## mot-rs

Dead simple multi object tracking in Rust

### 15 releases

 0.1.2 Jun 21, 2024 Oct 31, 2023 Jul 28, 2023 Jul 24, 2023 Apr 23, 2023

#894 in Algorithms

72KB
739 lines

# Very naive implementation of Multi-object tracking in Rust programming language

Why is it even exists when there are a lot of other solutions (better perfomance, better logic, better overall and etc.)?

It is simple as that:

What I cannot create, I do not understand Richard Feynman

What is this good for?

You can use this library to track vehicles / peoples and etc. when you don't need that much accuracy or ReID.

Are more advanced algorithms considered to be implemented in futher?

Yes, I do think so. I guess that SORT will be the next one.

If you want to you can contribute via opening Pull Request

I've implemented two metrics to match objects:

## How to use

``````[package]
....

[dependencies]
...
mot-rs = "0.1.0"
...
``````

Let's create really synthetic example and define similar trajectories for three objects. We're using pretty simple MOT algorithm, so no hard tasks for now. We are going to use itertools just to simplify zipping trajectories.

``````use mot_rs::mot::{
SimpleTracker,
SimpleBlob
};
use mot_rs::utils::{
Rect
};

fn main() {
let bboxes_one: Vec<Vec<f32>> = vec![vec![236, -25, 386, 35], vec![237, -24, 387, 36], vec![238, -22, 388, 38], vec![236, -20, 386, 40], vec![236, -19, 386, 41], vec![237, -18, 387, 42], vec![237, -18, 387, 42], vec![238, -17, 388, 43], vec![237, -14, 387, 46], vec![237, -14, 387, 46], vec![237, -12, 387, 48], vec![237, -12, 387, 48], vec![237, -11, 387, 49], vec![237, -11, 387, 49], vec![237, -10, 387, 50], vec![237, -10, 387, 50], vec![237, -8, 387, 52], vec![237, -8, 387, 52], vec![236, -7, 386, 53], vec![236, -7, 386, 53], vec![236, -6, 386, 54], vec![236, -6, 386, 54], vec![236, -2, 386, 58], vec![235, 0, 385, 60], vec![236, 2, 386, 62], vec![236, 5, 386, 65], vec![236, 9, 386, 69], vec![235, 12, 385, 72], vec![235, 14, 385, 74], vec![233, 16, 383, 76], vec![232, 26, 382, 86], vec![233, 28, 383, 88], vec![233, 40, 383, 100], vec![233, 30, 383, 90], vec![232, 22, 382, 82], vec![232, 34, 382, 94], vec![232, 21, 382, 81], vec![233, 40, 383, 100], vec![232, 40, 382, 100], vec![232, 40, 382, 100], vec![232, 36, 382, 96], vec![232, 53, 382, 113], vec![232, 50, 382, 110], vec![233, 55, 383, 115], vec![232, 50, 382, 110], vec![234, 68, 384, 128], vec![231, 49, 381, 109], vec![232, 68, 382, 128], vec![231, 31, 381, 91], vec![232, 64, 382, 124], vec![233, 71, 383, 131], vec![231, 64, 381, 124], vec![231, 74, 381, 134], vec![231, 64, 381, 124], vec![230, 77, 380, 137], vec![232, 82, 382, 142], vec![232, 78, 382, 138], vec![232, 78, 382, 138], vec![231, 79, 381, 139], vec![231, 79, 381, 139], vec![231, 91, 381, 151], vec![232, 78, 382, 138], vec![232, 78, 382, 138], vec![233, 90, 383, 150], vec![232, 92, 382, 152], vec![232, 92, 382, 152], vec![233, 98, 383, 158], vec![232, 100, 382, 160], vec![231, 92, 381, 152], vec![233, 110, 383, 170], vec![234, 92, 384, 152], vec![234, 92, 384, 152], vec![234, 110, 384, 170], vec![234, 92, 384, 152], vec![233, 104, 383, 164], vec![234, 111, 384, 171], vec![234, 106, 384, 166], vec![234, 106, 384, 166], vec![233, 124, 383, 184], vec![236, 125, 386, 185], vec![236, 125, 386, 185], vec![232, 120, 382, 180], vec![236, 131, 386, 191], vec![232, 132, 382, 192], vec![238, 139, 388, 199], vec![236, 141, 386, 201], vec![232, 151, 382, 211], vec![236, 145, 386, 205], vec![236, 145, 386, 205], vec![231, 133, 381, 193], vec![237, 148, 387, 208], vec![237, 148, 387, 208], vec![237, 148, 387, 208], vec![237, 148, 387, 208], vec![237, 148, 387, 208], vec![237, 148, 387, 208], vec![237, 148, 387, 208], vec![237, 148, 387, 208], vec![237, 148, 387, 208], vec![237, 148, 387, 208], vec![237, 148, 387, 208], vec![237, 148, 387, 208], vec![237, 148, 387, 208], vec![237, 148, 387, 208], vec![237, 148, 387, 208], vec![237, 148, 387, 208], vec![237, 148, 387, 208], vec![237, 148, 387, 208], vec![237, 148, 387, 208], vec![237, 148, 387, 208], vec![237, 148, 387, 208], vec![237, 148, 387, 208]];
let bboxes_two: Vec<Vec<f32>> = vec![vec![321, -25, 471, 35], vec![322, -24, 472, 36], vec![323, -22, 473, 38], vec![321, -20, 471, 40], vec![321, -19, 471, 41], vec![322, -18, 472, 42], vec![322, -18, 472, 42], vec![323, -17, 473, 43], vec![322, -14, 472, 46], vec![322, -14, 472, 46], vec![322, -12, 472, 48], vec![322, -12, 472, 48], vec![322, -11, 472, 49], vec![322, -11, 472, 49], vec![322, -10, 472, 50], vec![322, -10, 472, 50], vec![322, -8, 472, 52], vec![322, -8, 472, 52], vec![321, -7, 471, 53], vec![321, -7, 471, 53], vec![321, -6, 471, 54], vec![321, -6, 471, 54], vec![321, -2, 471, 58], vec![320, 0, 470, 60], vec![321, 2, 471, 62], vec![321, 5, 471, 65], vec![321, 9, 471, 69], vec![320, 12, 470, 72], vec![320, 14, 470, 74], vec![318, 16, 468, 76], vec![317, 26, 467, 86], vec![318, 28, 468, 88], vec![318, 40, 468, 100], vec![318, 30, 468, 90], vec![317, 22, 467, 82], vec![317, 34, 467, 94], vec![317, 21, 467, 81], vec![318, 40, 468, 100], vec![317, 40, 467, 100], vec![317, 40, 467, 100], vec![317, 36, 467, 96], vec![317, 53, 467, 113], vec![317, 50, 467, 110], vec![318, 55, 468, 115], vec![317, 50, 467, 110], vec![319, 68, 469, 128], vec![316, 49, 466, 109], vec![317, 68, 467, 128], vec![316, 31, 466, 91], vec![317, 64, 467, 124], vec![318, 71, 468, 131], vec![316, 64, 466, 124], vec![316, 74, 466, 134], vec![316, 64, 466, 124], vec![315, 77, 465, 137], vec![317, 82, 467, 142], vec![317, 78, 467, 138], vec![317, 78, 467, 138], vec![316, 79, 466, 139], vec![316, 79, 466, 139], vec![316, 91, 466, 151], vec![317, 78, 467, 138], vec![317, 78, 467, 138], vec![318, 90, 468, 150], vec![317, 92, 467, 152], vec![317, 92, 467, 152], vec![318, 98, 468, 158], vec![317, 100, 467, 160], vec![316, 92, 466, 152], vec![318, 110, 468, 170], vec![319, 92, 469, 152], vec![319, 92, 469, 152], vec![319, 110, 469, 170], vec![319, 92, 469, 152], vec![318, 104, 468, 164], vec![319, 111, 469, 171], vec![319, 106, 469, 166], vec![319, 106, 469, 166], vec![318, 124, 468, 184], vec![321, 125, 471, 185], vec![321, 125, 471, 185], vec![317, 120, 467, 180], vec![321, 131, 471, 191], vec![317, 132, 467, 192], vec![323, 139, 473, 199], vec![321, 141, 471, 201], vec![317, 151, 467, 211], vec![321, 145, 471, 205], vec![321, 145, 471, 205], vec![316, 133, 466, 193], vec![322, 148, 472, 208], vec![322, 148, 472, 208], vec![322, 148, 472, 208], vec![322, 148, 472, 208], vec![322, 148, 472, 208], vec![322, 148, 472, 208], vec![322, 148, 472, 208], vec![322, 148, 472, 208], vec![322, 148, 472, 208], vec![322, 148, 472, 208], vec![322, 148, 472, 208], vec![322, 148, 472, 208], vec![322, 148, 472, 208], vec![322, 148, 472, 208], vec![322, 148, 472, 208], vec![322, 148, 472, 208], vec![322, 148, 472, 208], vec![322, 148, 472, 208], vec![322, 148, 472, 208], vec![322, 148, 472, 208], vec![322, 148, 472, 208], vec![322, 148, 472, 208]];
let bboxes_three: Vec<Vec<f32>> = vec![vec![151, -25, 301, 35], vec![152, -24, 302, 36], vec![153, -22, 303, 38], vec![151, -20, 301, 40], vec![151, -19, 301, 41], vec![152, -18, 302, 42], vec![152, -18, 302, 42], vec![153, -17, 303, 43], vec![152, -14, 302, 46], vec![152, -14, 302, 46], vec![152, -12, 302, 48], vec![152, -12, 302, 48], vec![152, -11, 302, 49], vec![152, -11, 302, 49], vec![152, -10, 302, 50], vec![152, -10, 302, 50], vec![152, -8, 302, 52], vec![152, -8, 302, 52], vec![151, -7, 301, 53], vec![151, -7, 301, 53], vec![151, -6, 301, 54], vec![151, -6, 301, 54], vec![151, -2, 301, 58], vec![150, 0, 300, 60], vec![151, 2, 301, 62], vec![151, 5, 301, 65], vec![151, 9, 301, 69], vec![150, 12, 300, 72], vec![150, 14, 300, 74], vec![148, 16, 298, 76], vec![147, 26, 297, 86], vec![148, 28, 298, 88], vec![148, 40, 298, 100], vec![148, 30, 298, 90], vec![147, 22, 297, 82], vec![147, 34, 297, 94], vec![147, 21, 297, 81], vec![148, 40, 298, 100], vec![147, 40, 297, 100], vec![147, 40, 297, 100], vec![147, 36, 297, 96], vec![147, 53, 297, 113], vec![147, 50, 297, 110], vec![148, 55, 298, 115], vec![147, 50, 297, 110], vec![149, 68, 299, 128], vec![146, 49, 296, 109], vec![147, 68, 297, 128], vec![146, 31, 296, 91], vec![147, 64, 297, 124], vec![148, 71, 298, 131], vec![146, 64, 296, 124], vec![146, 74, 296, 134], vec![146, 64, 296, 124], vec![145, 77, 295, 137], vec![147, 82, 297, 142], vec![147, 78, 297, 138], vec![147, 78, 297, 138], vec![146, 79, 296, 139], vec![146, 79, 296, 139], vec![146, 91, 296, 151], vec![147, 78, 297, 138], vec![147, 78, 297, 138], vec![148, 90, 298, 150], vec![147, 92, 297, 152], vec![147, 92, 297, 152], vec![148, 98, 298, 158], vec![147, 100, 297, 160], vec![146, 92, 296, 152], vec![148, 110, 298, 170], vec![149, 92, 299, 152], vec![149, 92, 299, 152], vec![149, 110, 299, 170], vec![149, 92, 299, 152], vec![148, 104, 298, 164], vec![149, 111, 299, 171], vec![149, 106, 299, 166], vec![149, 106, 299, 166], vec![148, 124, 298, 184], vec![151, 125, 301, 185], vec![151, 125, 301, 185], vec![147, 120, 297, 180], vec![151, 131, 301, 191], vec![147, 132, 297, 192], vec![153, 139, 303, 199], vec![151, 141, 301, 201], vec![147, 151, 297, 211], vec![151, 145, 301, 205], vec![151, 145, 301, 205], vec![146, 133, 296, 193], vec![152, 148, 302, 208], vec![152, 148, 302, 208], vec![152, 148, 302, 208], vec![152, 148, 302, 208], vec![152, 148, 302, 208], vec![152, 148, 302, 208], vec![152, 148, 302, 208], vec![152, 148, 302, 208], vec![152, 148, 302, 208], vec![152, 148, 302, 208], vec![152, 148, 302, 208], vec![152, 148, 302, 208], vec![152, 148, 302, 208], vec![152, 148, 302, 208], vec![152, 148, 302, 208], vec![152, 148, 302, 208], vec![152, 148, 302, 208], vec![152, 148, 302, 208], vec![152, 148, 302, 208], vec![152, 148, 302, 208], vec![152, 148, 302, 208], vec![152, 148, 302, 208]];
let mut mot = SimpleTracker::new(5, 15.0);
let dt = 1.0/25.00; // emulate 25 fps

for (bbox_one, bbox_two, bbox_three) in itertools::izip!(bboxes_one, bboxes_two, bboxes_three) {
let blob_one = SimpleBlob::new_with_dt(Rect::new(bbox_one[0], bbox_one[1], bbox_one[2]-bbox_one[0], bbox_one[3]-bbox_one[1]), dt);
let blob_two = SimpleBlob::new_with_dt(Rect::new(bbox_two[0],bbox_two[1],bbox_two[2] -bbox_two[0],bbox_two[3]- bbox_two[1]), dt);
let blob_three = SimpleBlob::new_with_dt(Rect::new(bbox_three[0],bbox_three[1],bbox_three[2] -bbox_three[0],bbox_three[3]- bbox_three[1]), dt);

match mot.match_objects(vec![blob_one, blob_two, blob_three]) {
Ok(_) => {},
Err(err) => {
println!("{:?}", err);
}
};

println!("id;track");
for object in &mot.objects {
print!("{};", object.0);
let track = object.1.get_track();
for (idx, pt) in track.iter().enumerate() {
if idx == track.len() - 1 {
print!("{},{}", pt.x, pt.y);
} else {
print!("{},{}|", pt.x, pt.y);
}
}
println!();
}
}
}

``````

If we plot results on a single image we should get something like:

~5.5MB
~98K SLoC