├── .gitignore
├── .swiftpm
    └── xcode
    │   └── package.xcworkspace
    │       ├── contents.xcworkspacedata
    │       └── xcshareddata
    │           └── IDEWorkspaceChecks.plist
├── Package.resolved
├── Package.swift
├── README.md
├── Sources
    └── TrackSS
    │   ├── LInearAssignment.swift
    │   └── TrackSS.swift
├── Tests
    ├── LinuxMain.swift
    └── TrackSSTests
    │   ├── TrackSSTests.swift
    │   └── XCTestManifests.swift
├── TrackSS.podspec
└── data
    ├── ADL-Rundle-6.txt
    ├── ADL-Rundle-8.txt
    ├── ETH-Bahnhof.txt
    ├── ETH-Pedcross2.txt
    ├── ETH-Sunnyday.txt
    ├── KITTI-13.txt
    ├── KITTI-17.txt
    ├── PETS09-S2L1.txt
    ├── TUD-Campus.txt
    ├── TUD-Stadtmitte.txt
    └── Venice-2.txt


/.gitignore:
--------------------------------------------------------------------------------
1 | .DS_Store
2 | /.build
3 | /Packages
4 | /*.xcodeproj
5 | xcuserdata/
6 | 


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/.swiftpm/xcode/package.xcworkspace/contents.xcworkspacedata:
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1 | <?xml version="1.0" encoding="UTF-8"?>
2 | <Workspace
3 |    version = "1.0">
4 |    <FileRef
5 |       location = "self:">
6 |    </FileRef>
7 | </Workspace>
8 | 


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/.swiftpm/xcode/package.xcworkspace/xcshareddata/IDEWorkspaceChecks.plist:
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1 | <?xml version="1.0" encoding="UTF-8"?>
2 | <!DOCTYPE plist PUBLIC "-//Apple//DTD PLIST 1.0//EN" "http://www.apple.com/DTDs/PropertyList-1.0.dtd">
3 | <plist version="1.0">
4 | <dict>
5 | 	<key>IDEDidComputeMac32BitWarning</key>
6 | 	<true/>
7 | </dict>
8 | </plist>
9 | 


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/Package.resolved:
--------------------------------------------------------------------------------
 1 | {
 2 |   "object": {
 3 |     "pins": [
 4 |       {
 5 |         "package": "KalmanFilter",
 6 |         "repositoryURL": "https://github.com/ShreshthSaxena/KalmanFilter.git",
 7 |         "state": {
 8 |           "branch": null,
 9 |           "revision": "f4769de4acc069a707ad5d65bf9da1c415e3d0c2",
10 |           "version": "1.0.0"
11 |         }
12 |       },
13 |       {
14 |         "package": "Upsurge",
15 |         "repositoryURL": "https://github.com/ShreshthSaxena/Upsurge.git",
16 |         "state": {
17 |           "branch": null,
18 |           "revision": "a410d7ff379e859d1afe2d2820b0d63dd4bcaeda",
19 |           "version": "1.0.0"
20 |         }
21 |       }
22 |     ]
23 |   },
24 |   "version": 1
25 | }
26 | 


--------------------------------------------------------------------------------
/Package.swift:
--------------------------------------------------------------------------------
 1 | // swift-tools-version:5.3
 2 | // swift-tools-version:3.0.2
 3 | // swift-tools-version:3.1
 4 | // swift-tools-version:4.0
 5 | // swift-tools-version:5.3
 6 | // The swift-tools-version declares the minimum version of Swift required to build this package.
 7 | 
 8 | import PackageDescription
 9 | 
10 | let package = Package(
11 |     name: "TrackSS",
12 |     products: [
13 |         // Products define the executables and libraries a package produces, and make them visible to other packages.
14 |         .library(
15 |             name: "TrackSS",
16 |             targets: ["TrackSS"]),
17 |     ],
18 |     dependencies: [
19 |         // Dependencies declare other packages that this package depends on.
20 |         .package(url: "https://github.com/ShreshthSaxena/KalmanFilter.git", from: "1.0.0"),
21 |         .package(url: "https://github.com/ShreshthSaxena/Upsurge.git", from: "1.0.0")
22 |     ],
23 |     targets: [
24 |         // Targets are the basic building blocks of a package. A target can define a module or a test suite.
25 |         // Targets can depend on other targets in this package, and on products in packages this package depends on.
26 |         .target(
27 |             name: "TrackSS",
28 |             dependencies: ["Upsurge","KalmanFilter"]),
29 |         .testTarget(
30 |             name: "TrackSSTests",
31 |             dependencies: ["TrackSS"]),
32 |     ]
33 | )
34 | 


--------------------------------------------------------------------------------
/README.md:
--------------------------------------------------------------------------------
 1 | # TrackSS
 2 | 
 3 | [SORT](http://arxiv.org/abs/1602.00763) based Tracker for real-time Object Tracking in Swift <br>
 4 | for author's Python implementation check : https://github.com/abewley/sort <br>
 5 | for associated object detection in Swift check: https://github.com/ShreshthSaxena/Object-Detection-iOS-Swift
 6 | 
 7 | 
 8 | ## Introduction
 9 | 
10 | SORT is a barebones implementation of a visual multiple object tracking framework based on rudimentary data association and state estimation techniques. It is designed for online tracking applications where only past and current frames are available and the method produces object identities on the fly. While this minimalistic tracker doesn't handle occlusion or re-entering objects its purpose is to serve as a baseline and testbed for the development of future trackers.
11 | 
12 | SORT was initially described in [this paper](http://arxiv.org/abs/1602.00763). At the time of the initial publication, SORT was ranked the best *open source* multiple object tracker on the [MOT benchmark](https://motchallenge.net/results/2D_MOT_2015/).
13 | 
14 | Dependency Credits: 
15 | - [Kalman Filter](https://github.com/wearereasonablepeople/KalmanFilter)
16 | - [Hungarian method Solver](https://github.com/Jasagredo/Hume)
17 | 
18 | 
19 | ## Installation 
20 | 
21 | To add package in your Xcode project do: 
22 | - File -> Swift Packages -> Add Package Dependency
23 | - add url: **https://github.com/ShreshthSaxena/TrackSS/** and choose version/tag **1.0.0**
24 | 
25 | ## Usage
26 | 
27 | - Create a Tracker object:
28 | > let T = TrackerSS()
29 | 
30 | - Update tracker with detections on each timestep/frame:
31 | >for f in frames{<br>
32 | >    let res = T.update(dets: f)<br>
33 | >    print(res)<br>
34 | >}
35 | 
36 | - Input parameter **dets: Array<Array\<Int>>** is an array of detections in the format [[x1,y1,x2,y2],[x1,y1,x2,y2],...]
37 | 
38 | - Output returned is a similar 2d-array appended with object ID in last column.
39 | 
40 | ## To do
41 | 
42 | - [x] Benchmark on provided datasets
43 | - [ ] Add utility functions for Vision structs (CGRect/CGPoint)
44 | - [ ] Add support for Carthage and Cocoapods
45 | 
46 | ## Test outputs
47 | 
48 | Results of author's Python version and this Swift implementation on provided dataset ([data](data) folder) on Core-i5 MBP-2019.
49 | 
50 | Python output:<br>
51 | > Processing ETH-Bahnhof.<br>
52 | > Processing ADL-Rundle-8.<br>
53 | > Processing ADL-Rundle-6.<br>
54 | > Processing ETH-Pedcross2.<br>
55 | > Processing TUD-Stadtmitte.<br>
56 | > Processing TUD-Campus.<br>
57 | > Processing KITTI-17.<br>
58 | > Processing PETS09-S2L1.<br>
59 | > Processing Venice-2.<br>
60 | > Processing ETH-Sunnyday.<br>
61 | > Processing KITTI-13.<br>
62 | > Total Tracking took: 6.033 seconds for 5500 frames or 911.6 FPS<br>
63 | 
64 | Swift(Xcode) output:<br>
65 | > processing ADL-Rundle-6.txt<br>
66 | > processing TUD-Campus.txt<br>
67 | > processing ETH-Sunnyday.txt<br>
68 | > processing KITTI-17.txt<br>
69 | > processing ETH-Pedcross2.txt<br>
70 | > processing KITTI-13.txt<br>
71 | > processing TUD-Stadtmitte.txt<br>
72 | > processing Venice-2.txt<br>
73 | > processing PETS09-S2L1.txt<br>
74 | > processing ETH-Bahnhof.txt<br>
75 | > processing ADL-Rundle-8.txt<br>
76 | > Total Tracking took: 8.434 seconds for 5500 frames or 652.14 FPS<br>
77 | 


--------------------------------------------------------------------------------
/Sources/TrackSS/LInearAssignment.swift:
--------------------------------------------------------------------------------
  1 | //
  2 | //  LInearAssignment.swift
  3 | //  demo
  4 | //
  5 | //  Created by Shreshth Saxena on 08/09/20.
  6 | //  Copyright © 2020 Apple. All rights reserved.
  7 | //
  8 | 
  9 | import Foundation
 10 | import Upsurge
 11 | 
 12 | public class HunSolver {
 13 |     private var matrix: Matrix<Double>
 14 |     private var matrixMax: Matrix<Double>?
 15 |     private var maximization: Bool
 16 |     private var maxdif: Int
 17 |     private var maximum: Double
 18 |     private var match: [Int]
 19 |     private var vis: [Bool]
 20 |     private var adjM: [[Int]]
 21 |     private var zeros: [(Int, Int)]
 22 | 
 23 |     // Init
 24 |     // Cost: O(n^2)
 25 |     public init?(matrix:[[Double]], maxim: Bool = false) {
 26 |         self.maximization = maxim
 27 |         self.match = [Int]()
 28 |         self.vis = [Bool]()
 29 |         self.adjM = [[Int]]()
 30 |         self.zeros = [(Int, Int)]()
 31 |         if matrix.count == 0 || matrix[0].count == 0 {
 32 |             return nil
 33 |         }
 34 |         let f = matrix.count
 35 |         let c = matrix[0].count
 36 |         self.maxdif = abs(f-c)
 37 |         let n = max(f,c)
 38 |         self.matrix = Matrix(rows: n, columns: n, repeatedValue: 0)
 39 |         self.maximum = 0
 40 |         if self.maximization {
 41 |             for i in 0..<f {
 42 |                 for j in 0..<c {
 43 |                     if self.maximum < matrix[i][j] {
 44 |                         self.maximum = matrix[i][j]
 45 |                     }
 46 |                 }
 47 |             }
 48 |             self.matrixMax = Matrix(rows: n, columns: n, repeatedValue: maximum)
 49 |         }
 50 |         for i in 0...n {
 51 |             if i < f {
 52 |                 for j in 0...n {
 53 |                     if j < c {
 54 |                         if matrix[i][j] == Double.infinity || matrix[i][j].isNaN || matrix[i][j] < 0 {
 55 |                             return nil
 56 |                         }
 57 |                         if self.maximization {
 58 |                             self.matrix[i,j] = maximum - matrix[i][j]
 59 |                             self.matrixMax![i,j] = matrix[i][j]
 60 |                         } else {
 61 |                             self.matrix[i,j] = matrix[i][j]
 62 |                         }
 63 |                     }
 64 |                 }
 65 |             }
 66 |         }
 67 |         if !self.maximization {
 68 |             self.matrixMax = nil
 69 |         }
 70 |     }
 71 | 
 72 |     // Solve the assignment problem
 73 |     // Cost: O(n^4)
 74 |     public func solve() -> (Double, [(Int, Int)]){
 75 |         var resultMatrix = self.matrix.copy()
 76 |         // 1: substract the minimum of each row
 77 |         for i in 0..<self.matrix.rows {
 78 |             let mi_minimo = resultMatrix.row(i).min()
 79 |             for j in 0..<self.matrix.columns {
 80 |                 resultMatrix[i,j] -= mi_minimo!
 81 |             }
 82 |         }
 83 | 
 84 |         // 2: substract the minimum of each column
 85 |         let costesT = (self.matrix)′
 86 |         resultMatrix = (resultMatrix)′
 87 | 
 88 |         for i in 0..<costesT.rows {
 89 |             let mi_minimo = resultMatrix.row(i).min()
 90 |             for j in 0..<costesT.columns {
 91 |                 resultMatrix[i,j] -= mi_minimo!
 92 |             }
 93 |         }
 94 |         resultMatrix = (resultMatrix)′
 95 | 
 96 |         // 3: Obtain the maximum matching in the reduced cost matrix
 97 |         var pos = [(Int,Int)] ()
 98 |         // In each loop, the cardinal of the matching increases at least in one, so this loop runs n times
 99 |         while (pos.count < self.matrix.rows){
100 |             pos = obtainMatches(matrix: resultMatrix)
101 |             if pos.count < self.matrix.rows {
102 |                 // 4: Substract the minimum to not crossed elements and add it to double crossed elements
103 |                 resultMatrix = adjustMatrix(resultMatrix, pos)
104 |             }
105 | 
106 |         }
107 | 
108 |         // 5: Obtain the final cost
109 |         var cost:Double = 0
110 |         for (i,j) in pos {
111 |             if self.maximization {
112 |                 cost += self.matrixMax![i,j]
113 |             } else {
114 |                 cost += self.matrix[i,j]
115 |             }
116 |         }
117 |         if self.maximization {
118 |             cost -= self.maximum*Double(self.maxdif)
119 |         }
120 |         return (cost, pos)
121 |     }
122 | 
123 | 
124 |     // Create the lines through the matrix and add or substract the minimum
125 |     // O(n^2)
126 |     private func adjustMatrix(_ mat: Matrix<Double>, _ mark: [(Int,Int)]) -> Matrix<Double> {
127 |         var rows = [[Int]](repeating: [Int](repeating: 0, count: mat.rows), count: mat.rows)
128 |         var columns = [[Int]](repeating: [Int](repeating: 0, count: mat.rows), count: mat.rows)
129 |         var markR = [Bool](repeating: false, count: mat.rows)
130 |         var markC = [Bool](repeating: false, count: mat.rows)
131 | 
132 |         for elem in self.zeros {                                                        // O(n^2)
133 |             rows[elem.0][elem.1] = 1
134 |             columns[elem.1][elem.0] = 1
135 |         }
136 | 
137 |         for elem in mark {                                                          // O(n)
138 |             rows[elem.0][elem.1] = 2
139 |             columns[elem.1][elem.0] = 2
140 |         }
141 | 
142 |         for i in 0..<mat.rows {                                                         // O(n)
143 |             if rows[i].max()! < 2 && !markR[i] {
144 |                 markR[i] = true
145 |                 if rows[i].max()! == 1 {
146 |                     let idx = rows[i].indices.filter { rows[i][$0] == 1  }
147 |                     for e in idx {
148 |                         rows[i][e] = 3
149 |                         columns[e][i] = 3
150 |                     }
151 |                 }
152 |             }
153 |         }
154 |         var auxf = markR
155 |         var auxc = markC
156 | 
157 |         while true {                                                                    // O(n) * O(body) = O(n^2)
158 |             for i in 0..<mat.rows {                                                             // O(n)
159 |                 if columns[i].max()! == 3 {
160 |                     markC[i] = true
161 |                     let idx = columns[i].indices.filter { columns[i][$0] == 2  }
162 |                     for e in idx {
163 |                         rows[e][i] = 0
164 |                         columns[i][e] = 0
165 |                     }
166 |                 }
167 |             }
168 | 
169 |             for i in 0..<mat.rows {                                                             // O(n)
170 |                 if rows[i].max()! < 2 && !markR[i] {
171 |                     markR[i] = true
172 |                     if rows[i].max()! == 1 {
173 |                         let idx = rows[i].indices.filter { rows[i][$0] == 1  }
174 |                         for e in idx {
175 |                             rows[i][e] = 3
176 |                             columns[e][i] = 3
177 |                         }
178 |                     }
179 |                 }
180 |             }
181 |             if auxf == markR && auxc == markC {
182 |                 break
183 |             } else {
184 |                 auxf = markR
185 |                 auxc = markC
186 |             }
187 |         }
188 | 
189 |         var minimum = Double.infinity
190 |         for i in 0..<mat.rows {                                                         // O(n^2)
191 |             if markR[i]{
192 |                 for j in 0..<mat.rows {
193 |                     if !markC[j] && mat[i,j] < minimum {
194 |                         minimum = mat[i,j]
195 |                     }
196 |                 }
197 |             }
198 |         }
199 |         for i in 0..<mat.rows {                                                         // O(n^2)
200 |             if markR[i]{
201 |                 for j in 0..<mat.rows{
202 |                     mat[i,j] -= minimum
203 |                 }
204 |             }
205 |             if !markC[i]{
206 |                 for j in 0..<mat.rows{
207 |                     mat[j,i] -= minimum
208 |                 }
209 |             }
210 |         }
211 |         for i in 0..<mat.rows {                                                         // O(n^2)
212 |             for j in 0..<mat.rows {
213 |                 mat[i,j] += minimum
214 |             }
215 |         }
216 | 
217 |         return mat
218 |     }
219 | 
220 |     private func augment(_ l: Int) -> Int {
221 |         if self.vis[l] {
222 |             return 0
223 |         }
224 |         self.vis[l] = true
225 |         for i in 0..<self.adjM[l].count {
226 |             let r = adjM[l][i]
227 |             if self.match[r] == -1 || augment(self.match[r]) == 1 {
228 |                 self.match[r] = l
229 |                 return 1
230 |             }
231 |         }
232 |         return 0
233 |     }
234 | 
235 |     // Obtain maximum cost matching
236 |     // Extracted from Competitive Programming 3 section 4.7.4
237 |     // Coste: O(VE) = O(n^3)
238 |     private func obtainMatches(matrix mat: Matrix<Double>) -> [(Int, Int)] {
239 |         var MCBM = 0
240 |         self.adjM = [[Int]]()
241 |         self.zeros = [(Int,Int)]()
242 |         for i in 0..<mat.rows {
243 |             self.adjM.append([])
244 |             for j in 0..<mat.rows {
245 |                 if mat[i,j] == 0 {
246 |                     self.adjM[i].append(j + mat.rows)
247 |                     self.zeros.append((i,j))
248 |                 }
249 |             }
250 |         }
251 |         self.match = [Int](repeating: -1, count: mat.rows*2)
252 |         for l in 0..<mat.rows {
253 |             self.vis = [Bool](repeating: false, count: mat.rows)
254 |             MCBM += augment(l)
255 |         }
256 |         var positions = [(Int,Int)]()
257 |         for i in mat.rows..<mat.rows*2 {
258 |             if self.match[i] != -1 {
259 |                 positions.append((self.match[i], i-mat.rows))
260 |             }
261 |         }
262 |         return(positions)
263 |     }
264 | }
265 | 


--------------------------------------------------------------------------------
/Sources/TrackSS/TrackSS.swift:
--------------------------------------------------------------------------------
  1 | //
  2 | //  test_frames.swift
  3 | //  SORT
  4 | //
  5 | //  Created by Shreshth Saxena on 24/09/20.
  6 | //
  7 | 
  8 | import Foundation
  9 | import KalmanFilter
 10 | 
 11 | /**
 12 |  Computes IUO between two bboxes in the form [l,t,w,h]
 13 |  */
 14 | public func iou(bb_test:Array<Double>,bb_gt:Array<Double>) -> Double{
 15 |     let xx1 = max(bb_test[0], bb_gt[0])
 16 |     let yy1 = max(bb_test[1], bb_gt[1])
 17 |     let xx2 = min(bb_test[2], bb_gt[2])
 18 |     let yy2 = min(bb_test[3], bb_gt[3])
 19 |     let w = max(0, xx2 - xx1)
 20 |     let h = max(0, yy2 - yy1)
 21 |     let wh = w * h
 22 |     let o = Double(wh) / Double(((bb_test[2]-bb_test[0])*(bb_test[3]-bb_test[1])
 23 |       + (bb_gt[2]-bb_gt[0])*(bb_gt[3]-bb_gt[1]) - wh))
 24 |     return(o)
 25 | }
 26 | 
 27 | /**
 28 | Takes a bounding box in the form [x1,y1,x2,y2] and returns z in the form
 29 |     [x,y,s,r] where x,y is the centre of the box and s is the scale/area and r is
 30 |     the aspect ratio
 31 |  */
 32 | public func convert_bbox_to_z(bbox_int:Array<Double>)->Array<Double>{
 33 |   let bbox = bbox_int.map({ Double($0) })
 34 |   let w = bbox[2] - bbox[0]
 35 |   let h = bbox[3] - bbox[1]
 36 |   let x = bbox[0] + w/2
 37 |   let y = bbox[1] + h/2
 38 |   let s = w * h //scale = area
 39 |   let r = w / h
 40 |     return [x, y, s, r]
 41 | }
 42 | 
 43 | /**
 44 |  Takes a bounding box in the centre form [x,y,s,r] and returns it in the form
 45 |      [x1,y1,x2,y2] where x1,y1 is the top left and x2,y2 is the bottom right
 46 |  */
 47 | public func convert_x_to_bbox(x:Array<Double>)->Array<Double>{
 48 |     let w = sqrt(Double(x[2] * x[3]))
 49 |     let h = x[2] / w
 50 |     return [x[0]-w/2,x[1]-h/2,x[0]+w/2,x[1]+h/2]
 51 | }
 52 | 
 53 | var lastId = 0
 54 | 
 55 | /**
 56 |  This class represents the internal state of individual tracked objects observed as bbox.
 57 |  */
 58 | public class KalmanTracker{
 59 |     public var id:Int
 60 |     public var hits:Int
 61 |     public var hit_streak:Int
 62 |     public var age:Int
 63 |     public var time_since_update:Int
 64 |     public var history:Array<Array<Double>>
 65 |     public var x:KMatrix   //state vector
 66 |     public var P:KMatrix  //initial state uncertainity
 67 |     public let B:KMatrix   //control matrix
 68 |     public let u:KMatrix   //control vector
 69 |     public let F:KMatrix   //next state fn
 70 |     public let H:KMatrix   //measurement fn
 71 |     public var R:KMatrix   //mesurement uncertainity
 72 |     public let Q:KMatrix  //process uncertainity
 73 |     public lazy var kalmanFilter = KalmanFilter(stateEstimatePrior: x, errorCovariancePrior: P)
 74 |     
 75 |     /**
 76 |      Initialises a tracker using initial bounding box.
 77 |      */
 78 |     public init(bbox: Array<Double>){
 79 |         self.x = KMatrix(grid: convert_bbox_to_z(bbox_int: bbox)+[0,0,0], rows: 7, columns: 1)
 80 |         self.P = KMatrix(grid: [10,0,0,0,0,0,0, 0,10,0,0,0,0,0, 0,0,10,0,0,0,0, 0,0,0,10,0,0,0, 0,0,0,0,10000,0,0, 0,0,0,0,0,10000,0, 0,0,0,0,0,0,10000], rows: 7, columns: 7)
 81 |         self.B = KMatrix(identityOfSize: 7)
 82 |         self.u = KMatrix(vector: [0, 0, 0, 0, 0, 0, 0])
 83 |         self.F = KMatrix(grid: [1,0,0,0,1,0,0, 0,1,0,0,0,1,0, 0,0,1,0,0,0,1, 0,0,0,1,0,0,0, 0,0,0,0,1,0,0, 0,0,0,0,0,1,0, 0,0,0,0,0,0,1], rows: 7, columns: 7)
 84 |         self.H = KMatrix(grid: [1,0,0,0,0,0,0, 0,1,0,0,0,0,0, 0,0,1,0,0,0,0, 0,0,0,1,0,0,0], rows: 4, columns: 7)
 85 |         self.R = KMatrix(grid: [1,0,0,0, 0,1,0,0, 0,0,10,0, 0,0,0,10], rows: 4, columns: 4)
 86 |         self.Q = KMatrix(grid: [1,0,0,0,0,0,0, 0,1,0,0,0,0,0, 0,0,1,0,0,0,0, 0,0,0,1,0,0,0, 0,0,0,0,0.01,0,0, 0,0,0,0,0,0.01,0, 0,0,0,0,0,0,0.0001], rows: 7, columns: 7)
 87 |         self.id = lastId; lastId+=1
 88 |         self.time_since_update = 0
 89 |         self.hits = 0
 90 |         self.hit_streak = 0
 91 |         self.age = 0
 92 |         self.history = []
 93 |         self.kalmanFilter = KalmanFilter(stateEstimatePrior: self.x, errorCovariancePrior: self.P)
 94 |     }
 95 |     
 96 |     public func describe(){
 97 |         print("id:",self.id, "bbox:",self.get_state(), "time_since_update:",self.time_since_update, "hits:",self.hits, "hit_streak:", self.hit_streak, "age:", self.age)
 98 |     }
 99 |     
100 |     /**
101 |      Updates the state vector with observed bbox.
102 |      */
103 |     public func update(bbox: Array<Double>){
104 |         self.time_since_update = 0
105 |         self.history = []
106 |         self.hits += 1
107 |         self.hit_streak += 1
108 |         let z = KMatrix(grid: convert_bbox_to_z(bbox_int: bbox), rows: 4, columns: 1)
109 |         self.kalmanFilter = self.kalmanFilter.update(measurement: z, observationModel: H, covarienceOfObservationNoise: R)
110 |     }
111 |     
112 |     /**
113 |      Advances the state vector and returns the predicted bounding box estimate.
114 |      */
115 |     public func predict()->Array<Double>{
116 |         self.kalmanFilter = self.kalmanFilter.predict(stateTransitionModel: self.F, controlInputModel: self.B, controlVector: self.u, covarianceOfProcessNoise: self.Q)
117 |         self.age+=1
118 |         if self.time_since_update > 0{ self.hit_streak = 0 }
119 |         self.time_since_update+=1
120 |         self.history.append(convert_x_to_bbox(x: self.kalmanFilter.stateEstimatePrior.grid))
121 |         return self.history.last!
122 |     }
123 |     
124 |     public func get_state()->Array<Double>{
125 |         return convert_x_to_bbox(x: self.kalmanFilter.stateEstimatePrior.grid)
126 |     }
127 |     
128 | }
129 | 
130 | /**
131 |  Assigns detections to tracked object (both represented as bounding boxes)
132 |  Returns 3 lists of matches, unmatched_detections and unmatched_trackers
133 |  */
134 | public func associate_detections_to_trackers(detections: Array<Array<Double>>,trackers: Array<Array<Double>>,iou_threshold:Double = 0.3) -> ([(Int,Int)],[Int],[Int]){
135 |     if trackers.count == 0{
136 |         return ([],Array(0..<detections.count),[])
137 |     }
138 |     
139 |     var iou_matrix:[[Double]] = Array(repeating: Array(repeating: 0, count: trackers.count), count: detections.count)
140 |     
141 |     for (d,det) in detections.enumerated(){
142 |         for (t,trk) in trackers.enumerated(){
143 |             iou_matrix[d][t] = iou(bb_test: det,bb_gt: trk)
144 |         }
145 |     }
146 |     let h = HunSolver(matrix: iou_matrix, maxim: true)
147 |     guard let matched_indices = h?.solve() else{
148 |         return ([],Array(0..<detections.count),Array(0..<trackers.count))
149 |     }
150 |     var unmatched_detections:[Int] = []
151 |     var unmatched_trackers:[Int] = []
152 |     
153 |     //filter out matched with low IOU
154 |     var matches:[(Int,Int)] = []
155 |     for m in matched_indices.1{
156 |         if m.1 >= trackers.count{
157 |             unmatched_detections.append(m.0)
158 |         }
159 |         else if m.0 >= detections.count{
160 |             unmatched_trackers.append(m.1)
161 |         }
162 |         else if iou_matrix[m.0][m.1] < iou_threshold{
163 |             unmatched_detections.append(m.0)
164 |             unmatched_trackers.append(m.1)
165 |         }
166 |         else{
167 |             matches.append(m)
168 |         }
169 |     }
170 |     return (matches, unmatched_detections, unmatched_trackers)
171 | }
172 | 
173 | public class TrackerSS{
174 |     public var trackers:Array<KalmanTracker>
175 |     public var min_hits: Int
176 |     public var max_age: Int
177 |     public var frame_count:Int
178 |     public var more_than_one_active = false
179 |     public var patience = 0
180 |     public var creationTime: Date
181 |     public var iou_threshold:Double
182 |     
183 |     /**
184 |      Sets key parameters for SORT
185 |      */
186 |     public init(max_age: Int=1 ,min_hits: Int=3, iou_threshold:Double = 0.3){
187 |         self.trackers = [] //depends on where you invoke SORT
188 |         self.min_hits = min_hits
189 |         self.max_age = max_age
190 |         self.frame_count = 0
191 |         self.iou_threshold = iou_threshold
192 |         self.creationTime = Date()
193 |         lastId = 0
194 |     }
195 |     
196 |     /**
197 |        dets - an Int array of detections in the format [[x1,y1,x2,y2],[x1,y1,x2,y2],...]
198 |        Requires: this method must be called once for each frame .
199 |        Returns an array, where the last column is the object ID.
200 |        NOTE: The number of objects returned may differ from the number of detections provided.
201 |      */
202 |     public func update(dets: Array<Array<Double>>)->Array<Array<Double>>{
203 |         var ret:Array<Array<Double>> = []
204 |         self.frame_count += 1
205 |         
206 |         let trks = self.trackers.map({$0.predict()})
207 |         let (matched,unmatched_dets,_) = associate_detections_to_trackers(detections: dets, trackers: trks)
208 | //        print("matches",matched)
209 |         
210 |         for m in matched{
211 |             self.trackers[m.1].update(bbox: dets[m.0]) //update bbox
212 |         }
213 |         
214 |         for i in unmatched_dets{ self.trackers.append(KalmanTracker(bbox: dets[i])) }
215 |         
216 |         var i = self.trackers.count
217 |         for trk in self.trackers.reversed(){
218 |             let d = trk.get_state()
219 |             if trk.time_since_update < 1 && (trk.hit_streak >= self.min_hits || self.frame_count <= self.min_hits){
220 |                 ret.append(d+[Double(trk.id+1)])
221 |             }
222 |             i-=1
223 |             if trk.time_since_update>self.max_age{
224 |                 self.trackers.remove(at: i)
225 |             }
226 |         }
227 | //        print("trackers", self.trackers.count)
228 |         
229 |         if ret.count > 0{
230 |             return ret
231 |         }
232 |         return []
233 |         
234 |     }
235 |     
236 | }
237 | 
238 | 
239 | 
240 | 


--------------------------------------------------------------------------------
/Tests/LinuxMain.swift:
--------------------------------------------------------------------------------
1 | import XCTest
2 | 
3 | import TrackSSTests
4 | 
5 | var tests = [XCTestCaseEntry]()
6 | tests += TrackSSTests.allTests()
7 | XCTMain(tests)
8 | 


--------------------------------------------------------------------------------
/Tests/TrackSSTests/TrackSSTests.swift:
--------------------------------------------------------------------------------
 1 | import XCTest
 2 | @testable import TrackSS
 3 | 
 4 | final class TrackSSTests: XCTestCase {
 5 |     
 6 | //    func testExample() {
 7 | //        let T = TrackerSS()
 8 | //        var i = 0
 9 | //        for f in frames{
10 | //            print("/////new frame", f.count, i); i+=1
11 | //            let ops = T.update(dets: f)
12 | //            for op in ops{ print(op)}
13 | //        }
14 | //    }
15 |     
16 |     func testMOT() {
17 |         var total_time:Double = 0
18 |         var total_frames = 0
19 |         
20 |         do{
21 |             let fileurls = try FileManager.default.contentsOfDirectory(at: URL(string: "/Users/xx/Documents/data")!, includingPropertiesForKeys: nil)
22 | //            let fname = fileurls.first
23 |             for fname in fileurls.filter({ $0.pathExtension == "txt"}){
24 |                 let T = TrackerSS()
25 |                 let textcontent = try String(contentsOf: fname)
26 |                 print("processing",fname.lastPathComponent)
27 |                 var arr = textcontent.components(separatedBy: "\n").map({ $0.components(separatedBy: ",")})
28 |                 arr.removeLast()
29 |                 let no_of_frames = arr.map({ Int($0[0])! }).max()
30 |                 for frame in 1...no_of_frames!{
31 | //                    let str = arr.filter({ Int($0[0]) == frame })
32 | //                    let int = str.map({$0[2..<7]})
33 |                     total_frames += 1
34 |                     var dets:Array<Array<Double>> = []
35 |                     for row in arr.filter({ Int($0[0]) == frame }){
36 |                         let temp = row[2..<7].map({ Double($0)! })
37 |                         dets.append([temp[0],temp[1],temp[2]+temp[0],temp[3]+temp[1]])
38 |                     }
39 |                     let start_time = DispatchTime.now()
40 |                     let ops = T.update(dets: dets)
41 |                     let cycle_time = Double(DispatchTime.now().uptimeNanoseconds - start_time.uptimeNanoseconds)/1000000000
42 |                     total_time += cycle_time
43 | //                    for op in ops{ print(op) } // or to output.txt
44 |                 }
45 |             }
46 |             print("Total Tracking took: \(total_time) seconds for \(total_frames) frames or \(Double(total_frames)/total_time) FPS")
47 |         } catch let error{ print("ERROR", error) }
48 |     }
49 |     
50 | 
51 |     static var allTests = [
52 |         ("testMOT", testMOT)
53 |     ]
54 | }
55 | 


--------------------------------------------------------------------------------
/Tests/TrackSSTests/XCTestManifests.swift:
--------------------------------------------------------------------------------
 1 | import XCTest
 2 | 
 3 | #if !canImport(ObjectiveC)
 4 | public func allTests() -> [XCTestCaseEntry] {
 5 |     return [
 6 |         testCase(TrackSSTests.allTests),
 7 |     ]
 8 | }
 9 | #endif
10 | 


--------------------------------------------------------------------------------
/TrackSS.podspec:
--------------------------------------------------------------------------------
 1 | Pod::Spec.new do |spec|
 2 | spec.name         = "TrackSS"
 3 | spec.version      = "1.0.0"
 4 | spec.summary      = "Sort based Object Tracker in Swift"
 5 | spec.description  = <<-DESC
 6 | open to any improvements/corrections
 7 | DESC
 8 | spec.license      = { :type => "MIT", :file => "LICENSE" }
 9 | spec.author             = { "author" => "shreshth.saxena@outlook.com" }
10 | spec.platforms = { :ios => "13.0", :osx => "10.15", :watchos => "6.0" }
11 | spec.swift_version = "5.3"
12 | spec.source       = { :git => "https://github.com/ShreshthSaxena/TrackSS.git", :tag => "#{1.0.0}" }
13 | spec.source_files  = "Sources/TrackSS/**/*.swift"
14 | spec.xcconfig = { "SWIFT_VERSION" => "5.3" }
15 | spec.dependency '{ :git => "https://github.com/ShreshthSaxena/KalmanFilter.git", :tag => "#{1.0.0}" }'
16 | spec.dependency '{ :git => "https://github.com/ShreshthSaxena/Upsurge.git", :tag => "#{1.0.0}" }'
17 | end
18 | 


--------------------------------------------------------------------------------
/data/KITTI-13.txt:
--------------------------------------------------------------------------------
  1 | 4,-1,748.744,152.562,32.441,55.121,0.672558,-1,-1,-1
  2 | 5,-1,747.246,152.965,34.561,53.954,0.778875,-1,-1,-1
  3 | 6,-1,748.641,148.834,36.75,59.915,0.74036,-1,-1,-1
  4 | 7,-1,749.307,154.543,32.616,49.33,0.785546,-1,-1,-1
  5 | 8,-1,752.551,155.509,31.128,54.674,0.513309,-1,-1,-1
  6 | 9,-1,753.119,155.186,34.286,53.283,0.794882,-1,-1,-1
  7 | 9,-1,773.655,161.69,39.325,57.74,0.518777,-1,-1,-1
  8 | 11,-1,774.858,166.915,30.478,50.537,0.834827,-1,-1,-1
  9 | 11,-1,760.029,151.341,31.082,55.422,0.760953,-1,-1,-1
 10 | 12,-1,152.415,191.835,42.302,80.74,0.817165,-1,-1,-1
 11 | 12,-1,770.034,158.027,32.983,57.26,0.755515,-1,-1,-1
 12 | 12,-1,707.342,143.974,24.891,65.596,0.642924,-1,-1,-1
 13 | 13,-1,772.371,152.651,37.152,68.625,0.768328,-1,-1,-1
 14 | 13,-1,803.566,156.363,36.349,67.893,0.678682,-1,-1,-1
 15 | 13,-1,711.861,140.141,26.274,60.681,0.54418,-1,-1,-1
 16 | 14,-1,797.376,153.551,34.34,61.858,0.817447,-1,-1,-1
 17 | 15,-1,159.523,150.178,40.793,90.864,0.768277,-1,-1,-1
 18 | 15,-1,798.524,157.434,38.98,44.582,0.63912,-1,-1,-1
 19 | 15,-1,67.7724,202.688,45.4466,73.471,0.555112,-1,-1,-1
 20 | 16,-1,794.938,159.621,41.973,72.547,0.863212,-1,-1,-1
 21 | 16,-1,819.651,161.193,34.762,52.196,0.659789,-1,-1,-1
 22 | 17,-1,135.633,153.144,41.49,86.733,0.956905,-1,-1,-1
 23 | 17,-1,808.606,163.96,35.347,82.649,0.797742,-1,-1,-1
 24 | 18,-1,812.723,157.053,41.128,91.411,0.959443,-1,-1,-1
 25 | 18,-1,119.39,140.098,35.673,86.591,0.855876,-1,-1,-1
 26 | 18,-1,746.098,153.731,31.764,73.961,0.562936,-1,-1,-1
 27 | 18,-1,365.71,135.083,32.465,79.015,0.525722,-1,-1,-1
 28 | 19,-1,845.271,176.797,32.338,66.41,0.928207,-1,-1,-1
 29 | 19,-1,872.699,178.616,36.876,67.415,0.891371,-1,-1,-1
 30 | 20,-1,848.949,172.571,36.007,66.262,0.931839,-1,-1,-1
 31 | 20,-1,896.779,177.094,32.736,70.255,0.865945,-1,-1,-1
 32 | 20,-1,867.44,173.153,47.074,69.427,0.751045,-1,-1,-1
 33 | 20,-1,741.765,161.398,36.971,67.257,0.519854,-1,-1,-1
 34 | 21,-1,862.049,168.807,36.478,69.78,0.968138,-1,-1,-1
 35 | 21,-1,908.617,155.248,41.186,83.717,0.923476,-1,-1,-1
 36 | 22,-1,866.092,151.197,52.259,87.884,0.961027,-1,-1,-1
 37 | 22,-1,927.238,161.261,36.511,86.647,0.910485,-1,-1,-1
 38 | 22,-1,894.166,166.043,37.134,87.848,0.858234,-1,-1,-1
 39 | 23,-1,905,169.985,39.552,93.144,0.964608,-1,-1,-1
 40 | 23,-1,950.865,171.878,32.368,87.581,0.927545,-1,-1,-1
 41 | 23,-1,14.3844,151.489,34.3745,77.745,0.798719,-1,-1,-1
 42 | 24,-1,920.733,150.756,40.152,108.888,0.975966,-1,-1,-1
 43 | 24,-1,967.972,161.386,52.978,93.662,0.966275,-1,-1,-1
 44 | 25,-1,998.636,163.098,46.804,121.325,0.985889,-1,-1,-1
 45 | 25,-1,938.081,167.052,46.145,98.605,0.985033,-1,-1,-1
 46 | 26,-1,1039.71,161.036,52.66,134.575,0.985799,-1,-1,-1
 47 | 26,-1,967.292,171.682,69.818,111.272,0.976018,-1,-1,-1
 48 | 27,-1,1067.76,149.432,58.22,160.938,0.989987,-1,-1,-1
 49 | 27,-1,991.907,151.36,84.533,140.021,0.969486,-1,-1,-1
 50 | 28,-1,1112.75,156.955,61.94,155.409,0.989689,-1,-1,-1
 51 | 28,-1,1046.26,150.753,55.14,144.618,0.984231,-1,-1,-1
 52 | 29,-1,1101.67,134.773,72.46,184.894,0.99115,-1,-1,-1
 53 | 29,-1,1190.58,140.167,50.42,176.518,0.966419,-1,-1,-1
 54 | 30,-1,1148.01,135.801,79.32,210.078,0.996967,-1,-1,-1
 55 | 32,-1,791.86,163.656,45.182,66.71,0.745345,-1,-1,-1
 56 | 36,-1,358.675,168.444,42.541,52.843,0.722695,-1,-1,-1
 57 | 37,-1,370.528,158.561,34.399,64.763,0.702973,-1,-1,-1
 58 | 39,-1,351.273,165.974,36.52,75.344,0.946696,-1,-1,-1
 59 | 40,-1,336.329,171.638,42.704,60.229,0.807638,-1,-1,-1
 60 | 41,-1,325.819,170.206,41.149,58.926,0.770187,-1,-1,-1
 61 | 42,-1,308.793,175.611,32.213,63.192,0.910014,-1,-1,-1
 62 | 43,-1,298.91,179.948,34.764,61.686,0.960944,-1,-1,-1
 63 | 43,-1,189.992,160.966,34.041,83.297,0.550861,-1,-1,-1
 64 | 43,-1,602.48,130.973,35.131,55.837,0.513429,-1,-1,-1
 65 | 44,-1,283.958,189.573,34.891,62.869,0.982689,-1,-1,-1
 66 | 44,-1,162.367,150.922,41.934,85.054,0.747439,-1,-1,-1
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 68 | 45,-1,264.25,174.994,39.351,79.949,0.985279,-1,-1,-1
 69 | 45,-1,140.791,160.146,35.713,85.324,0.892299,-1,-1,-1
 70 | 46,-1,234.423,186.787,36.928,80.315,0.982001,-1,-1,-1
 71 | 46,-1,124.147,153.189,37.519,90.632,0.792147,-1,-1,-1
 72 | 46,-1,598.021,141.783,39.653,47.802,0.556356,-1,-1,-1
 73 | 47,-1,213.932,188.527,35.698,77.89,0.978796,-1,-1,-1
 74 | 47,-1,101.322,162.234,38.992,83.118,0.962927,-1,-1,-1
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 76 | 48,-1,190.753,184.647,43.734,87.484,0.987996,-1,-1,-1
 77 | 48,-1,76.2089,141.612,40.6991,111.505,0.681593,-1,-1,-1
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 79 | 49,-1,45.1315,159.589,43.1403,97.022,0.978247,-1,-1,-1
 80 | 49,-1,591.41,135.294,44.006,46.346,0.873147,-1,-1,-1
 81 | 50,-1,131.19,192.547,44.51,93.536,0.975515,-1,-1,-1
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 83 | 50,-1,587.844,134.133,44.47,42.605,0.691708,-1,-1,-1
 84 | 51,-1,91.2313,178.729,60.3657,120.214,0.992598,-1,-1,-1
 85 | 51,-1,583.325,145.309,53.65,56.243,0.859156,-1,-1,-1
 86 | 51,-1,1209.63,193.364,29.47,129.929,0.850869,-1,-1,-1
 87 | 52,-1,50.5561,194.691,54.6389,119.003,0.991923,-1,-1,-1
 88 | 52,-1,586.462,131.392,45.981,65.645,0.889153,-1,-1,-1
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 93 | 54,-1,339.466,161.913,38.662,78.363,0.716031,-1,-1,-1
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100 | 57,-1,580.371,135.399,50.007,55.624,0.688715,-1,-1,-1
101 | 57,-1,321.528,158.956,44.32,75.191,0.57479,-1,-1,-1
102 | 57,-1,754.287,138.204,39.136,79.771,0.558958,-1,-1,-1
103 | 58,-1,570.575,130.316,56.11,71.611,0.891138,-1,-1,-1
104 | 58,-1,306.455,158.209,41.895,104.532,0.738981,-1,-1,-1
105 | 59,-1,287.469,165.77,39.855,86.484,0.879883,-1,-1,-1
106 | 59,-1,582.829,127.492,44.333,62.1,0.57735,-1,-1,-1
107 | 60,-1,256.528,172.511,48.133,85.698,0.972166,-1,-1,-1
108 | 60,-1,730.052,141.929,30.085,78.163,0.749969,-1,-1,-1
109 | 60,-1,571.03,137.599,43.724,54.822,0.676522,-1,-1,-1
110 | 61,-1,232.3,169.555,52.316,91.393,0.942508,-1,-1,-1
111 | 61,-1,576.22,138.759,45.098,52.833,0.902857,-1,-1,-1
112 | 61,-1,729.4,153.765,28.28,64.237,0.857582,-1,-1,-1
113 | 61,-1,782.54,154.97,28.163,74.82,0.711455,-1,-1,-1
114 | 61,-1,458.046,139.614,29.578,71.676,0.681246,-1,-1,-1
115 | 61,-1,439.119,133.135,30.743,79.501,0.535243,-1,-1,-1
116 | 62,-1,206.036,165.182,60.813,114.365,0.94615,-1,-1,-1
117 | 62,-1,572.072,129,38.837,66.522,0.928806,-1,-1,-1
118 | 62,-1,727.735,152.045,32.828,70.88,0.890766,-1,-1,-1
119 | 62,-1,778.407,161.518,35.819,76.606,0.869295,-1,-1,-1
120 | 62,-1,437.324,129.91,34.329,76.958,0.856984,-1,-1,-1
121 | 63,-1,181.217,163.921,52.895,108.212,0.991905,-1,-1,-1
122 | 63,-1,441.685,119.162,39.788,91.125,0.922111,-1,-1,-1
123 | 63,-1,563.739,136.507,48.539,66.898,0.77578,-1,-1,-1
124 | 63,-1,787.423,150.054,36.609,95.929,0.680451,-1,-1,-1
125 | 63,-1,729.637,157.06,34.549,69.806,0.607819,-1,-1,-1
126 | 63,-1,869.518,157.651,29.411,78.467,0.552038,-1,-1,-1
127 | 64,-1,151.218,151.241,62.094,141.666,0.991781,-1,-1,-1
128 | 64,-1,799.12,159.326,36.713,80.199,0.978511,-1,-1,-1
129 | 64,-1,428.245,126.203,35.791,82.425,0.931756,-1,-1,-1
130 | 64,-1,779.65,164.017,36.05,78.322,0.612054,-1,-1,-1
131 | 64,-1,743.935,158.443,35.791,64.159,0.599363,-1,-1,-1
132 | 64,-1,564.951,130.03,46.057,76.198,0.590103,-1,-1,-1
133 | 65,-1,118.723,160.78,56.036,139.048,0.980634,-1,-1,-1
134 | 65,-1,798.651,158.082,36.226,90.858,0.953829,-1,-1,-1
135 | 65,-1,427.352,124.854,37.931,90.025,0.877596,-1,-1,-1
136 | 65,-1,568.573,127.306,42.498,65.326,0.815463,-1,-1,-1
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946 | 


--------------------------------------------------------------------------------
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322 | 


--------------------------------------------------------------------------------
/data/TUD-Stadtmitte.txt:
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927 | 175,-1,137.447,86.5991,51.671,183.389,0.970276,-1,-1,-1
928 | 176,-1,374.885,115.609,51.462,139.395,0.99571,-1,-1,-1
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930 | 176,-1,143.108,89.3297,58.457,190.286,0.992452,-1,-1,-1
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937 | 177,-1,143.25,79.3265,63.381,197.284,0.98825,-1,-1,-1
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941 | 178,-1,424.075,107.863,50.565,159.024,0.996151,-1,-1,-1
942 | 178,-1,362.455,116.23,69.355,143.084,0.994377,-1,-1,-1
943 | 178,-1,137.994,94.3141,78.244,190.695,0.992487,-1,-1,-1
944 | 178,-1,325.194,108.029,43.651,147.254,0.972904,-1,-1,-1
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951 | 179,-1,203.324,82.7671,30.07,166.284,0.651763,-1,-1,-1
952 | 


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