TRACK_MATCH_THRESH

counter_live_rknn.py

@@ -441,6 +441,7 @@ class ByteTracker:
                 cost_mat = 1.0 - iou_mat
                 matches = _greedy_match(cost_mat, threshold=1.0 - self.match_thresh)
 
+                matched_det_idx = set()
                 for di, ti in matches:
                     det_global = int(high_idx[di])
                     orig_idx = int(remain_orig_idx[det_global])
@@ -450,6 +451,30 @@ class ByteTracker:
                     det_to_track[orig_idx] = track_pool[ti].track_id
                     tracked_map[track_pool[ti].track_id] = (track_pool[ti].get_cx(), track_pool[ti].get_cy())
                     match_pairs_high.append((det_global, ti))
+                    matched_det_idx.add(di)
+
+                # --- second pass: any unmatched high-score detection tries to
+                #     pair with ANY track that overlaps above threshold, even one
+                #     that already has a match. This prevents a close/overlapping
+                #     object from spawning a spurious new ID when the greedy 1:1
+                #     match paired its detection elsewhere. ---
+                for di in range(len(high_dets)):
+                    if di in matched_det_idx:
+                        continue
+                    best_ti = None
+                    best_iou = 0.0
+                    for ti in range(num_tracks):
+                        if iou_mat[di, ti] > best_iou and iou_mat[di, ti] >= self.match_thresh:
+                            best_iou = iou_mat[di, ti]
+                            best_ti = ti
+                    if best_ti is not None:
+                        det_global = int(high_idx[di])
+                        orig_idx = int(remain_orig_idx[det_global])
+                        track_pool[best_ti].update(dets[det_global])
+                        track_pool[best_ti].hit_streak = max(1, track_pool[best_ti].hit_streak)
+                        matched_track_idx.add(best_ti)
+                        det_to_track[orig_idx] = track_pool[best_ti].track_id
+                        tracked_map[track_pool[best_ti].track_id] = (track_pool[best_ti].get_cx(), track_pool[best_ti].get_cy())
 
             unmatched_tracks = [
                 t for t in range(num_tracks) if t not in matched_track_idx