dotrack haved modified!

tracking/dotrack/dotracks_back.py

@@ -16,7 +16,7 @@ class doBackTracks(doTracks):
         
         super().__init__(bboxes, TracksDict)
         
-        self.tracks = [backTrack(b) for b in self.lboxes]
+        self.tracks = [backTrack(b, f) for b, f in zip(self.lboxes, self.lfeats)]
         
         # self.similar_dict = self.similarity()
         
@@ -67,6 +67,9 @@ class doBackTracks(doTracks):
         self.Kids = [x for x in zip(kid_tracks, kid_states)]
         
         tracks = self.sub_tracks(tracks, kid_tracks)
+                
+        out_trcak = [t for t in tracks if t.isWholeOutCart]
+        tracks = self.sub_tracks(tracks, out_trcak)
 
         static_tracks = [t for t in tracks if t.frnum>1 and t.is_static()] 
         self.Static.extend(static_tracks)
@@ -75,20 +78,84 @@ class doBackTracks(doTracks):
         tracks = self.sub_tracks(tracks, static_tracks)
 
         
-        '''购物框边界外具有运动状态的干扰目标'''
-        out_trcak = [t for t in tracks if t.is_OutTrack()]
-
-        tracks = self.sub_tracks(tracks, out_trcak)
+        # '''购物框边界外具有运动状态的干扰目标'''
+        # out_trcak = [t for t in tracks if t.is_OutTrack()]
+        # tracks = self.sub_tracks(tracks, out_trcak)
 
         
         '''轨迹循环归并'''
         # merged_tracks = self.merge_tracks(tracks)
         merged_tracks = self.merge_tracks_loop(tracks)
         tracks = [t for t in merged_tracks if t.frnum > 1]
-
+        
+        self.merged_tracks = merged_tracks
+        
+        static_tracks = [t for t in tracks if t.frnum>1 and t.is_static()] 
+        self.Static.extend(static_tracks)
+        
+        tracks = self.sub_tracks(tracks, static_tracks)
+        
+        for gtrack in tracks:
+            # print(f"Goods ID:{gtrack.tid}")
+            for htrack in hand_tracks:
+                hand_ious = self.associate_with_hand(htrack, gtrack)
+                if len(hand_ious):
+                    gtrack.Hands.append(htrack)
+                    gtrack.HandsIou.append(hand_ious)
+                    
         self.Residual = tracks
 
-
+    def associate_with_hand(self, htrack, gtrack):
+        ''' 
+        迁移至基类：
+            手部 Track、商品 Track 建立关联的依据：
+            a. 运动帧的帧索引有交集
+            b. 帧索引交集部分iou均大于0
+        '''
+        
+        assert htrack.cls==0 and gtrack.cls!=0 and gtrack.cls!=9, 'Track cls is Error!'
+        
+        hand_ious = []
+        
+        hboxes = np.empty(shape=(0, 9), dtype = np.float)
+        gboxes = np.empty(shape=(0, 9), dtype = np.float)
+        
+        # start, end 为索引值，需要 start:(end+1)
+        for start, end in htrack.moving_index:
+            hboxes = np.concatenate((hboxes, htrack.boxes[start:end+1, :]), axis=0)    
+        for start, end in gtrack.moving_index:
+            gboxes = np.concatenate((gboxes, gtrack.boxes[start:end+1, :]), axis=0)
+        
+        hfids, gfids = hboxes[:, 7], gboxes[:, 7]
+        fids = set(hfids).intersection(set(gfids))
+        
+        
+        if len(fids)==0:
+            return hand_ious
+        
+        
+        # print(f"Goods ID: {gtrack.tid}, Hand ID: {htrack.tid}")
+        
+        for f in fids:
+            h = np.where(hfids==f)[0][0]
+            g = np.where(gfids==f)[0][0]
+            
+            x11, y11, x12, y12 = hboxes[h, 0:4]
+            x21, y21, x22, y22 = gboxes[g, 0:4]
+            
+            x1, y1 = max((x11, x21)), max((y11, y21))
+            x2, y2 = min((x12, x22)), min((y12, y22))
+            
+            union = (x2 - x1).clip(0) * (y2 - y1).clip(0)
+            area1 = (x12 - x11) * (y12 - y11)
+            area2 = (x22 - x21) * (y22 - y21)
+            
+            iou = union / (area1 + area2 - union + 1e-6)
+            
+            if iou>0: 
+                hand_ious.append((f, iou))
+        
+        return hand_ious
         
     def merge_tracks(self, Residual):
         """
@@ -100,19 +167,27 @@ class doBackTracks(doTracks):
         for tracklist in mergedTracks:
             if len(tracklist) > 1:
                 boxes = np.empty((0, 9), dtype=np.float32)
+                feats = np.empty((0, 256), dtype=np.float32)
                 for i, track in enumerate(tracklist):
                     if i==0: ntid, ncls=track.boxes[0, 4], track.boxes[0, 6]
                     iboxes = track.boxes.copy()
+                    ifeats = track.features.copy()
+                    
+                    # iboxes[:, 4], iboxes[:, 6] = ntid, ncls
                     
-                    iboxes[:, 4], iboxes[:, 6] = ntid, ncls
                     boxes = np.concatenate((boxes, iboxes), axis=0)
+                    feats = np.concatenate((feats, ifeats), axis=0)
                     
                     oldtracks.append(track)
                     
                 fid_indices = np.argsort(boxes[:, 7])
+                
                 boxes_fid = boxes[fid_indices]    
-                    
-                newtracks.append(backTrack(boxes_fid))
+                feats_fid = feats[fid_indices]
+                
+                
+                
+                newtracks.append(backTrack(boxes_fid, feats_fid))
             elif len(tracklist) == 1:
                 oldtracks.append(tracklist[0])
                 newtracks.append(tracklist[0])
@@ -137,19 +212,6 @@ class doBackTracks(doTracks):
         
         return kidstate
     
-    
-
-    def is_associate_with_hand(self):
-        """
-        分析商品和手之间的关联性
-        """
-        pass 
-    
-    
-    
-
-      
-       
 
     def isuptrack(self, track):
         Flag = False