Fix not count

counter_live_rknn_bytetrack.py

@@ -354,11 +354,13 @@ class ByteTracker:
         # --- separate detections by score ---
         if len(boxes_xyxy) > 0:
             remain = scores > self.low_thresh
+            remain_orig_idx = np.where(remain)[0]
             dets = boxes_xyxy[remain]
             det_scores = scores[remain]
             is_high = det_scores > self.high_thresh
             is_low = ~is_high
         else:
+            remain_orig_idx = np.zeros(0, dtype=np.int64)
             dets = np.zeros((0, 4), dtype=np.float32)
             det_scores = np.zeros(0, dtype=np.float32)
             is_high = np.zeros(0, dtype=bool)
@@ -398,10 +400,11 @@ class ByteTracker:
 
                 for di, ti in matches:
                     det_global = int(high_idx[di])
+                    orig_idx = int(remain_orig_idx[det_global])
                     track_pool[ti].update(dets[det_global])
                     track_pool[ti].hit_streak = max(1, track_pool[ti].hit_streak)
                     matched_track_idx.add(ti)
-                    det_to_track[det_global] = track_pool[ti].track_id
+                    det_to_track[orig_idx] = track_pool[ti].track_id
                     tracked_map[track_pool[ti].track_id] = track_pool[ti].get_cx()
                     match_pairs_high.append((det_global, ti))
 
@@ -422,12 +425,13 @@ class ByteTracker:
                 for di, uti in matches2:
                     det_global = int(low_idx[di])
                     pool_idx = unmatched_tracks[uti]
+                    orig_idx = int(remain_orig_idx[det_global])
                     track_pool[pool_idx].update(dets[det_global])
                     track_pool[pool_idx].hit_streak = max(
                         1, track_pool[pool_idx].hit_streak
                     )
                     matched_track_idx.add(pool_idx)
-                    det_to_track[det_global] = track_pool[pool_idx].track_id
+                    det_to_track[orig_idx] = track_pool[pool_idx].track_id
                     tracked_map[track_pool[pool_idx].track_id] = track_pool[
                         pool_idx
                     ].get_cx()
@@ -463,10 +467,11 @@ class ByteTracker:
         high_all = np.where(is_high)[0]
         matched_det_ids = set(det_to_track.keys())
         for dg in high_all:
-            if int(dg) not in matched_det_ids:
-                trk = KalmanBoxTracker(dets[dg])
+            orig_idx = int(remain_orig_idx[int(dg)])
+            if orig_idx not in matched_det_ids:
+                trk = KalmanBoxTracker(dets[int(dg)])
                 self.tracked_tracks.append(trk)
-                det_to_track[int(dg)] = trk.track_id
+                det_to_track[orig_idx] = trk.track_id
                 tracked_map[trk.track_id] = trk.get_cx()
 
         return tracked_map, det_to_track, lost_map