cj-mills / byte-track-eigen

ByteTrack-Eigen is a C++ implementation of the ByteTrack object tracking method, leveraging the Eigen library for high-performance matrix and vector operations.

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byte-track-eigen's Issues

Platform Compatibility

Thank you for your open-source contribution. I think we can modify include/Export.h like this to enable cross-platform compilation.

#ifdef BUILDING_BYTE_TRACK_EIGEN
    #ifdef _WIN32
        #define BYTE_TRACK_EIGEN_API __declspec(dllexport)
    #else
        #define BYTE_TRACK_EIGEN_API __attribute__((visibility("default")))
    #endif
#else
    #ifdef _WIN32
        #define BYTE_TRACK_EIGEN_API __declspec(dllimport)
    #else
        #define BYTE_TRACK_EIGEN_API
    #endif
#endif

A bug has been encountered in the Debug mode.

OS: ubuntu20.04
After setting the CMake option: -DCMAKE_BUILD_TYPE=Debug, and compiling the code, when running the executable program, the following error is reported:

bytetrack-test: /home/zfy/projects/bytetrack_zfy/eigen/Eigen/src/Core/PlainObjectBase.h:273: void Eigen::PlainObjectBase<Derived>::resize(Eigen::Index, Eigen::Index) [with Derived = Eigen::Matrix<double, 4, 1>; Eigen::Index = long int]: Assertion `(!(RowsAtCompileTime!=Dynamic) || (rows==RowsAtCompileTime)) && (!(ColsAtCompileTime!=Dynamic) || (cols==ColsAtCompileTime)) && (!(RowsAtCompileTime==Dynamic && MaxRowsAtCompileTime!=Dynamic) || (rows<=MaxRowsAtCompileTime)) && (!(ColsAtCompileTime==Dynamic && MaxColsAtCompileTime!=Dynamic) || (cols<=MaxColsAtCompileTime)) && rows>=0 && cols>=0 && "Invalid sizes when resizing a matrix or array."' failed.
./run.sh: line 1: 81013 Aborted                 (core dumped) ./build/bytetrack-test data/sample.mp4 data/txt_result

when setting the CMake option: -DCMAKE_BUILD_TYPE=Release, The above error will not occur.
I think we can optimize the following function to fix this bug.

Eigen::Vector4d KalmanBBoxTrack::tlwh() const {
    if (mean.isZero(0)) { // Checking if 'mean' is uninitialized or zero
        return _tlwh;
    }   

    // Eigen::Vector4d ret = mean;
    Eigen::Vector4d ret = mean.head(4); //modified
    ret[2] *= ret[3];
    ret[0] -= ret[2] / 2.0;
    ret[1] -= ret[3] / 2.0;

    return ret;
}

Memory Bug

The member variable removed_tracks defined in the class BYTETracker is not properly cleaned up, which can lead to memory growth and decreased code execution speed.

I suggest adding the following line at the end of the member function void BYTETracker::handle_lost_and_removed_tracks:

this->removed_tracks.clear();