feat: add grounded_sam2_tracking_demo_with_continuous_id.py and test data

utils/track_utils.py

@@ -0,0 +1,41 @@
+import numpy as np
+
+def sample_points_from_masks(masks, num_points):
+    """
+    sample points from masks and return its absolute coordinates
+
+    Args:
+        masks: np.array with shape (n, h, w)
+        num_points: int
+
+    Returns:
+        points: np.array with shape (n, points, 2)
+    """
+    n, h, w = masks.shape
+    points = []
+
+    for i in range(n):
+        # find the valid mask points
+        indices = np.argwhere(masks[i] == 1)  
+        # the output format of np.argwhere is (y, x) and the shape is (num_points, 2)
+        # we should convert it to (x, y)
+        indices = indices[:, ::-1]  # (num_points, [y x]) to (num_points, [x y])
+        
+        # import pdb; pdb.set_trace()
+        if len(indices) == 0:
+            # if there are no valid points, append an empty array
+            points.append(np.array([]))
+            continue
+        
+        # resampling if there's not enough points
+        if len(indices) < num_points:
+            sampled_indices = np.random.choice(len(indices), num_points, replace=True)
+        else:
+            sampled_indices = np.random.choice(len(indices), num_points, replace=False)
+        
+        sampled_points = indices[sampled_indices]
+        points.append(sampled_points)
+
+    # convert to np.array
+    points = np.array(points, dtype=np.float32)
+    return points