├── LICENSE ├── README.md ├── eTransCenter_pipeline.png └── transcenter_mot20_example.gif /LICENSE: -------------------------------------------------------------------------------- 1 | TransCenter: Transformers with Dense Representations for Multiple-Object Tracking 2 | Copyright Inria 3 | Year 2022 4 | Contact : yihong.xu@inria.fr 5 | 6 | TransCenter is free software: you can redistribute it and/or modify 7 | it under the terms of the GNU General Public License as published by 8 | the Free Software Foundation, either version 3 of the License, or 9 | (at your option) any later version. 10 | 11 | TransCenter is distributed in the hope that it will be useful, 12 | but WITHOUT ANY WARRANTY; without even the implied warranty of 13 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 14 | GNU General Public License for more details. 15 | 16 | You should have received a copy of the GNU General Public License 17 | along with this program, TransCenter. If not, see and the LICENSE file. 18 | 19 | TransCenter has code derived from 20 | (1) Deformable-DETR, https://github.com/fundamentalvision/Deformable-DETR, distributed under Apache License 2.0 2020 fundamentalvision. 21 | (2) tracking_wo_bnw, https://github.com/phil-bergmann/tracking_wo_bnw, distributed under GNU General Public License v3.0 2020 Philipp Bergmann, Tim Meinhardt. 22 | (3) DETR, https://github.com/facebookresearch/detr/, distributed under Apache License 2.0 2020 Facebook. 23 | (4) CenterTrack, https://github.com/xingyizhou/CenterTrack, distributed under MIT License 2020 Xingyi Zhou. 24 | Below you can find the License associated to this CenterTrack software: 25 | -------- 26 | MIT License 27 | 28 | Copyright (c) 2020 Xingyi Zhou 29 | 30 | Permission is hereby granted, free of charge, to any person obtaining a copy 31 | of this software and associated documentation files (the "Software"), to deal 32 | in the Software without restriction, including without limitation the rights 33 | to use, copy, modify, merge, publish, distribute, sublicense, and/or sell 34 | copies of the Software, and to permit persons to whom the Software is 35 | furnished to do so, subject to the following conditions: 36 | 37 | The above copyright notice and this permission notice shall be included in all 38 | copies or substantial portions of the Software. 39 | 40 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 41 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 42 | FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE 43 | AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER 44 | LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 45 | OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE 46 | SOFTWARE. 47 | 48 | TransCenter uses packages from 49 | (1) DCNv2, https://github.com/CharlesShang/DCNv2, distributed under BSD 3-Clause 2019 Charles Shang. 50 | (2) MultiScaleDeformableAttention, https://github.com/fundamentalvision/Deformable-DETR distributed under Apache-2.0 license 2020 fundamentalvision. 51 | 52 | Below you can find the License associated to this TransCenter software: 53 | 54 | GNU GENERAL PUBLIC LICENSE 55 | Version 3, 29 June 2007 56 | 57 | Copyright (C) 2007 Free Software Foundation, Inc. 58 | Everyone is permitted to copy and distribute verbatim copies 59 | of this license document, but changing it is not allowed. 60 | 61 | Preamble 62 | 63 | The GNU General Public License is a free, copyleft license for 64 | software and other kinds of works. 65 | 66 | The licenses for most software and other practical works are designed 67 | to take away your freedom to share and change the works. By contrast, 68 | the GNU General Public License is intended to guarantee your freedom to 69 | share and change all versions of a program--to make sure it remains free 70 | software for all its users. We, the Free Software Foundation, use the 71 | GNU General Public License for most of our software; it applies also to 72 | any other work released this way by its authors. You can apply it to 73 | your programs, too. 74 | 75 | When we speak of free software, we are referring to freedom, not 76 | price. Our General Public Licenses are designed to make sure that you 77 | have the freedom to distribute copies of free software (and charge for 78 | them if you wish), that you receive source code or can get it if you 79 | want it, that you can change the software or use pieces of it in new 80 | free programs, and that you know you can do these things. 81 | 82 | To protect your rights, we need to prevent others from denying you 83 | these rights or asking you to surrender the rights. Therefore, you have 84 | certain responsibilities if you distribute copies of the software, or if 85 | you modify it: responsibilities to respect the freedom of others. 86 | 87 | For example, if you distribute copies of such a program, whether 88 | gratis or for a fee, you must pass on to the recipients the same 89 | freedoms that you received. You must make sure that they, too, receive 90 | or can get the source code. And you must show them these terms so they 91 | know their rights. 92 | 93 | Developers that use the GNU GPL protect your rights with two steps: 94 | (1) assert copyright on the software, and (2) offer you this License 95 | giving you legal permission to copy, distribute and/or modify it. 96 | 97 | For the developers' and authors' protection, the GPL clearly explains 98 | that there is no warranty for this free software. For both users' and 99 | authors' sake, the GPL requires that modified versions be marked as 100 | changed, so that their problems will not be attributed erroneously to 101 | authors of previous versions. 102 | 103 | Some devices are designed to deny users access to install or run 104 | modified versions of the software inside them, although the manufacturer 105 | can do so. This is fundamentally incompatible with the aim of 106 | protecting users' freedom to change the software. The systematic 107 | pattern of such abuse occurs in the area of products for individuals to 108 | use, which is precisely where it is most unacceptable. Therefore, we 109 | have designed this version of the GPL to prohibit the practice for those 110 | products. If such problems arise substantially in other domains, we 111 | stand ready to extend this provision to those domains in future versions 112 | of the GPL, as needed to protect the freedom of users. 113 | 114 | Finally, every program is threatened constantly by software patents. 115 | States should not allow patents to restrict development and use of 116 | software on general-purpose computers, but in those that do, we wish to 117 | avoid the special danger that patents applied to a free program could 118 | make it effectively proprietary. To prevent this, the GPL assures that 119 | patents cannot be used to render the program non-free. 120 | 121 | The precise terms and conditions for copying, distribution and 122 | modification follow. 123 | 124 | TERMS AND CONDITIONS 125 | 126 | 0. Definitions. 127 | 128 | "This License" refers to version 3 of the GNU General Public License. 129 | 130 | "Copyright" also means copyright-like laws that apply to other kinds of 131 | works, such as semiconductor masks. 132 | 133 | "The Program" refers to any copyrightable work licensed under this 134 | License. Each licensee is addressed as "you". "Licensees" and 135 | "recipients" may be individuals or organizations. 136 | 137 | To "modify" a work means to copy from or adapt all or part of the work 138 | in a fashion requiring copyright permission, other than the making of an 139 | exact copy. The resulting work is called a "modified version" of the 140 | earlier work or a work "based on" the earlier work. 141 | 142 | A "covered work" means either the unmodified Program or a work based 143 | on the Program. 144 | 145 | To "propagate" a work means to do anything with it that, without 146 | permission, would make you directly or secondarily liable for 147 | infringement under applicable copyright law, except executing it on a 148 | computer or modifying a private copy. Propagation includes copying, 149 | distribution (with or without modification), making available to the 150 | public, and in some countries other activities as well. 151 | 152 | To "convey" a work means any kind of propagation that enables other 153 | parties to make or receive copies. Mere interaction with a user through 154 | a computer network, with no transfer of a copy, is not conveying. 155 | 156 | An interactive user interface displays "Appropriate Legal Notices" 157 | to the extent that it includes a convenient and prominently visible 158 | feature that (1) displays an appropriate copyright notice, and (2) 159 | tells the user that there is no warranty for the work (except to the 160 | extent that warranties are provided), that licensees may convey the 161 | work under this License, and how to view a copy of this License. If 162 | the interface presents a list of user commands or options, such as a 163 | menu, a prominent item in the list meets this criterion. 164 | 165 | 1. Source Code. 166 | 167 | The "source code" for a work means the preferred form of the work 168 | for making modifications to it. "Object code" means any non-source 169 | form of a work. 170 | 171 | A "Standard Interface" means an interface that either is an official 172 | standard defined by a recognized standards body, or, in the case of 173 | interfaces specified for a particular programming language, one that 174 | is widely used among developers working in that language. 175 | 176 | The "System Libraries" of an executable work include anything, other 177 | than the work as a whole, that (a) is included in the normal form of 178 | packaging a Major Component, but which is not part of that Major 179 | Component, and (b) serves only to enable use of the work with that 180 | Major Component, or to implement a Standard Interface for which an 181 | implementation is available to the public in source code form. A 182 | "Major Component", in this context, means a major essential component 183 | (kernel, window system, and so on) of the specific operating system 184 | (if any) on which the executable work runs, or a compiler used to 185 | produce the work, or an object code interpreter used to run it. 186 | 187 | The "Corresponding Source" for a work in object code form means all 188 | the source code needed to generate, install, and (for an executable 189 | work) run the object code and to modify the work, including scripts to 190 | control those activities. However, it does not include the work's 191 | System Libraries, or general-purpose tools or generally available free 192 | programs which are used unmodified in performing those activities but 193 | which are not part of the work. For example, Corresponding Source 194 | includes interface definition files associated with source files for 195 | the work, and the source code for shared libraries and dynamically 196 | linked subprograms that the work is specifically designed to require, 197 | such as by intimate data communication or control flow between those 198 | subprograms and other parts of the work. 199 | 200 | The Corresponding Source need not include anything that users 201 | can regenerate automatically from other parts of the Corresponding 202 | Source. 203 | 204 | The Corresponding Source for a work in source code form is that 205 | same work. 206 | 207 | 2. Basic Permissions. 208 | 209 | All rights granted under this License are granted for the term of 210 | copyright on the Program, and are irrevocable provided the stated 211 | conditions are met. This License explicitly affirms your unlimited 212 | permission to run the unmodified Program. The output from running a 213 | covered work is covered by this License only if the output, given its 214 | content, constitutes a covered work. This License acknowledges your 215 | rights of fair use or other equivalent, as provided by copyright law. 216 | 217 | You may make, run and propagate covered works that you do not 218 | convey, without conditions so long as your license otherwise remains 219 | in force. You may convey covered works to others for the sole purpose 220 | of having them make modifications exclusively for you, or provide you 221 | with facilities for running those works, provided that you comply with 222 | the terms of this License in conveying all material for which you do 223 | not control copyright. Those thus making or running the covered works 224 | for you must do so exclusively on your behalf, under your direction 225 | and control, on terms that prohibit them from making any copies of 226 | your copyrighted material outside their relationship with you. 227 | 228 | Conveying under any other circumstances is permitted solely under 229 | the conditions stated below. Sublicensing is not allowed; section 10 230 | makes it unnecessary. 231 | 232 | 3. Protecting Users' Legal Rights From Anti-Circumvention Law. 233 | 234 | No covered work shall be deemed part of an effective technological 235 | measure under any applicable law fulfilling obligations under article 236 | 11 of the WIPO copyright treaty adopted on 20 December 1996, or 237 | similar laws prohibiting or restricting circumvention of such 238 | measures. 239 | 240 | When you convey a covered work, you waive any legal power to forbid 241 | circumvention of technological measures to the extent such circumvention 242 | is effected by exercising rights under this License with respect to 243 | the covered work, and you disclaim any intention to limit operation or 244 | modification of the work as a means of enforcing, against the work's 245 | users, your or third parties' legal rights to forbid circumvention of 246 | technological measures. 247 | 248 | 4. Conveying Verbatim Copies. 249 | 250 | You may convey verbatim copies of the Program's source code as you 251 | receive it, in any medium, provided that you conspicuously and 252 | appropriately publish on each copy an appropriate copyright notice; 253 | keep intact all notices stating that this License and any 254 | non-permissive terms added in accord with section 7 apply to the code; 255 | keep intact all notices of the absence of any warranty; and give all 256 | recipients a copy of this License along with the Program. 257 | 258 | You may charge any price or no price for each copy that you convey, 259 | and you may offer support or warranty protection for a fee. 260 | 261 | 5. Conveying Modified Source Versions. 262 | 263 | You may convey a work based on the Program, or the modifications to 264 | produce it from the Program, in the form of source code under the 265 | terms of section 4, provided that you also meet all of these conditions: 266 | 267 | a) The work must carry prominent notices stating that you modified 268 | it, and giving a relevant date. 269 | 270 | b) The work must carry prominent notices stating that it is 271 | released under this License and any conditions added under section 272 | 7. This requirement modifies the requirement in section 4 to 273 | "keep intact all notices". 274 | 275 | c) You must license the entire work, as a whole, under this 276 | License to anyone who comes into possession of a copy. This 277 | License will therefore apply, along with any applicable section 7 278 | additional terms, to the whole of the work, and all its parts, 279 | regardless of how they are packaged. This License gives no 280 | permission to license the work in any other way, but it does not 281 | invalidate such permission if you have separately received it. 282 | 283 | d) If the work has interactive user interfaces, each must display 284 | Appropriate Legal Notices; however, if the Program has interactive 285 | interfaces that do not display Appropriate Legal Notices, your 286 | work need not make them do so. 287 | 288 | A compilation of a covered work with other separate and independent 289 | works, which are not by their nature extensions of the covered work, 290 | and which are not combined with it such as to form a larger program, 291 | in or on a volume of a storage or distribution medium, is called an 292 | "aggregate" if the compilation and its resulting copyright are not 293 | used to limit the access or legal rights of the compilation's users 294 | beyond what the individual works permit. Inclusion of a covered work 295 | in an aggregate does not cause this License to apply to the other 296 | parts of the aggregate. 297 | 298 | 6. Conveying Non-Source Forms. 299 | 300 | You may convey a covered work in object code form under the terms 301 | of sections 4 and 5, provided that you also convey the 302 | machine-readable Corresponding Source under the terms of this License, 303 | in one of these ways: 304 | 305 | a) Convey the object code in, or embodied in, a physical product 306 | (including a physical distribution medium), accompanied by the 307 | Corresponding Source fixed on a durable physical medium 308 | customarily used for software interchange. 309 | 310 | b) Convey the object code in, or embodied in, a physical product 311 | (including a physical distribution medium), accompanied by a 312 | written offer, valid for at least three years and valid for as 313 | long as you offer spare parts or customer support for that product 314 | model, to give anyone who possesses the object code either (1) a 315 | copy of the Corresponding Source for all the software in the 316 | product that is covered by this License, on a durable physical 317 | medium customarily used for software interchange, for a price no 318 | more than your reasonable cost of physically performing this 319 | conveying of source, or (2) access to copy the 320 | Corresponding Source from a network server at no charge. 321 | 322 | c) Convey individual copies of the object code with a copy of the 323 | written offer to provide the Corresponding Source. This 324 | alternative is allowed only occasionally and noncommercially, and 325 | only if you received the object code with such an offer, in accord 326 | with subsection 6b. 327 | 328 | d) Convey the object code by offering access from a designated 329 | place (gratis or for a charge), and offer equivalent access to the 330 | Corresponding Source in the same way through the same place at no 331 | further charge. You need not require recipients to copy the 332 | Corresponding Source along with the object code. If the place to 333 | copy the object code is a network server, the Corresponding Source 334 | may be on a different server (operated by you or a third party) 335 | that supports equivalent copying facilities, provided you maintain 336 | clear directions next to the object code saying where to find the 337 | Corresponding Source. Regardless of what server hosts the 338 | Corresponding Source, you remain obligated to ensure that it is 339 | available for as long as needed to satisfy these requirements. 340 | 341 | e) Convey the object code using peer-to-peer transmission, provided 342 | you inform other peers where the object code and Corresponding 343 | Source of the work are being offered to the general public at no 344 | charge under subsection 6d. 345 | 346 | A separable portion of the object code, whose source code is excluded 347 | from the Corresponding Source as a System Library, need not be 348 | included in conveying the object code work. 349 | 350 | A "User Product" is either (1) a "consumer product", which means any 351 | tangible personal property which is normally used for personal, family, 352 | or household purposes, or (2) anything designed or sold for incorporation 353 | into a dwelling. In determining whether a product is a consumer product, 354 | doubtful cases shall be resolved in favor of coverage. For a particular 355 | product received by a particular user, "normally used" refers to a 356 | typical or common use of that class of product, regardless of the status 357 | of the particular user or of the way in which the particular user 358 | actually uses, or expects or is expected to use, the product. A product 359 | is a consumer product regardless of whether the product has substantial 360 | commercial, industrial or non-consumer uses, unless such uses represent 361 | the only significant mode of use of the product. 362 | 363 | "Installation Information" for a User Product means any methods, 364 | procedures, authorization keys, or other information required to install 365 | and execute modified versions of a covered work in that User Product from 366 | a modified version of its Corresponding Source. The information must 367 | suffice to ensure that the continued functioning of the modified object 368 | code is in no case prevented or interfered with solely because 369 | modification has been made. 370 | 371 | If you convey an object code work under this section in, or with, or 372 | specifically for use in, a User Product, and the conveying occurs as 373 | part of a transaction in which the right of possession and use of the 374 | User Product is transferred to the recipient in perpetuity or for a 375 | fixed term (regardless of how the transaction is characterized), the 376 | Corresponding Source conveyed under this section must be accompanied 377 | by the Installation Information. But this requirement does not apply 378 | if neither you nor any third party retains the ability to install 379 | modified object code on the User Product (for example, the work has 380 | been installed in ROM). 381 | 382 | The requirement to provide Installation Information does not include a 383 | requirement to continue to provide support service, warranty, or updates 384 | for a work that has been modified or installed by the recipient, or for 385 | the User Product in which it has been modified or installed. Access to a 386 | network may be denied when the modification itself materially and 387 | adversely affects the operation of the network or violates the rules and 388 | protocols for communication across the network. 389 | 390 | Corresponding Source conveyed, and Installation Information provided, 391 | in accord with this section must be in a format that is publicly 392 | documented (and with an implementation available to the public in 393 | source code form), and must require no special password or key for 394 | unpacking, reading or copying. 395 | 396 | 7. Additional Terms. 397 | 398 | "Additional permissions" are terms that supplement the terms of this 399 | License by making exceptions from one or more of its conditions. 400 | Additional permissions that are applicable to the entire Program shall 401 | be treated as though they were included in this License, to the extent 402 | that they are valid under applicable law. If additional permissions 403 | apply only to part of the Program, that part may be used separately 404 | under those permissions, but the entire Program remains governed by 405 | this License without regard to the additional permissions. 406 | 407 | When you convey a copy of a covered work, you may at your option 408 | remove any additional permissions from that copy, or from any part of 409 | it. (Additional permissions may be written to require their own 410 | removal in certain cases when you modify the work.) You may place 411 | additional permissions on material, added by you to a covered work, 412 | for which you have or can give appropriate copyright permission. 413 | 414 | Notwithstanding any other provision of this License, for material you 415 | add to a covered work, you may (if authorized by the copyright holders of 416 | that material) supplement the terms of this License with terms: 417 | 418 | a) Disclaiming warranty or limiting liability differently from the 419 | terms of sections 15 and 16 of this License; or 420 | 421 | b) Requiring preservation of specified reasonable legal notices or 422 | author attributions in that material or in the Appropriate Legal 423 | Notices displayed by works containing it; or 424 | 425 | c) Prohibiting misrepresentation of the origin of that material, or 426 | requiring that modified versions of such material be marked in 427 | reasonable ways as different from the original version; or 428 | 429 | d) Limiting the use for publicity purposes of names of licensors or 430 | authors of the material; or 431 | 432 | e) Declining to grant rights under trademark law for use of some 433 | trade names, trademarks, or service marks; or 434 | 435 | f) Requiring indemnification of licensors and authors of that 436 | material by anyone who conveys the material (or modified versions of 437 | it) with contractual assumptions of liability to the recipient, for 438 | any liability that these contractual assumptions directly impose on 439 | those licensors and authors. 440 | 441 | All other non-permissive additional terms are considered "further 442 | restrictions" within the meaning of section 10. If the Program as you 443 | received it, or any part of it, contains a notice stating that it is 444 | governed by this License along with a term that is a further 445 | restriction, you may remove that term. If a license document contains 446 | a further restriction but permits relicensing or conveying under this 447 | License, you may add to a covered work material governed by the terms 448 | of that license document, provided that the further restriction does 449 | not survive such relicensing or conveying. 450 | 451 | If you add terms to a covered work in accord with this section, you 452 | must place, in the relevant source files, a statement of the 453 | additional terms that apply to those files, or a notice indicating 454 | where to find the applicable terms. 455 | 456 | Additional terms, permissive or non-permissive, may be stated in the 457 | form of a separately written license, or stated as exceptions; 458 | the above requirements apply either way. 459 | 460 | 8. Termination. 461 | 462 | You may not propagate or modify a covered work except as expressly 463 | provided under this License. Any attempt otherwise to propagate or 464 | modify it is void, and will automatically terminate your rights under 465 | this License (including any patent licenses granted under the third 466 | paragraph of section 11). 467 | 468 | However, if you cease all violation of this License, then your 469 | license from a particular copyright holder is reinstated (a) 470 | provisionally, unless and until the copyright holder explicitly and 471 | finally terminates your license, and (b) permanently, if the copyright 472 | holder fails to notify you of the violation by some reasonable means 473 | prior to 60 days after the cessation. 474 | 475 | Moreover, your license from a particular copyright holder is 476 | reinstated permanently if the copyright holder notifies you of the 477 | violation by some reasonable means, this is the first time you have 478 | received notice of violation of this License (for any work) from that 479 | copyright holder, and you cure the violation prior to 30 days after 480 | your receipt of the notice. 481 | 482 | Termination of your rights under this section does not terminate the 483 | licenses of parties who have received copies or rights from you under 484 | this License. If your rights have been terminated and not permanently 485 | reinstated, you do not qualify to receive new licenses for the same 486 | material under section 10. 487 | 488 | 9. Acceptance Not Required for Having Copies. 489 | 490 | You are not required to accept this License in order to receive or 491 | run a copy of the Program. Ancillary propagation of a covered work 492 | occurring solely as a consequence of using peer-to-peer transmission 493 | to receive a copy likewise does not require acceptance. However, 494 | nothing other than this License grants you permission to propagate or 495 | modify any covered work. These actions infringe copyright if you do 496 | not accept this License. Therefore, by modifying or propagating a 497 | covered work, you indicate your acceptance of this License to do so. 498 | 499 | 10. Automatic Licensing of Downstream Recipients. 500 | 501 | Each time you convey a covered work, the recipient automatically 502 | receives a license from the original licensors, to run, modify and 503 | propagate that work, subject to this License. You are not responsible 504 | for enforcing compliance by third parties with this License. 505 | 506 | An "entity transaction" is a transaction transferring control of an 507 | organization, or substantially all assets of one, or subdividing an 508 | organization, or merging organizations. If propagation of a covered 509 | work results from an entity transaction, each party to that 510 | transaction who receives a copy of the work also receives whatever 511 | licenses to the work the party's predecessor in interest had or could 512 | give under the previous paragraph, plus a right to possession of the 513 | Corresponding Source of the work from the predecessor in interest, if 514 | the predecessor has it or can get it with reasonable efforts. 515 | 516 | You may not impose any further restrictions on the exercise of the 517 | rights granted or affirmed under this License. For example, you may 518 | not impose a license fee, royalty, or other charge for exercise of 519 | rights granted under this License, and you may not initiate litigation 520 | (including a cross-claim or counterclaim in a lawsuit) alleging that 521 | any patent claim is infringed by making, using, selling, offering for 522 | sale, or importing the Program or any portion of it. 523 | 524 | 11. Patents. 525 | 526 | A "contributor" is a copyright holder who authorizes use under this 527 | License of the Program or a work on which the Program is based. The 528 | work thus licensed is called the contributor's "contributor version". 529 | 530 | A contributor's "essential patent claims" are all patent claims 531 | owned or controlled by the contributor, whether already acquired or 532 | hereafter acquired, that would be infringed by some manner, permitted 533 | by this License, of making, using, or selling its contributor version, 534 | but do not include claims that would be infringed only as a 535 | consequence of further modification of the contributor version. For 536 | purposes of this definition, "control" includes the right to grant 537 | patent sublicenses in a manner consistent with the requirements of 538 | this License. 539 | 540 | Each contributor grants you a non-exclusive, worldwide, royalty-free 541 | patent license under the contributor's essential patent claims, to 542 | make, use, sell, offer for sale, import and otherwise run, modify and 543 | propagate the contents of its contributor version. 544 | 545 | In the following three paragraphs, a "patent license" is any express 546 | agreement or commitment, however denominated, not to enforce a patent 547 | (such as an express permission to practice a patent or covenant not to 548 | sue for patent infringement). To "grant" such a patent license to a 549 | party means to make such an agreement or commitment not to enforce a 550 | patent against the party. 551 | 552 | If you convey a covered work, knowingly relying on a patent license, 553 | and the Corresponding Source of the work is not available for anyone 554 | to copy, free of charge and under the terms of this License, through a 555 | publicly available network server or other readily accessible means, 556 | then you must either (1) cause the Corresponding Source to be so 557 | available, or (2) arrange to deprive yourself of the benefit of the 558 | patent license for this particular work, or (3) arrange, in a manner 559 | consistent with the requirements of this License, to extend the patent 560 | license to downstream recipients. "Knowingly relying" means you have 561 | actual knowledge that, but for the patent license, your conveying the 562 | covered work in a country, or your recipient's use of the covered work 563 | in a country, would infringe one or more identifiable patents in that 564 | country that you have reason to believe are valid. 565 | 566 | If, pursuant to or in connection with a single transaction or 567 | arrangement, you convey, or propagate by procuring conveyance of, a 568 | covered work, and grant a patent license to some of the parties 569 | receiving the covered work authorizing them to use, propagate, modify 570 | or convey a specific copy of the covered work, then the patent license 571 | you grant is automatically extended to all recipients of the covered 572 | work and works based on it. 573 | 574 | A patent license is "discriminatory" if it does not include within 575 | the scope of its coverage, prohibits the exercise of, or is 576 | conditioned on the non-exercise of one or more of the rights that are 577 | specifically granted under this License. You may not convey a covered 578 | work if you are a party to an arrangement with a third party that is 579 | in the business of distributing software, under which you make payment 580 | to the third party based on the extent of your activity of conveying 581 | the work, and under which the third party grants, to any of the 582 | parties who would receive the covered work from you, a discriminatory 583 | patent license (a) in connection with copies of the covered work 584 | conveyed by you (or copies made from those copies), or (b) primarily 585 | for and in connection with specific products or compilations that 586 | contain the covered work, unless you entered into that arrangement, 587 | or that patent license was granted, prior to 28 March 2007. 588 | 589 | Nothing in this License shall be construed as excluding or limiting 590 | any implied license or other defenses to infringement that may 591 | otherwise be available to you under applicable patent law. 592 | 593 | 12. No Surrender of Others' Freedom. 594 | 595 | If conditions are imposed on you (whether by court order, agreement or 596 | otherwise) that contradict the conditions of this License, they do not 597 | excuse you from the conditions of this License. If you cannot convey a 598 | covered work so as to satisfy simultaneously your obligations under this 599 | License and any other pertinent obligations, then as a consequence you may 600 | not convey it at all. For example, if you agree to terms that obligate you 601 | to collect a royalty for further conveying from those to whom you convey 602 | the Program, the only way you could satisfy both those terms and this 603 | License would be to refrain entirely from conveying the Program. 604 | 605 | 13. Use with the GNU Affero General Public License. 606 | 607 | Notwithstanding any other provision of this License, you have 608 | permission to link or combine any covered work with a work licensed 609 | under version 3 of the GNU Affero General Public License into a single 610 | combined work, and to convey the resulting work. The terms of this 611 | License will continue to apply to the part which is the covered work, 612 | but the special requirements of the GNU Affero General Public License, 613 | section 13, concerning interaction through a network will apply to the 614 | combination as such. 615 | 616 | 14. Revised Versions of this License. 617 | 618 | The Free Software Foundation may publish revised and/or new versions of 619 | the GNU General Public License from time to time. Such new versions will 620 | be similar in spirit to the present version, but may differ in detail to 621 | address new problems or concerns. 622 | 623 | Each version is given a distinguishing version number. If the 624 | Program specifies that a certain numbered version of the GNU General 625 | Public License "or any later version" applies to it, you have the 626 | option of following the terms and conditions either of that numbered 627 | version or of any later version published by the Free Software 628 | Foundation. If the Program does not specify a version number of the 629 | GNU General Public License, you may choose any version ever published 630 | by the Free Software Foundation. 631 | 632 | If the Program specifies that a proxy can decide which future 633 | versions of the GNU General Public License can be used, that proxy's 634 | public statement of acceptance of a version permanently authorizes you 635 | to choose that version for the Program. 636 | 637 | Later license versions may give you additional or different 638 | permissions. However, no additional obligations are imposed on any 639 | author or copyright holder as a result of your choosing to follow a 640 | later version. 641 | 642 | 15. Disclaimer of Warranty. 643 | 644 | THERE IS NO WARRANTY FOR THE PROGRAM, TO THE EXTENT PERMITTED BY 645 | APPLICABLE LAW. EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT 646 | HOLDERS AND/OR OTHER PARTIES PROVIDE THE PROGRAM "AS IS" WITHOUT WARRANTY 647 | OF ANY KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO, 648 | THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR 649 | PURPOSE. THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE PROGRAM 650 | IS WITH YOU. SHOULD THE PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF 651 | ALL NECESSARY SERVICING, REPAIR OR CORRECTION. 652 | 653 | 16. Limitation of Liability. 654 | 655 | IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING 656 | WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MODIFIES AND/OR CONVEYS 657 | THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY 658 | GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE 659 | USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED TO LOSS OF 660 | DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD 661 | PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS), 662 | EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF 663 | SUCH DAMAGES. 664 | 665 | 17. Interpretation of Sections 15 and 16. 666 | 667 | If the disclaimer of warranty and limitation of liability provided 668 | above cannot be given local legal effect according to their terms, 669 | reviewing courts shall apply local law that most closely approximates 670 | an absolute waiver of all civil liability in connection with the 671 | Program, unless a warranty or assumption of liability accompanies a 672 | copy of the Program in return for a fee. 673 | 674 | END OF TERMS AND CONDITIONS 675 | 676 | How to Apply These Terms to Your New Programs 677 | 678 | If you develop a new program, and you want it to be of the greatest 679 | possible use to the public, the best way to achieve this is to make it 680 | free software which everyone can redistribute and change under these terms. 681 | 682 | To do so, attach the following notices to the program. It is safest 683 | to attach them to the start of each source file to most effectively 684 | state the exclusion of warranty; and each file should have at least 685 | the "copyright" line and a pointer to where the full notice is found. 686 | 687 | {one line to give the program's name and a brief idea of what it does.} 688 | Copyright (C) {year} {name of author} 689 | 690 | This program is free software: you can redistribute it and/or modify 691 | it under the terms of the GNU General Public License as published by 692 | the Free Software Foundation, either version 3 of the License, or 693 | (at your option) any later version. 694 | 695 | This program is distributed in the hope that it will be useful, 696 | but WITHOUT ANY WARRANTY; without even the implied warranty of 697 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 698 | GNU General Public License for more details. 699 | 700 | You should have received a copy of the GNU General Public License 701 | along with this program. If not, see . 702 | 703 | Also add information on how to contact you by electronic and paper mail. 704 | 705 | If the program does terminal interaction, make it output a short 706 | notice like this when it starts in an interactive mode: 707 | 708 | {project} Copyright (C) {year} {fullname} 709 | This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'. 710 | This is free software, and you are welcome to redistribute it 711 | under certain conditions; type `show c' for details. 712 | 713 | The hypothetical commands `show w' and `show c' should show the appropriate 714 | parts of the General Public License. Of course, your program's commands 715 | might be different; for a GUI interface, you would use an "about box". 716 | 717 | You should also get your employer (if you work as a programmer) or school, 718 | if any, to sign a "copyright disclaimer" for the program, if necessary. 719 | For more information on this, and how to apply and follow the GNU GPL, see 720 | . 721 | 722 | The GNU General Public License does not permit incorporating your program 723 | into proprietary programs. If your program is a subroutine library, you 724 | may consider it more useful to permit linking proprietary applications with 725 | the library. If this is what you want to do, use the GNU Lesser General 726 | Public License instead of this License. But first, please read 727 | . 728 | 729 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | ## TransCenter: Transformers with Dense Representations for Multiple-Object Tracking
2 | ## The work is accepted for TPAMI 2022. 3 | ## An update towards a more efficient and powerful TransCenter, TransCenter-Lite! ## 4 | 5 | ## The code for TransCenter and TransCenter-Lite is now available, you can find the code and pretrained models at https://gitlab.inria.fr/robotlearn/TransCenter_official. 6 | 7 | **TransCenter: Transformers with Dense Representations for Multiple-Object Tracking**
8 | [Yihong Xu](https://team.inria.fr/robotlearn/team-members/yihong-xu/), [Yutong Ban](https://people.csail.mit.edu/yban/index.html), [Guillaume Delorme](https://team.inria.fr/robotlearn/team-members/guillaume-delorme/), [Chuang Gan](https://people.csail.mit.edu/ganchuang/), [Daniela Rus](http://danielarus.csail.mit.edu/), [Xavier Alameda-Pineda](http://xavirema.eu/)
9 | **[[Paper](https://arxiv.org/abs/2103.15145)]** **[[Project](https://team.inria.fr/robotlearn/transcenter-transformers-with-dense-queriesfor-multiple-object-tracking/)]**
10 | 11 |
12 | 13 |
14 | 15 |

16 | **MOT20 example:**
17 | ![](https://github.com/yihongXU/TransCenter/blob/main/transcenter_mot20_example.gif) 18 | 19 | 20 | ## Bibtex 21 | **If you find this code useful, please star the project and consider citing:**
22 | ``` 23 | @misc{xu2021transcenter, 24 | title={TransCenter: Transformers with Dense Representations for Multiple-Object Tracking}, 25 | author={Yihong Xu and Yutong Ban and Guillaume Delorme and Chuang Gan and Daniela Rus and Xavier Alameda-Pineda}, 26 | year={2021}, 27 | eprint={2103.15145}, 28 | archivePrefix={arXiv}, 29 | primaryClass={cs.CV} 30 | } 31 | ``` 32 | 33 | 34 | ## MOTChallenge Results 35 | 36 | ***For TransCenter***: 37 | 38 | MOT17 public detections: 39 | 40 | | Pretrained| MOTA | MOTP | IDF1 | FP | FN | IDS | 41 | |-----------|----------|----------|--------|-------|------|----------------| 42 | | CoCo | 71.9% | 80.5% | 64.1% | 27,356 | 126,860 | 4,118 | 43 | | CH | 75.9% | 81.2% | 65.9% | 30,190 | 100,999 | 4,626 | 44 | 45 | MOT20 public detections: 46 | 47 | | Pretrained| MOTA | MOTP | IDF1 | FP | FN | IDS | 48 | |-----------|----------|----------|--------|-------|------|----------------| 49 | | CoCo | 67.7% | 79.8% | 58.9% | 54,967 | 108,376 | 3,707 | 50 | | CH | 72.8% | 81.0% | 57.6% | 28,026 | 110,312 | 2,621 | 51 | 52 | 53 | MOT17 private detections: 54 | 55 | | Pretrained| MOTA | MOTP | IDF1 | FP | FN | IDS | 56 | |-----------|----------|----------|--------|-------|------|----------------| 57 | | CoCo | 72.7% | 80.3% | 64.0% | 33,807 | 115,542 | 4,719 | 58 | | CH | 76.2% | 81.1% | 65.5% | 40,101 | 88,827 | 5,394 | 59 | 60 | MOT20 private detections: 61 | 62 | | Pretrained| MOTA | MOTP | IDF1 | FP | FN | IDS | 63 | |-----------|----------|----------|--------|-------|------|----------------| 64 | | CoCo | 67.7% | 79.8% | 58.7% | 56,435 | 107,163 | 3,759 | 65 | | CH | 72.9% | 81.0% | 57.7% | 28,596 | 108,982 | 2,625 | 66 | 67 | 68 | **Note:** 69 | - The results can be slightly different depending on the running environment. 70 | - We might keep updating the results in the near future. 71 | 72 | ## Acknowledgement 73 | 74 | The code for TransCenterV2, TransCenter-Lite is modified and network pre-trained weights are obtained from the following repositories: 75 | 76 | 1) The PVTv2 backbone pretrained models from PVTv2. 77 | 2) The data format conversion code is modified from CenterTrack. 78 | 79 | [**CenterTrack**](https://github.com/xingyizhou/CenterTrack), [**Deformable-DETR**](https://github.com/fundamentalvision/Deformable-DETR), [**Tracktor**](https://github.com/phil-bergmann/tracking_wo_bnw). 80 | ``` 81 | @article{zhou2020tracking, 82 | title={Tracking Objects as Points}, 83 | author={Zhou, Xingyi and Koltun, Vladlen and Kr{\"a}henb{\"u}hl, Philipp}, 84 | journal={ECCV}, 85 | year={2020} 86 | } 87 | 88 | @InProceedings{tracktor_2019_ICCV, 89 | author = {Bergmann, Philipp and Meinhardt, Tim and Leal{-}Taix{\'{e}}, Laura}, 90 | title = {Tracking Without Bells and Whistles}, 91 | booktitle = {The IEEE International Conference on Computer Vision (ICCV)}, 92 | month = {October}, 93 | year = {2019}} 94 | 95 | @article{zhu2020deformable, 96 | title={Deformable DETR: Deformable Transformers for End-to-End Object Detection}, 97 | author={Zhu, Xizhou and Su, Weijie and Lu, Lewei and Li, Bin and Wang, Xiaogang and Dai, Jifeng}, 98 | journal={arXiv preprint arXiv:2010.04159}, 99 | year={2020} 100 | } 101 | 102 | @article{zhang2021bytetrack, 103 | title={ByteTrack: Multi-Object Tracking by Associating Every Detection Box}, 104 | author={Zhang, Yifu and Sun, Peize and Jiang, Yi and Yu, Dongdong and Yuan, Zehuan and Luo, Ping and Liu, Wenyu and Wang, Xinggang}, 105 | journal={arXiv preprint arXiv:2110.06864}, 106 | year={2021} 107 | } 108 | 109 | @article{wang2021pvtv2, 110 | title={Pvtv2: Improved baselines with pyramid vision transformer}, 111 | author={Wang, Wenhai and Xie, Enze and Li, Xiang and Fan, Deng-Ping and Song, Kaitao and Liang, Ding and Lu, Tong and Luo, Ping and Shao, Ling}, 112 | journal={Computational Visual Media}, 113 | volume={8}, 114 | number={3}, 115 | pages={1--10}, 116 | year={2022}, 117 | publisher={Springer} 118 | } 119 | ``` 120 | Several modules are from: 121 | 122 | **MOT Metrics in Python**: [**py-motmetrics**](https://github.com/cheind/py-motmetrics) 123 | 124 | **Soft-NMS**: [**Soft-NMS**](https://github.com/DocF/Soft-NMS) 125 | 126 | **DETR**: [**DETR**](https://github.com/facebookresearch/detr) 127 | 128 | **DCNv2**: [**DCNv2**](https://github.com/CharlesShang/DCNv2) 129 | 130 | **PVTv2**: [**PVTv2**](https://github.com/whai362/PVT) 131 | 132 | **ByteTrack**: [**ByteTrack**](https://github.com/ifzhang/ByteTrack) 133 | 134 | -------------------------------------------------------------------------------- /eTransCenter_pipeline.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/yihongXU/TransCenter/8b2310a1abdc1a5c8810a9d2b28d0c2140c1307c/eTransCenter_pipeline.png -------------------------------------------------------------------------------- /transcenter_mot20_example.gif: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/yihongXU/TransCenter/8b2310a1abdc1a5c8810a9d2b28d0c2140c1307c/transcenter_mot20_example.gif --------------------------------------------------------------------------------