Frame rate drops as time passes

[capricornfati]

Hello,

as I stated in the title, tracker gets slower (computation time increases),while time passes. As time passes, there is increase of number of hypothesis although number of detection does not change as much. For more dense detections in my own datasets, I can observe the performance degradation rapidly. I tried to figure out the root problem but I am not able to succeed up to now. Let me share my debug prints for PETS09 datasets. In short, "Average time in second per track iteration is:" value increases.

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PARAMS

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[R_MATRIX]; 100 0 0 100 [TARGET_DELTA]: 10, 10 [DT]: 0.4 [LOCAL_ASSOCIATION_COST]: 40 [GLOBAL_ASSOCIATION_COST]: 50

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######################################################### image number: 0 num of detections: 3 init_ state ended: Average time in second per track iteration is: 1.1164e-05 Average time in second per draw tracks iteration is: 0.206693 ######################################################### image number: 1 num of detections: 3 --------manage_new_tracks()1--------- --------manage_new_tracks() prevDetSize: 3 --------manage_new_tracks() deteSize: 3 --------manage_new_tracks()2--------- --------manage_new_tracks()3--------- manage_new_tracks() assignmentBin.rows: 3 manage_new_tracks() assignmentBin.cols: 3 manage_new_tracks() tracker->size(): 3

Average time in second per track iteration is: 0.000163129

Average time in second per draw tracks iteration is: 0.176309 ######################################################### image number: 2 num of detections: 5 localTrackers_.size(): 1 life_time == 0, initial_entropy: 6.062 life_time == 0, initial_entropy: 6.062 life_time == 0, initial_entropy: 6.062 Generate hypothesis q rows: 4 Generate hypothesis q cols: 4 hyp_num: 10 Tracks Size Before Compute Volume: 3 All the detections are not associated: 0.00699479 Track Size Before Global Association Start: 3 Detection Size: 5 GLOBAL ASSOCIATION STARTED: ASSOCIATION ENDED: 7.1266e-05 q.total is less than or equal to zero: Accumulated Time: 0.00706606 --------manage_new_tracks()1--------- --------manage_new_tracks() prevDetSize: 0 --------manage_new_tracks() deteSize: 1

Average time in second per track iteration is: 0.0024822

Average time in second per draw tracks iteration is: 0.166269 ######################################################### image number: 3 num of detections: 3 localTrackers_.size(): 1 Generate hypothesis q rows: 3 Generate hypothesis q cols: 4 hyp_num: 7 Tracks Size Before Compute Volume: 3 All the detections are not associated: 0.00567358 Track Size Before Global Association Start: 3 Detection Size: 3 GLOBAL ASSOCIATION STARTED: ASSOCIATION ENDED: 3.1594e-05 q.total is less than or equal to zero: Accumulated Time: 0.00570517 --------manage_new_tracks()1--------- --------manage_new_tracks() prevDetSize: 1 --------manage_new_tracks() deteSize: 0

Average time in second per track iteration is: 0.00329848

Average time in second per draw tracks iteration is: 0.160863 ######################################################### image number: 4 num of detections: 4 localTrackers_.size(): 1 Generate hypothesis q rows: 3 Generate hypothesis q cols: 4 hyp_num: 7 Tracks Size Before Compute Volume: 3 All the detections are not associated: 0.004824 Track Size Before Global Association Start: 3 Detection Size: 4 GLOBAL ASSOCIATION STARTED: ASSOCIATION ENDED: 3.9157e-05 q.total is less than or equal to zero: Accumulated Time: 0.00486316 --------manage_new_tracks()1--------- --------manage_new_tracks() prevDetSize: 0 --------manage_new_tracks() deteSize: 1 num Average time in second per track iteration is: 0.00361939 Average time in second per draw tracks iteration is: 0.15761 ######################################################### image number: 5 num of detections: 4 localTrackers_.size(): 1 Generate hypothesis q rows: 4 Generate hypothesis q cols: 4 hyp_num: 10 Tracks Size Before Compute Volume: 3 All the detections are not associated: 0.00475154 Track Size Before Global Association Start: 3 Detection Size: 4 GLOBAL ASSOCIATION STARTED: ASSOCIATION ENDED: 5.9171e-05 q.total is less than or equal to zero: Accumulated Time: 0.00481071 --------manage_new_tracks()1--------- --------manage_new_tracks() prevDetSize: 1 --------manage_new_tracks() deteSize: 0

Average time in second per track iteration is: 0.00382761

Average time in second per draw tracks iteration is: 0.155388 ######################################################### image number: 6 num of detections: 4 localTrackers_.size(): 1 Generate hypothesis q rows: 4 Generate hypothesis q cols: 4 hyp_num: 10 Tracks Size Before Compute Volume: 3 All the detections are not associated: 0.00526759 Track Size Before Global Association Start: 3 Detection Size: 4 GLOBAL ASSOCIATION STARTED: ASSOCIATION ENDED: 3.8898e-05 q.total is less than or equal to zero: Accumulated Time: 0.00530649 --------manage_new_tracks()1--------- --------manage_new_tracks() prevDetSize: 0 --------manage_new_tracks() deteSize: 0

Average time in second per track iteration is: 0.00404474

Average time in second per draw tracks iteration is: 0.154009 ######################################################### image number: 104 num of detections: 5 localTrackers_.size(): 4 entropy_sentinel: ACCEPT, life_time: 107 entropy_sentinel: ACCEPT, life_time: 105 entropy_sentinel: ACCEPT, life_time: 127 Generate hypothesis q rows: 3 Generate hypothesis q cols: 4 hyp_num: 9 Tracks Size Before Compute Volume: 3 entropy_sentinel: ACCEPT, life_time: 93 Generate hypothesis q rows: 2 Generate hypothesis q cols: 2 hyp_num: 3 Tracks Size Before Compute Volume: 1 entropy_sentinel: ACCEPT, life_time: 69 Generate hypothesis q rows: 1 Generate hypothesis q cols: 2 hyp_num: 2 Tracks Size Before Compute Volume: 1 Generate hypothesis q rows: 1 Generate hypothesis q cols: 2 hyp_num: 2 Tracks Size Before Compute Volume: 1 All the detections are not associated: 0.0138701 Track Size Before Global Association Start: 6 Detection Size: 5 GLOBAL ASSOCIATION STARTED: ASSOCIATION ENDED: 8.6709e-05 q.total is less than or equal to zero: Accumulated Time: 0.0139568 --------manage_new_tracks()1--------- --------manage_new_tracks() prevDetSize: 0 --------manage_new_tracks() deteSize: 0

Average time in second per track iteration is: 0.0115828

Average time in second per draw tracks iteration is: 0.144938 ######################################################### image number: 793 num of detections: 7 localTrackers_.size(): 24 life_time == 0, initial_entropy: 6.062 life_time == 0, initial_entropy: 6.062 life_time == 0, initial_entropy: 6.062 entropy_sentinel: ACCEPT, life_time: 511 Generate hypothesis q rows: 1 Generate hypothesis q cols: 2 hyp_num: 2 Tracks Size Before Compute Volume: 1 entropy_sentinel: ACCEPT, life_time: 357 Generate hypothesis q rows: 1 Generate hypothesis q cols: 2 hyp_num: 2 Tracks Size Before Compute Volume: 1 entropy_sentinel: ACCEPT, life_time: 294 Generate hypothesis q rows: 1 Generate hypothesis q cols: 2 hyp_num: 2 Tracks Size Before Compute Volume: 1 entropy_sentinel: DISCARD, nodetections: 279 life_time == 0, initial_entropy: 6.062 life_time == 0, initial_entropy: 6.062 life_time == 0, initial_entropy: 6.062 entropy_sentinel: ACCEPT, life_time: 267 Generate hypothesis q rows: 1 Generate hypothesis q cols: 2 hyp_num: 2 Tracks Size Before Compute Volume: 1 life_time == 0, initial_entropy: 6.062 life_time == 0, initial_entropy: 6.062 entropy_sentinel: ACCEPT, life_time: 213 Generate hypothesis q rows: 1 Generate hypothesis q cols: 2 hyp_num: 2 Tracks Size Before Compute Volume: 1 entropy_sentinel: ACCEPT, life_time: 250 Generate hypothesis q rows: 1 Generate hypothesis q cols: 2 hyp_num: 2 Tracks Size Before Compute Volume: 1 entropy_sentinel: DISCARD, nodetections: 135 entropy_sentinel: DISCARD, nodetections: 185 entropy_sentinel: ACCEPT, life_time: 187 Generate hypothesis q rows: 1 Generate hypothesis q cols: 2 hyp_num: 2 Tracks Size Before Compute Volume: 1 entropy_sentinel: ACCEPT, life_time: 113 Generate hypothesis q rows: 1 Generate hypothesis q cols: 2 hyp_num: 2 Tracks Size Before Compute Volume: 1 entropy_sentinel: ACCEPT, life_time: 165 Generate hypothesis q rows: 1 Generate hypothesis q cols: 2 hyp_num: 2 Tracks Size Before Compute Volume: 1 entropy_sentinel: ACCEPT, life_time: 105 Generate hypothesis q rows: 2 Generate hypothesis q cols: 2 hyp_num: 3 Tracks Size Before Compute Volume: 1 life_time == 0, initial_entropy: 6.062 entropy_sentinel: ACCEPT, life_time: 54 Generate hypothesis q rows: 2 Generate hypothesis q cols: 2 hyp_num: 3 Tracks Size Before Compute Volume: 1 life_time == 0, initial_entropy: 6.062 All the detections are not associated: 0.0372968 Track Size Before Global Association Start: 24 Detection Size: 7 GLOBAL ASSOCIATION STARTED: ASSOCIATION ENDED: 0.000416706 ASSIGN ALL THE NOT ASSOCIATED TRACKS STARTED: ASSIGN ALL THE NOT ASSOCIATED TRACKS ENDED: 2.106e-05 GENERATE HYPOTHESIS STARTED: Generate hypothesis q rows: 1 Generate hypothesis q cols: 25 GENERATE HYPOTHESIS ENDED: 0.00309006 COMPUTE JOINT PROBABILITY STARTED hyp_num: 4 Tracks Size Before Compute Volume: 24 COMPUTE JOINT PROBABILITY ENDED: 0.0001155 KALMAN PREDICT STEP STARTED: KALMAN PREDICT STEP ENDED: 3.379e-05 UPDATE AND CORRECT STARTED: UPDATE AND CORRECT ENDED: 4.9075e-05 Accumulated Time: 0.041023 --------manage_new_tracks()1--------- --------manage_new_tracks() prevDetSize: 0 --------manage_new_tracks() deteSize: 0

Average time in second per track iteration is: 0.0248247

Average time in second per draw tracks iteration is: 0.144375

[apennisi]

hey @capricornfati , during this Christmas Holidays, I am going to review the code!