dotrack haved modified!

tracking/dotrack/dotracks_front.py

@@ -13,7 +13,9 @@ class doFrontTracks(doTracks):
     def __init__(self, bboxes, TracksDict):
         super().__init__(bboxes, TracksDict)
         
-        self.tracks = [frontTrack(b) for b in self.lboxes]
+        # self.tracks = [frontTrack(b) for b in self.lboxes]
+        self.tracks = [frontTrack(b, f) for b, f in zip(self.lboxes, self.lfeats)]
+        
 
     def classify(self):
         '''功能：对 tracks 中元素分类 '''
@@ -32,7 +34,9 @@ class doFrontTracks(doTracks):
         '''提取小孩的 tracks'''
         kid_tracks = [t for t in tracks if t.cls==9]        
         tracks = self.sub_tracks(tracks, kid_tracks)
-
+        
+        out_trcak = [t for t in tracks if t.isWholeOutCart]
+        tracks = self.sub_tracks(tracks, out_trcak)
 
         '''静态 tracks'''        
         static_tracks = [t for t in tracks if t.frnum>1 and t.is_static()] 
@@ -49,8 +53,11 @@ class doFrontTracks(doTracks):
         for gtrack in tracks:
             # print(f"Goods ID:{gtrack.tid}")
             for htrack in hand_tracks:
-                if self.is_associate_with_hand(htrack, gtrack):
-                    gtrack.hands.append(htrack)
+                hand_ious = self.associate_with_hand(htrack, gtrack)
+                if len(hand_ious):
+                    gtrack.Hands.append(htrack)
+                    gtrack.HandsIou.append(hand_ious)
+                    
                     
         freemoved_tracks = [t for t in tracks if t.is_free_move()]
         
@@ -59,14 +66,17 @@ class doFrontTracks(doTracks):
 
         self.Residual = tracks
   
-    def is_associate_with_hand(self, htrack, gtrack):
-        '''手部 Track、商品 Track 建立关联的依据：
+    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)
         
@@ -80,7 +90,7 @@ class doFrontTracks(doTracks):
         fids = set(hfids).intersection(set(gfids))
         
         if len(fids)==0:
-            return False
+            return hand_ious
         
         
         # print(f"Goods ID: {gtrack.tid}, Hand ID: {htrack.tid}")
@@ -102,9 +112,9 @@ class doFrontTracks(doTracks):
             iou = union / (area1 + area2 - union + 1e-6)
             
             if iou>0: 
-                ious.append(iou)
+                hand_ious.append((f, iou))
         
-        return len(ious)
+        return hand_ious
     
     
     
@@ -137,17 +147,24 @@ class doFrontTracks(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()
-                    iboxes[:, 4], iboxes[:, 6] = ntid, ncls
+                    ifeats = track.features.copy()
+                    
+                    # 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]
+                feats_fid = feats[fid_indices]
                 
-                newtracks.append(frontTrack(boxes_fid))
+                newtracks.append(frontTrack(boxes_fid, feats_fid))
             elif len(tracklist) == 1:
                 oldtracks.append(tracklist[0])
                 newtracks.append(tracklist[0])