedObjList->list = new NvMOTTrackedObj[MAX_TARGETS_PER_STREAM];
        }
        // This should resolve the memory leak issue:
        //   https://github.com/ifzhang/ByteTrack/issues/276
        NvMOTTrackedObj *trackedObjs = trackedObjList->list;
        int filled = 0;

        for (STrack &sTrack: outputTracks) {
            if (filled >= MAX_TARGETS_PER_STREAM)
                break;
            std::vector<float> tlwh = sTrack.original_tlwh;
            NvMOTRect motRect{tlwh[0], tlwh[1], tlwh[2], tlwh[3]};
            NvMOTTrackedObj *trackedObj = &trackedObjs[filled];
            trackedObj->classId = sTrack.label;
            trackedObj->trackingId = (uint64_t) sTrack.track_id;
            trackedObj->bbox = motRect;
            trackedObj->confidence = 1;
            trackedObj->age = (uint32_t) sTrack.tracklet_len;
            trackedObj->associatedObjectIn = sTrack.associatedObjectIn;
            trackedObj->associatedObjectIn->doTracking = true;
            filled++;
        }

        trackedObjList->streamID     = frame->streamID;
        trackedObjList->frameNum     = frame->frameNum;
        trackedObjList->valid        = true;
        trackedObjList->list         = trackedObjs;
        trackedObjList->numFilled    = filled;
        trackedObjList->numAllocated = MAX_TARGETS_PER_STREAM;
    }
    return NvMOTStatus_OK;
}

NvMOTStatus NvMOTContext::retrieveMiscData(const NvMOTProcessParams *params,
                                 NvMOTTrackerMiscData *pTrackerMiscData){
    return NvMOTStatus_OK;
}

NvMOTStatus NvMOTContext::removeStream(const NvMOTStreamId streamIdMask) {
    if (byteTrackerMap.find(streamIdMask) != byteTrackerMap.end()){
        std::cout << "Removing tracker for stream: " << streamIdMask << std::endl;
        byteTrackerMap.erase(streamIdMask);
    }
    return NvMOTStatus_OK;
}

Hi, I’m integrating a tracker into my pipeline. (see NvMOTContext.cpp) I want to specify interval >0, but in this case, the tracker doesn’t work correctly. A significant portion of the boxes disappear, and I get the error gstnvtracker: obj 0 Class mismatch! 0 → 4
I saw a similar topic, but the suggested changes don’t help. I assume I’m doing something wrong, so I’ve attached the code as an archive. Please help me make the changes correctly.

test.zip (23.7 KB)

3

Please upgrade to the latest DeepStream. Does your custom tracker works with detector interval = 0? The nvtracker plugin is open sourced, you can debug add some log to print the input/output objects.

4

yes, tracker works correctly with interval=0, I run with gdb, but there are no any errors from pipeline, so debug mode is useless in this situation

5

Seems the same issue as: How to set custom tracker in deepstream with detection interval > 0 - #7 by kesong

6

There is no update from you for a period, assuming this is not an issue anymore. Hence we are closing this topic. If need further support, please open a new one. Thanks.