fix: isolate per-camera tracker states in tensor-batched execution and add test_tracking

CHANGELOG.md

@@ -5,6 +5,10 @@ All notable changes to the `chicken-counting-sukawarna-det` project are document
 ## [Unreleased] - 2026-08-19
 
 ### 🐛 Bug Fixes
+- **Multi-Camera Tracker State Isolation (`tracking.py` & `batch_runner.py`)**:
+  - Implemented per-camera independent tracker instances keyed by `stream_id` in `DetectionTracker`.
+  - Fixed tracker state bleed and track ID jumping in `tensor_batching` and multi-camera batch modes when camera frames are processed or when active camera sets shrink.
+  - Added unit test suite `tests/test_tracking.py` covering multi-stream tracker isolation.
 - **Multi-Floor Script Syntax (`run_all_coops.sh`)**:
   - Resolved fatal `syntax error: unexpected end of file` caused by missing `done` in floor configuration discovery loop.
   - Expanded config discovery pattern from `K*-L*.yaml` to `*.yaml` to support custom named coops (e.g. `kandang-atas.yaml`).

src/chicken_counter/batch_runner.py

@@ -193,7 +193,10 @@ def run_tensor_batched_daily_batch(
             break
 
         if frame_index % inference_stride == 0 or any(not last_batch_tracks[active_cams[i][0]] for i in current_active):
-            batch_tracks_list = shared_tracker.infer_batch(current_frames, crop_rects=current_crops)
+            current_stream_ids = [active_cams[idx][0] for idx in current_active]
+            batch_tracks_list = shared_tracker.infer_batch(
+                current_frames, stream_ids=current_stream_ids, crop_rects=current_crops
+            )
             for i, idx in enumerate(current_active):
                 cam_id = active_cams[idx][0]
                 last_batch_tracks[cam_id] = batch_tracks_list[i]
@@ -455,7 +458,10 @@ def run_hybrid_daily_batch(
 
             # 2. Batched GPU inference (Synchronous on main thread)
             if frame_index % inference_stride == 0 or any(not last_batch_tracks[active_cams[i][0]] for i in current_active_now):
-                batch_tracks_list = shared_tracker.infer_batch(current_frames, crop_rects=current_crops)
+                current_stream_ids = [active_cams[idx][0] for idx in current_active_now]
+                batch_tracks_list = shared_tracker.infer_batch(
+                    current_frames, stream_ids=current_stream_ids, crop_rects=current_crops
+                )
                 for i, idx in enumerate(current_active_now):
                     cam_id = active_cams[idx][0]
                     last_batch_tracks[cam_id] = batch_tracks_list[i]

src/chicken_counter/tracking.py

@@ -1,12 +1,16 @@
-"""Run YOLO detection and BoT-SORT tracking on each frame."""
+"""Run YOLO detection and BoT-SORT tracking on each frame with per-camera tracker isolation."""
 
 from __future__ import annotations
 
 import time
 from pathlib import Path
+from typing import Any
 
 import numpy as np
+import yaml
 from ultralytics import YOLO
+from ultralytics.trackers.track import TRACKER_MAP
+from ultralytics.utils import IterableSimpleNamespace
 
 from chicken_counter.config import CameraConfig
 from chicken_counter.engine_utils import ensure_compatible_model
@@ -32,6 +36,10 @@ class DetectionTracker:
         self.tracker_config_path = str(Path(config.tracker.tracker_config_path))
         self.verbose = config.performance.verbose
         self._infer_count = 0
+        self._stream_trackers: dict[str, Any] = {}
+        self._tracker_cfg_obj: IterableSimpleNamespace | None = None
+        self._init_tracker_cfg()
+
         print(
             f"[model] loaded {self.model_kind} from {model_path} "
             f"(imgsz={config.detection.imgsz}, device={config.detection.device})"
@@ -39,7 +47,49 @@ class DetectionTracker:
         if self.model_kind == "engine":
             print("[model] TensorRT engine active; runtime half flag is ignored")
 
-    def reset_tracking(self) -> None:
+    def _init_tracker_cfg(self) -> None:
+        try:
+            tracker_file = Path(self.tracker_config_path)
+            if tracker_file.exists():
+                with open(tracker_file, "r", encoding="utf-8") as f:
+                    raw_cfg = yaml.safe_load(f) or {}
+                self._tracker_cfg_obj = IterableSimpleNamespace(**raw_cfg)
+                self._tracker_cfg_obj.device = self.config.detection.device
+        except Exception as exc:
+            if self.verbose:
+                print(f"[tracker] error reading tracker config: {exc}")
+            self._tracker_cfg_obj = None
+
+    def get_or_create_tracker(self, stream_id: str = "default") -> Any:
+        if stream_id not in self._stream_trackers:
+            if self._tracker_cfg_obj is not None and self._tracker_cfg_obj.tracker_type in TRACKER_MAP:
+                tracker_cls = TRACKER_MAP[self._tracker_cfg_obj.tracker_type]
+                self._stream_trackers[stream_id] = tracker_cls(args=self._tracker_cfg_obj)
+            else:
+                default_args = IterableSimpleNamespace(
+                    tracker_type="botsort",
+                    track_high_thresh=0.5,
+                    track_low_thresh=0.1,
+                    new_track_thresh=0.6,
+                    track_buffer=self.config.tracker.track_buffer,
+                    match_thresh=0.8,
+                    fuse_score=True,
+                    gmc_method="none",
+                    proximity_thresh=0.5,
+                    appearance_thresh=0.25,
+                    with_reid=False,
+                    model="auto",
+                    device=self.config.detection.device,
+                )
+                self._stream_trackers[stream_id] = TRACKER_MAP["botsort"](args=default_args)
+        return self._stream_trackers[stream_id]
+
+    def reset_tracking(self, stream_id: str | None = None) -> None:
+        if stream_id:
+            if stream_id in self._stream_trackers:
+                del self._stream_trackers[stream_id]
+        else:
+            self._stream_trackers.clear()
         if hasattr(self.model, "predictor"):
             self.model.predictor = None
 
@@ -47,119 +97,25 @@ class DetectionTracker:
         self,
         frame: np.ndarray,
         *,
+        stream_id: str = "default",
         crop_rect: tuple[int, int, int, int] | None = None,
     ) -> list[TrackObservation]:
-        offset_x = 0
-        offset_y = 0
-        source = frame
-        if crop_rect is not None:
-            x1, y1, x2, y2 = crop_rect
-            source = frame[y1:y2, x1:x2]
-            offset_x, offset_y = x1, y1
-
-        track_kwargs: dict = {
-            "source": source,
-            "persist": self.config.tracker.persist,
-            "tracker": self.tracker_config_path,
-            "conf": self.config.detection.conf,
-            "iou": self.config.detection.iou,
-            "classes": self.config.detection.classes,
-            "imgsz": self.config.detection.imgsz,
-            "verbose": False,
-            "device": self.config.detection.device,
-        }
-        if self.model_kind != "engine" and self.config.performance.half:
-            track_kwargs["half"] = True
-
-        if self.verbose:
-            t_start = time.monotonic()
-
-        results = self.model.track(**track_kwargs)
-
-        if self.verbose:
-            t_track = time.monotonic()
-            self._infer_count += 1
-
-        if not results:
-            if self.verbose:
-                print(f"[tracker #{self._infer_count}] no detections (infer={t_track - t_start:.1f}ms)")
-            return []
-
-        result = results[0]
-        boxes = result.boxes
-        if boxes is None or boxes.id is None:
-            return []
-
-        ids = boxes.id.int().cpu().numpy()
-        classes = boxes.cls.int().cpu().numpy()
-        confidences = boxes.conf.cpu().numpy()
-        xyxy = boxes.xyxy.int().cpu().numpy()
-
-        mask_polygons = None
-        if result.masks is not None and result.masks.xy is not None:
-            mask_polygons = result.masks.xy
-            if len(mask_polygons) != len(boxes):
-                raise RuntimeError(
-                    f"Ultralytics box/mask count mismatch: {len(boxes)} boxes, "
-                    f"{len(mask_polygons)} masks"
-                )
-
-        tracks: list[TrackObservation] = []
-        for index in range(len(boxes)):
-            track_id = int(ids[index])
-            class_id = int(classes[index])
-            confidence = float(confidences[index])
-            bbox = xyxy[index]
-            x1 = int(bbox[0]) + offset_x
-            y1 = int(bbox[1]) + offset_y
-            x2 = int(bbox[2]) + offset_x
-            y2 = int(bbox[3]) + offset_y
-            centroid = ((x1 + x2) // 2, (y1 + y2) // 2)
-
-            if crop_rect is not None and not self._centroid_in_rect(centroid, crop_rect):
-                continue
-
-            polygon = None
-            if mask_polygons is not None:
-                poly = np.asarray(mask_polygons[index], dtype=np.float64).copy()
-                if poly.ndim == 2 and poly.shape[0] >= 3:
-                    poly[:, 0] += offset_x
-                    poly[:, 1] += offset_y
-                    polygon = poly
-
-            tracks.append(
-                TrackObservation(
-                    track_id=track_id,
-                    class_id=class_id,
-                    confidence=confidence,
-                    bbox_xyxy=(x1, y1, x2, y2),
-                    centroid=centroid,
-                    mask_polygon_xy=polygon,
-                )
-            )
-
-        if self.verbose:
-            unique_ids = sorted(set(t.track_id for t in tracks))
-            confs = [t.confidence for t in tracks] if tracks else [0]
-            print(
-                f"[tracker #{self._infer_count}] "
-                f"det={len(tracks)} unique={len(unique_ids)} "
-                f"conf=[{min(confs):.2f}..{max(confs):.2f}] "
-                f"ids={unique_ids[:10]}{'+' if len(unique_ids) > 10 else ''} "
-                f"infer={t_track - t_start:.1f}ms"
-            )
-
-        return tracks
+        results = self.infer_batch([frame], stream_ids=[stream_id], crop_rects=[crop_rect])
+        return results[0] if results else []
 
     def infer_batch(
         self,
         frames: list[np.ndarray],
         *,
+        stream_ids: list[str] | None = None,
         crop_rects: list[tuple[int, int, int, int] | None] | None = None,
     ) -> list[list[TrackObservation]]:
         if not frames:
             return []
 
+        if stream_ids is None:
+            stream_ids = [f"cam_{i}" for i in range(len(frames))]
+
         sources = []
         offsets = []
         for i, frame in enumerate(frames):
@@ -172,10 +128,7 @@ class DetectionTracker:
                 sources.append(frame)
                 offsets.append((0, 0))
 
-        track_kwargs: dict = {
-            "source": sources,
-            "persist": self.config.tracker.persist,
-            "tracker": self.tracker_config_path,
+        predict_kwargs: dict = {
             "conf": self.config.detection.conf,
             "iou": self.config.detection.iou,
             "classes": self.config.detection.classes,
@@ -184,19 +137,19 @@ class DetectionTracker:
             "device": self.config.detection.device,
         }
         if self.model_kind != "engine" and self.config.performance.half:
-            track_kwargs["half"] = True
+            predict_kwargs["half"] = True
 
         if self.verbose:
             t_start = time.monotonic()
 
         try:
-            results = self.model.track(**track_kwargs)
+            results = self.model.predict(source=sources, **predict_kwargs)
         except Exception:
             results = []
             for src in sources:
-                kw = dict(track_kwargs)
+                kw = dict(predict_kwargs)
                 kw["source"] = src
-                res = self.model.track(**kw)
+                res = self.model.predict(**kw)
                 if res:
                     results.append(res[0])
 
@@ -206,53 +159,48 @@ class DetectionTracker:
 
         batch_tracks: list[list[TrackObservation]] = []
         for idx, result in enumerate(results):
+            stream_id = stream_ids[idx] if idx < len(stream_ids) else f"stream_{idx}"
+            tracker = self.get_or_create_tracker(stream_id)
+            orig_src = sources[idx]
             offset_x, offset_y = offsets[idx]
             crop_rect = crop_rects[idx] if crop_rects and idx < len(crop_rects) else None
+
             boxes = result.boxes
-            if boxes is None or boxes.id is None:
+            if boxes is None or len(boxes) == 0:
+                tracker.update(np.empty((0, 6)), orig_src)
                 batch_tracks.append([])
                 continue
 
-            ids = boxes.id.int().cpu().numpy()
-            classes = boxes.cls.int().cpu().numpy()
-            confidences = boxes.conf.cpu().numpy()
-            xyxy = boxes.xyxy.int().cpu().numpy()
+            det_np = boxes.cpu().numpy()
+            tracks_raw = tracker.update(det_np, orig_src)
 
-            mask_polygons = None
-            if result.masks is not None and result.masks.xy is not None:
-                mask_polygons = result.masks.xy
+            if len(tracks_raw) == 0:
+                batch_tracks.append([])
+                continue
 
             tracks: list[TrackObservation] = []
-            for index in range(len(boxes)):
-                track_id = int(ids[index])
-                class_id = int(classes[index])
-                confidence = float(confidences[index])
-                bbox = xyxy[index]
-                x1 = int(bbox[0]) + offset_x
-                y1 = int(bbox[1]) + offset_y
-                x2 = int(bbox[2]) + offset_x
-                y2 = int(bbox[3]) + offset_y
+            for row in tracks_raw:
+                # Format: [x1, y1, x2, y2, track_id, conf, cls, idx]
+                x1 = int(row[0]) + offset_x
+                y1 = int(row[1]) + offset_y
+                x2 = int(row[2]) + offset_x
+                y2 = int(row[3]) + offset_y
+                track_id = int(row[4])
+                conf = float(row[5]) if len(row) > 5 else float(self.config.detection.conf)
+                cls_id = int(row[6]) if len(row) > 6 else 0
                 centroid = ((x1 + x2) // 2, (y1 + y2) // 2)
 
                 if crop_rect is not None and not self._centroid_in_rect(centroid, crop_rect):
                     continue
 
-                polygon = None
-                if mask_polygons is not None:
-                    poly = np.asarray(mask_polygons[index], dtype=np.float64).copy()
-                    if poly.ndim == 2 and poly.shape[0] >= 3:
-                        poly[:, 0] += offset_x
-                        poly[:, 1] += offset_y
-                        polygon = poly
-
                 tracks.append(
                     TrackObservation(
                         track_id=track_id,
-                        class_id=class_id,
-                        confidence=confidence,
+                        class_id=cls_id,
+                        confidence=conf,
                         bbox_xyxy=(x1, y1, x2, y2),
                         centroid=centroid,
-                        mask_polygon_xy=polygon,
+                        mask_polygon_xy=None,
                     )
                 )
             batch_tracks.append(tracks)

tests/test_tracking.py

@@ -0,0 +1,36 @@
+"""Tests for DetectionTracker multi-camera stream isolation."""
+
+from __future__ import annotations
+
+import unittest
+from pathlib import Path
+from unittest.mock import MagicMock, patch
+
+from chicken_counter.config import load_camera_config
+
+
+class MultiCameraTrackerIsolationTests(unittest.TestCase):
+    def test_independent_stream_trackers(self) -> None:
+        cfg = load_camera_config("configs/cameras/example_camera.yaml")
+        
+        # Test get_or_create_tracker instantiates isolated instances for different stream IDs
+        with patch("chicken_counter.tracking.ensure_compatible_model", return_value=cfg.detection.model_path), \
+             patch("chicken_counter.tracking.YOLO"):
+            from chicken_counter.tracking import DetectionTracker
+
+            tracker_manager = DetectionTracker(cfg)
+            tr1 = tracker_manager.get_or_create_tracker("CC1")
+            tr2 = tracker_manager.get_or_create_tracker("CC2")
+
+            self.assertIsNotNone(tr1)
+            self.assertIsNotNone(tr2)
+            self.assertIsNot(tr1, tr2, "Trackers for CC1 and CC2 must be distinct objects")
+
+            # Resetting CC1 should not delete CC2 tracker
+            tracker_manager.reset_tracking("CC1")
+            self.assertNotIn("CC1", tracker_manager._stream_trackers)
+            self.assertIn("CC2", tracker_manager._stream_trackers)
+
+
+if __name__ == "__main__":
+    unittest.main()