[Model] add tracking trail on vis_mot (#461)

* add override mark * delete some * recovery * recovery * add tracking * add tracking py_bind and example * add pptracking * add pptracking * iomanip head file * add opencv_video lib * add python libs package Signed-off-by: ChaoII <849453582@qq.com> * complete comments Signed-off-by: ChaoII <849453582@qq.com> * add jdeTracker_ member variable Signed-off-by: ChaoII <849453582@qq.com> * add 'FASTDEPLOY_DECL' macro Signed-off-by: ChaoII <849453582@qq.com> * remove kwargs params Signed-off-by: ChaoII <849453582@qq.com> * [Doc]update pptracking docs * delete 'ENABLE_PADDLE_FRONTEND' switch * add pptracking unit test * update pptracking unit test Signed-off-by: ChaoII <849453582@qq.com> * modify test video file path and remove trt test * update unit test model url * remove 'FASTDEPLOY_DECL' macro Signed-off-by: ChaoII <849453582@qq.com> * fix build python packages about pptracking on win32 Signed-off-by: ChaoII <849453582@qq.com> * update comment Signed-off-by: ChaoII <849453582@qq.com> * add pptracking model explain Signed-off-by: ChaoII <849453582@qq.com> * add tracking trail on vis_mot * add tracking trail * modify code for some suggestion * remove unused import * fix import bug Signed-off-by: ChaoII <849453582@qq.com> Co-authored-by: Jason <jiangjiajun@baidu.com>
2025-10-05 16:48:03 +08:00 · 2022-11-03 09:57:07 +08:00
parent 328212f270
commit 22d60fdadf
16 changed files with 208 additions and 116 deletions
--- a/docs/api/vision_results/mot_result.md
+++ b/docs/api/vision_results/mot_result.md
@@ -37,4 +37,3 @@ fastdeploy.vision.MOTResult
 - **ids**(list of list(float)):成员变量，表示单帧画面中所有目标的id，其元素个数与`boxes`一致
 - **scores**(list of float): 成员变量，表示单帧画面检测出来的所有目标置信度
 - **class_ids**(list of int): 成员变量，表示单帧画面出来的所有目标类别
-
--- a/examples/vision/README.md
+++ b/examples/vision/README.md
@@ -2,16 +2,18 @@

 本目录下提供了各类视觉模型的部署，主要涵盖以下任务类型

-| 任务类型           | 说明                                  | 预测结果结构体                                                                          |
-|:-------------- |:----------------------------------- |:-------------------------------------------------------------------------------- |
-| Detection      | 目标检测，输入图像，检测图像中物体位置，并返回检测框坐标及类别和置信度 | [DetectionResult](../../docs/api/vision_results/detection_result.md)       |
-| Segmentation   | 语义分割，输入图像，给出图像中每个像素的分类及置信度          | [SegmentationResult](../../docs/api/vision_results/segmentation_result.md) |
-| Classification | 图像分类，输入图像，给出图像的分类结果和置信度             | [ClassifyResult](../../docs/api/vision_results/classification_result.md)   |
-| FaceDetection | 人脸检测，输入图像，检测图像中人脸位置，并返回检测框坐标及人脸关键点             | [FaceDetectionResult](../../docs/api/vision_results/face_detection_result.md)   |
-| KeypointDetection   | 关键点检测，输入图像，返回图像中人物行为的各个关键点坐标和置信度         | [KeyPointDetectionResult](../../docs/api/vision_results/keypointdetection_result.md) |
-| FaceRecognition | 人脸识别，输入图像，返回可用于相似度计算的人脸特征的embedding            | [FaceRecognitionResult](../../docs/api/vision_results/face_recognition_result.md)   |
-| Matting | 抠图，输入图像，返回图片的前景每个像素点的Alpha值            | [MattingResult](../../docs/api/vision_results/matting_result.md)   |
-| OCR | 文本框检测，分类，文本框内容识别，输入图像，返回文本框坐标，文本框的方向类别以及框内的文本内容            | [OCRResult](../../docs/api/vision_results/ocr_result.md)   |
+| 任务类型              | 说明                                              | 预测结果结构体                                                                              |
+|:------------------|:------------------------------------------------|:-------------------------------------------------------------------------------------|
+| Detection         | 目标检测，输入图像，检测图像中物体位置，并返回检测框坐标及类别和置信度             | [DetectionResult](../../docs/api/vision_results/detection_result.md)                 |
+| Segmentation      | 语义分割，输入图像，给出图像中每个像素的分类及置信度                      | [SegmentationResult](../../docs/api/vision_results/segmentation_result.md)           |
+| Classification    | 图像分类，输入图像，给出图像的分类结果和置信度                         | [ClassifyResult](../../docs/api/vision_results/classification_result.md)             |
+| FaceDetection     | 人脸检测，输入图像，检测图像中人脸位置，并返回检测框坐标及人脸关键点              | [FaceDetectionResult](../../docs/api/vision_results/face_detection_result.md)        |
+| KeypointDetection | 关键点检测，输入图像，返回图像中人物行为的各个关键点坐标和置信度                | [KeyPointDetectionResult](../../docs/api/vision_results/keypointdetection_result.md) |
+| FaceRecognition   | 人脸识别，输入图像，返回可用于相似度计算的人脸特征的embedding             | [FaceRecognitionResult](../../docs/api/vision_results/face_recognition_result.md)    |
+| Matting           | 抠图，输入图像，返回图片的前景每个像素点的Alpha值                     | [MattingResult](../../docs/api/vision_results/matting_result.md)                     |
+| OCR               | 文本框检测，分类，文本框内容识别，输入图像，返回文本框坐标，文本框的方向类别以及框内的文本内容 | [OCRResult](../../docs/api/vision_results/ocr_result.md)                             |
+| MOT               | 多目标跟踪，输入图像，检测图像中物体位置，并返回检测框坐标，对象id及类别置信度        | [MOTResult](../../docs/api/vision_results/mot_result.md)                             |
+
 ## FastDeploy API设计

 视觉模型具有较有统一任务范式，在设计API时（包括C++/Python），FastDeploy将视觉模型的部署拆分为四个步骤
--- a/examples/vision/tracking/pptracking/cpp/infer.cc
+++ b/examples/vision/tracking/pptracking/cpp/infer.cc
@@ -33,25 +33,29 @@ void CpuInfer(const std::string& model_dir, const std::string& video_file) {
  }

  fastdeploy::vision::MOTResult result;
+  fastdeploy::vision::tracking::TrailRecorder recorder;
+  // during each prediction, data is inserted into the recorder. As the number of predictions increases,
+  // the memory will continue to grow. You can cancel the insertion through 'UnbindRecorder'.
+  // int count = 0; // unbind condition
+  model.BindRecorder(&recorder);
  cv::Mat frame;
-  int frame_id=0;
  cv::VideoCapture capture(video_file);
-  // according to the time of prediction to calculate fps
-  float fps= 0.0f;
  while (capture.read(frame)) {
    if (frame.empty()) {
-        break;
+      break;
    }
    if (!model.Predict(&frame, &result)) {
-        std::cerr << "Failed to predict." << std::endl;
-        return;
+      std::cerr << "Failed to predict." << std::endl;
+      return;
    }
+    // such as adding this code can cancel trail datat bind
+    // if(count++ == 10) model.UnbindRecorder();
    // std::cout << result.Str() << std::endl;
-    cv::Mat out_img = fastdeploy::vision::VisMOT(frame, result, fps , frame_id);
+    cv::Mat out_img = fastdeploy::vision::VisMOT(frame, result, 0.0, &recorder);
    cv::imshow("mot",out_img);
    cv::waitKey(30);
-    frame_id++;
  }
+  model.UnbindRecorder();
  capture.release();
  cv::destroyAllWindows();
 }
@@ -72,25 +76,29 @@ void GpuInfer(const std::string& model_dir, const std::string& video_file) {
  }

  fastdeploy::vision::MOTResult result;
+  fastdeploy::vision::tracking::TrailRecorder trail_recorder;
+  // during each prediction, data is inserted into the recorder. As the number of predictions increases,
+  // the memory will continue to grow. You can cancel the insertion through 'UnbindRecorder'.
+  // int count = 0; // unbind condition
+  model.BindRecorder(&trail_recorder);
  cv::Mat frame;
-  int frame_id=0;
  cv::VideoCapture capture(video_file);
-  // according to the time of prediction to calculate fps
-  float fps= 0.0f;
  while (capture.read(frame)) {
    if (frame.empty()) {
-        break;
+      break;
    }
    if (!model.Predict(&frame, &result)) {
-        std::cerr << "Failed to predict." << std::endl;
-        return;
+      std::cerr << "Failed to predict." << std::endl;
+      return;
    }
+    // such as adding this code can cancel trail datat bind
+    //if(count++ == 10) model.UnbindRecorder();
    // std::cout << result.Str() << std::endl;
-    cv::Mat out_img = fastdeploy::vision::VisMOT(frame, result, fps , frame_id);
+    cv::Mat out_img = fastdeploy::vision::VisMOT(frame, result, 0.0, &trail_recorder);
    cv::imshow("mot",out_img);
    cv::waitKey(30);
-    frame_id++;
  }
+  model.UnbindRecorder();
  capture.release();
  cv::destroyAllWindows();
 }
@@ -112,11 +120,13 @@ void TrtInfer(const std::string& model_dir, const std::string& video_file) {
  }

  fastdeploy::vision::MOTResult result;
+  fastdeploy::vision::tracking::TrailRecorder recorder;
+  //during each prediction, data is inserted into the recorder. As the number of predictions increases,
+  //the memory will continue to grow. You can cancel the insertion through 'UnbindRecorder'.
+  // int count = 0; // unbind condition
+  model.BindRecorder(&recorder);
  cv::Mat frame;
-  int frame_id=0;
  cv::VideoCapture capture(video_file);
-  // according to the time of prediction to calculate fps
-  float fps= 0.0f;
  while (capture.read(frame)) {
    if (frame.empty()) {
        break;
@@ -125,12 +135,14 @@ void TrtInfer(const std::string& model_dir, const std::string& video_file) {
        std::cerr << "Failed to predict." << std::endl;
        return;
    }
+    // such as adding this code can cancel trail datat bind
+    // if(count++ == 10) model.UnbindRecorder();
    // std::cout << result.Str() << std::endl;
-    cv::Mat out_img = fastdeploy::vision::VisMOT(frame, result, fps , frame_id);
+    cv::Mat out_img = fastdeploy::vision::VisMOT(frame, result, 0.0, &recorder);
    cv::imshow("mot",out_img);
    cv::waitKey(30);
-    frame_id++;
  }
+  model.UnbindRecorder();
  capture.release();
  cv::destroyAllWindows();
 }
--- a/examples/vision/tracking/pptracking/python/infer.py
+++ b/examples/vision/tracking/pptracking/python/infer.py
@@ -14,7 +14,6 @@

 import fastdeploy as fd
 import cv2
-import time
 import os


@@ -60,20 +59,26 @@ config_file = os.path.join(args.model, "infer_cfg.yml")
 model = fd.vision.tracking.PPTracking(
    model_file, params_file, config_file, runtime_option=runtime_option)

+# 初始化轨迹记录器
+recorder = fd.vision.tracking.TrailRecorder()
+# 绑定记录器 注意：每次预测时，往trail_recorder里面插入数据，随着预测次数的增加，内存会不断地增长，
+# 可以通过unbind_recorder()方法来解除绑定
+model.bind_recorder(recorder)
 # 预测图片分割结果
 cap = cv2.VideoCapture(args.video)
-frame_id = 0
+# count = 0
 while True:
-    start_time = time.time()
-    frame_id = frame_id+1
    _, frame = cap.read()
    if frame is None:
        break
    result = model.predict(frame)
-    end_time = time.time()
-    fps = 1.0/(end_time-start_time)
-    img = fd.vision.vis_mot(frame, result, fps, frame_id)
+    # count += 1
+    # if count == 10:
+    #     model.unbind_recorder()
+    img = fd.vision.vis_mot(frame, result, 0.0, recorder)
    cv2.imshow("video", img)
-    cv2.waitKey(30)
+    if cv2.waitKey(30) == ord("q"):
+        break
+model.unbind_recorder()
 cap.release()
 cv2.destroyAllWindows()
--- a/fastdeploy/vision/common/result.h
+++ b/fastdeploy/vision/common/result.h
@@ -14,6 +14,7 @@
 #pragma once
 #include "fastdeploy/fastdeploy_model.h"
 #include "opencv2/core/core.hpp"
+#include <set>

 namespace fastdeploy {
 /** \brief All C++ FastDeploy Vision Models APIs are defined inside this namespace
@@ -171,6 +172,7 @@ struct FASTDEPLOY_DECL MOTResult : public BaseResult {
  /** \brief The classify label id for all the tracking object
   */
  std::vector<int> class_ids;
+
  ResultType type = ResultType::MOT;
  /// Clear MOT result
  void Clear();
--- a/fastdeploy/vision/tracking/pptracking/model.cc
+++ b/fastdeploy/vision/tracking/pptracking/model.cc
@@ -161,9 +161,7 @@ bool PPTracking::Initialize() {
    return false;
  }
  // create JDETracker instance
-  std::unique_ptr<JDETracker> jdeTracker(new JDETracker);
-  jdeTracker_ = std::move(jdeTracker);
-
+  jdeTracker_ = std::unique_ptr<JDETracker>(new JDETracker);
  return true;
 }

@@ -245,7 +243,6 @@ bool PPTracking::Postprocess(std::vector<FDTensor>& infer_result, MOTResult *res
  cv::Mat dets(bbox_shape[0], 6, CV_32FC1, bbox_data);
  cv::Mat emb(bbox_shape[0], emb_shape[1], CV_32FC1, emb_data);

-
  result->Clear();
  std::vector<Track> tracks;
  std::vector<int> valid;
@@ -264,7 +261,6 @@ bool PPTracking::Postprocess(std::vector<FDTensor>& infer_result, MOTResult *res
    result->boxes.push_back(box);
    result->ids.push_back(1);
    result->scores.push_back(*dets.ptr<float>(0, 4));
-
  } else {
    std::vector<Track>::iterator titer;
    for (titer = tracks.begin(); titer != tracks.end(); ++titer) {
@@ -285,9 +281,36 @@ bool PPTracking::Postprocess(std::vector<FDTensor>& infer_result, MOTResult *res
      }
    }
  }
+  if (!is_record_trail_) return true;
+  int nums = result->boxes.size();
+  for (int i=0; i<nums; i++) {
+    float center_x = (result->boxes[i][0] + result->boxes[i][2]) / 2;
+    float center_y = (result->boxes[i][1] + result->boxes[i][3]) / 2;
+    int id = result->ids[i];
+    recorder_->Add(id,{int(center_x), int(center_y)});
+  }
  return true;
 }

+void PPTracking::BindRecorder(TrailRecorder* recorder){
+
+    recorder_ = recorder;
+    is_record_trail_ = true;
+}
+
+void PPTracking::UnbindRecorder(){
+
+    is_record_trail_ = false;
+    std::map<int, std::vector<std::array<int, 2>>>::iterator iter;
+    for(iter = recorder_->records.begin(); iter != recorder_->records.end(); iter++){
+      iter->second.clear();
+      iter->second.shrink_to_fit();
+    }
+    recorder_->records.clear();
+    std::map<int, std::vector<std::array<int, 2>>>().swap(recorder_->records);
+    recorder_ = nullptr;
+}
+
 } // namespace tracking
 } // namespace vision
 } // namespace fastdeploy
--- a/fastdeploy/vision/tracking/pptracking/model.h
+++ b/fastdeploy/vision/tracking/pptracking/model.h
@@ -14,6 +14,7 @@

 #pragma once

+#include <map>
 #include "fastdeploy/vision/common/processors/transform.h"
 #include "fastdeploy/fastdeploy_model.h"
 #include "fastdeploy/vision/common/result.h"
@@ -22,6 +23,21 @@
 namespace fastdeploy {
 namespace vision {
 namespace tracking {
+struct TrailRecorder{
+  std::map<int, std::vector<std::array<int, 2>>> records;
+  void Add(int id, const std::array<int, 2>& record);
+};
+
+inline void TrailRecorder::Add(int id, const std::array<int, 2>& record) {
+  auto iter = records.find(id);
+  if (iter != records.end()) {
+    auto trail = records[id];
+    trail.push_back(record);
+    records[id] = trail;
+  } else {
+    records[id] = {record};
+  }
+}

 class FASTDEPLOY_DECL PPTracking: public FastDeployModel {
 public:
@@ -49,6 +65,14 @@ class FASTDEPLOY_DECL PPTracking: public FastDeployModel {
   * \return true if the prediction successed, otherwise false
   */
  virtual bool Predict(cv::Mat* img, MOTResult* result);
+  /** \brief bind tracking trail struct
+   *
+   * \param[in] recorder The MOT trail will record the trail of object
+   */
+  void BindRecorder(TrailRecorder* recorder);
+  /** \brief cancel binding and clear trail information
+   */
+  void UnbindRecorder();

 private:
  bool BuildPreprocessPipelineFromConfig();
@@ -65,8 +89,11 @@ class FASTDEPLOY_DECL PPTracking: public FastDeployModel {
  float conf_thresh_;
  float tracked_thresh_;
  float min_box_area_;
+  bool is_record_trail_ = false;
  std::unique_ptr<JDETracker> jdeTracker_;
+  TrailRecorder *recorder_ = nullptr;
 };
+
 }  // namespace tracking
 }  // namespace vision
 }  // namespace fastdeploy
--- a/fastdeploy/vision/tracking/pptracking/pptracking_pybind.cc
+++ b/fastdeploy/vision/tracking/pptracking/pptracking_pybind.cc
@@ -15,6 +15,11 @@

 namespace fastdeploy {
 void BindPPTracking(pybind11::module &m) {
+
+  pybind11::class_<vision::tracking::TrailRecorder>(m, "TrailRecorder")
+    .def(pybind11::init<>())
+    .def_readwrite("records", &vision::tracking::TrailRecorder::records)
+    .def("add", &vision::tracking::TrailRecorder::Add);
  pybind11::class_<vision::tracking::PPTracking, FastDeployModel>(
    m, "PPTracking")
    .def(pybind11::init<std::string, std::string, std::string, RuntimeOption,
@@ -26,6 +31,8 @@ void BindPPTracking(pybind11::module &m) {
             vision::MOTResult *res = new vision::MOTResult();
             self.Predict(&mat, res);
             return res;
-         });
+         })
+    .def("bind_recorder", &vision::tracking::PPTracking::BindRecorder)
+    .def("unbind_recorder", &vision::tracking::PPTracking::UnbindRecorder);
 }
 }  // namespace fastdeploy
--- a/fastdeploy/vision/tracking/pptracking/trajectory.cc
+++ b/fastdeploy/vision/tracking/pptracking/trajectory.cc
@@ -118,7 +118,7 @@ void Trajectory::update(Trajectory *traj,
  if (update_embedding_) update_embedding(traj->current_embedding);
 }

-void Trajectory::activate(int &cnt,int timestamp_) {
+void Trajectory::activate(int &cnt, int timestamp_) {
  id = next_id(cnt);
  TKalmanFilter::init(cv::Mat(xyah));
  length = 0;
@@ -130,7 +130,7 @@ void Trajectory::activate(int &cnt,int timestamp_) {
  starttime = timestamp_;
 }

-void Trajectory::reactivate(Trajectory *traj,int &cnt, int timestamp_, bool newid) {
+void Trajectory::reactivate(Trajectory *traj, int &cnt, int timestamp_, bool newid) {
  TKalmanFilter::correct(cv::Mat(traj->xyah));
  update_embedding(traj->current_embedding);
  length = 0;
--- a/fastdeploy/vision/tracking/pptracking/trajectory.h
+++ b/fastdeploy/vision/tracking/pptracking/trajectory.h
@@ -74,8 +74,8 @@ class FASTDEPLOY_DECL Trajectory : public TKalmanFilter {
  virtual void update(Trajectory *traj,
                      int timestamp,
                      bool update_embedding = true);
-  virtual void activate(int& cnt, int timestamp);
-  virtual void reactivate(Trajectory *traj, int & cnt,int timestamp, bool newid = false);
+  virtual void activate(int &cnt, int timestamp);
+  virtual void reactivate(Trajectory *traj, int &cnt, int timestamp, bool newid = false);
  virtual void mark_lost(void);
  virtual void mark_removed(void);

--- a/fastdeploy/vision/visualize/mot.cc
+++ b/fastdeploy/vision/visualize/mot.cc
@@ -25,73 +25,63 @@ cv::Scalar GetMOTBoxColor(int idx) {
  return color;
 }

-
-cv::Mat VisMOT(const cv::Mat &img, const MOTResult &results, float fps, int frame_id) {
-
+cv::Mat VisMOT(const cv::Mat &img, const MOTResult &results,
+               float score_threshold, tracking::TrailRecorder* recorder) {
  cv::Mat vis_img = img.clone();
  int im_h = img.rows;
  int im_w = img.cols;
  float text_scale = std::max(1, static_cast<int>(im_w / 1600.));
  float text_thickness = 2.;
  float line_thickness = std::max(1, static_cast<int>(im_w / 500.));
-
-  std::ostringstream oss;
-  oss << std::setiosflags(std::ios::fixed) << std::setprecision(4);
-  oss << "frame: " << frame_id << " ";
-  oss << "fps: " << fps << " ";
-  oss << "num: " << results.boxes.size();
-  std::string text = oss.str();
-
-  cv::Point origin;
-  origin.x = 0;
-  origin.y = static_cast<int>(15 * text_scale);
-  cv::putText(vis_img,
-              text,
-              origin,
-              cv::FONT_HERSHEY_PLAIN,
-              text_scale,
-              cv::Scalar(0, 0, 255),
-              text_thickness);
-
  for (int i = 0; i < results.boxes.size(); ++i) {
-      const int obj_id = results.ids[i];
-      const float score = results.scores[i];
+    if (results.scores[i] < score_threshold) {
+        continue;
+    }
+    const int obj_id = results.ids[i];
+    const float score = results.scores[i];
+    cv::Scalar color = GetMOTBoxColor(obj_id);
+    if (recorder != nullptr){
+      int id = results.ids[i];
+      auto iter = recorder->records.find(id);
+      if (iter != recorder->records.end()) {
+        for (int j = 0; j < iter->second.size(); j++) {
+            cv::Point center(iter->second[j][0], iter->second[j][1]);
+            cv::circle(vis_img, center, text_thickness, color);
+        }
+      }
+    }
+    cv::Point pt1 = cv::Point(results.boxes[i][0], results.boxes[i][1]);
+    cv::Point pt2 = cv::Point(results.boxes[i][2], results.boxes[i][3]);
+    cv::Point id_pt =
+            cv::Point(results.boxes[i][0], results.boxes[i][1] + 10);
+    cv::Point score_pt =
+            cv::Point(results.boxes[i][0], results.boxes[i][1] - 10);
+    cv::rectangle(vis_img, pt1, pt2, color, line_thickness);
+    std::ostringstream idoss;
+    idoss << std::setiosflags(std::ios::fixed) << std::setprecision(4);
+    idoss << obj_id;
+    std::string id_text = idoss.str();

-      cv::Scalar color = GetMOTBoxColor(obj_id);
+    cv::putText(vis_img,
+                id_text,
+                id_pt,
+                cv::FONT_HERSHEY_PLAIN,
+                text_scale,
+                color,
+                text_thickness);

-      cv::Point pt1 = cv::Point(results.boxes[i][0], results.boxes[i][1]);
-      cv::Point pt2 = cv::Point(results.boxes[i][2], results.boxes[i][3]);
-      cv::Point id_pt =
-              cv::Point(results.boxes[i][0], results.boxes[i][1] + 10);
-      cv::Point score_pt =
-              cv::Point(results.boxes[i][0], results.boxes[i][1] - 10);
-      cv::rectangle(vis_img, pt1, pt2, color, line_thickness);
+    std::ostringstream soss;
+    soss << std::setiosflags(std::ios::fixed) << std::setprecision(2);
+    soss << score;
+    std::string score_text = soss.str();

-      std::ostringstream idoss;
-      idoss << std::setiosflags(std::ios::fixed) << std::setprecision(4);
-      idoss << obj_id;
-      std::string id_text = idoss.str();
-
-      cv::putText(vis_img,
-                  id_text,
-                  id_pt,
-                  cv::FONT_HERSHEY_PLAIN,
-                  text_scale,
-                  cv::Scalar(0, 255, 255),
-                  text_thickness);
-
-      std::ostringstream soss;
-      soss << std::setiosflags(std::ios::fixed) << std::setprecision(2);
-      soss << score;
-      std::string score_text = soss.str();
-
-      cv::putText(vis_img,
-                  score_text,
-                  score_pt,
-                  cv::FONT_HERSHEY_PLAIN,
-                  text_scale,
-                  cv::Scalar(0, 255, 255),
-                  text_thickness);
+    cv::putText(vis_img,
+                score_text,
+                score_pt,
+                cv::FONT_HERSHEY_PLAIN,
+                text_scale,
+                color,
+                text_thickness);
  }
  return vis_img;
 }
--- a/fastdeploy/vision/visualize/visualize.h
+++ b/fastdeploy/vision/visualize/visualize.h
@@ -17,6 +17,8 @@

 #include "fastdeploy/vision/common/result.h"
 #include "opencv2/imgproc/imgproc.hpp"
+#include "fastdeploy/vision/tracking/pptracking/model.h"
+
 namespace fastdeploy {
 namespace vision {

@@ -81,8 +83,9 @@ FASTDEPLOY_DECL cv::Mat VisMatting(const cv::Mat& im,
                                   bool remove_small_connected_area = false);
 FASTDEPLOY_DECL cv::Mat VisOcr(const cv::Mat& im, const OCRResult& ocr_result);

-FASTDEPLOY_DECL cv::Mat VisMOT(const cv::Mat& img,const MOTResult& results, float fps=0.0, int frame_id=0);
-
+FASTDEPLOY_DECL cv::Mat VisMOT(const cv::Mat& img, const MOTResult& results,
+                               float score_threshold = 0.0f,
+                               tracking::TrailRecorder* recorder = nullptr);
 FASTDEPLOY_DECL cv::Mat SwapBackground(
    const cv::Mat& im, const cv::Mat& background, const MattingResult& result,
    bool remove_small_connected_area = false);
--- a/fastdeploy/vision/visualize/visualize_pybind.cc
+++ b/fastdeploy/vision/visualize/visualize_pybind.cc
@@ -86,9 +86,9 @@ void BindVisualize(pybind11::module& m) {
             return TensorToPyArray(out);
           })
      .def("vis_mot",
-           [](pybind11::array& im_data, vision::MOTResult& result,float fps, int frame_id) {
+           [](pybind11::array& im_data, vision::MOTResult& result,float score_threshold, vision::tracking::TrailRecorder record) {
               auto im = PyArrayToCvMat(im_data);
-               auto vis_im = vision::VisMOT(im, result,fps,frame_id);
+               auto vis_im = vision::VisMOT(im, result, score_threshold, &record);
               FDTensor out;
               vision::Mat(vis_im).ShareWithTensor(&out);
               return TensorToPyArray(out);
@@ -185,9 +185,10 @@ void BindVisualize(pybind11::module& m) {
                    return TensorToPyArray(out);
                  })
      .def_static("vis_mot",
-                   [](pybind11::array& im_data, vision::MOTResult& result,float fps, int frame_id) {
+                   [](pybind11::array& im_data, vision::MOTResult& result,float score_threshold,
+                           vision::tracking::TrailRecorder* record) {
                       auto im = PyArrayToCvMat(im_data);
-                       auto vis_im = vision::VisMOT(im, result,fps,frame_id);
+                       auto vis_im = vision::VisMOT(im, result, score_threshold, record);
                       FDTensor out;
                       vision::Mat(vis_im).ShareWithTensor(&out);
                       return TensorToPyArray(out);
--- a/python/fastdeploy/vision/tracking/init.py
+++ b/python/fastdeploy/vision/tracking/init.py
@@ -12,5 +12,10 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 from __future__ import absolute_import
-
+from ... import c_lib_wrap as C
 from .pptracking import PPTracking
+
+try:
+    TrailRecorder = C.vision.tracking.TrailRecorder
+except:
+    pass
--- a/python/fastdeploy/vision/tracking/pptracking/init.py
+++ b/python/fastdeploy/vision/tracking/pptracking/init.py
@@ -48,3 +48,18 @@ class PPTracking(FastDeployModel):
        """
        assert input_image is not None, "The input image data is None."
        return self._model.predict(input_image)
+
+    def bind_recorder(self, val):
+        """ Binding tracking trail
+
+        :param val: (TrailRecorder) trail recorder, which is contained object's id and center point sequence
+        :return: None
+        """
+        self._model.bind_recorder(val)
+
+    def unbind_recorder(self):
+        """ cancel binding of tracking trail
+
+        :return:
+        """
+        self._model.unbind_recorder()
--- a/python/fastdeploy/vision/visualize/init.py
+++ b/python/fastdeploy/vision/visualize/init.py
@@ -15,6 +15,7 @@
 from __future__ import absolute_import
 import logging
 from ... import c_lib_wrap as C
+import cv2


 def vis_detection(im_data,
@@ -106,5 +107,5 @@ def vis_ppocr(im_data, det_result):
    return C.vision.vis_ppocr(im_data, det_result)


-def vis_mot(im_data, mot_result, fps, frame_id):
-    return C.vision.vis_mot(im_data, mot_result, fps, frame_id)
+def vis_mot(im_data, mot_result, score_threshold=0.0, records=None):
+    return C.vision.vis_mot(im_data, mot_result, score_threshold, records)