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dotrack haved modified!

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王庆刚
2024-05-29 20:31:28 +08:00
parent dff029de20
commit d1ea304491
19 changed files with 379 additions and 149 deletions
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186
tracking/dotrack/track_back.py
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@ -14,29 +14,32 @@ from .dotracks import MoveState, Track
class backTrack(Track):
# boxes: [x1, y1, x2, y2, track_id, score, cls, frame_index, box_index]
# 0, 1, 2, 3, 4, 5, 6, 7, 8
def __init__(self, boxes, imgshape=(1024, 1280)):
def __init__(self, boxes, features, imgshape=(1024, 1280)):
super().__init__(boxes, imgshape)
super().__init__(boxes, features, imgshape)
'''该函数依赖项: self.cornpoints'''
self.isCornpoint = self.isimgborder()
'''该函数依赖项: self.cornpoints
MarginState: list, seven elements, 表示轨迹中boxes出现在图像的
[左上，右上，左中，右中，左下，右下底部]
'''
self.isCornpoint, self.MarginState = self.isimgborder()
'''该函数依赖项: self.isCornpoint，不能在父类中初始化'''
self.trajfeature()
'''静止点帧索引'''
self.static_index = self.compute_static_fids()
# self.static_index = self.compute_static_fids()
'''运动点帧索引(运动帧两端的静止帧索引)'''
self.moving_index = self.compute_dynamic_fids()
# self.moving_index = self.compute_dynamic_fids()
# self.static_index, self.moving_index = self.compute_static_dynamic_fids()
self.static_index, self.moving_index = self.compute_static_dynamic_fids()
'''该函数依赖项: self.cornpoints，定义 4 个商品位置变量：
self.Cent_isIncart, self.LB_isIncart, self.RB_isIncart
self.posState = self.Cent_isIncart+self.LB_isIncart+self.RB_isIncart'''
self.PositionState()
self.PositionState(camerType="back")
'''self.feature_ious = (incart_iou, outcart_iou, cartboarder_iou, maxbox_iou, minbox_iou)
self.incartrates = incartrates'''
@ -51,47 +54,79 @@ class backTrack(Track):
x1, y1 = self.cornpoints[:,2], self.cornpoints[:,3],
x2, y2 = self.cornpoints[:,8], self.cornpoints[:,9]
cont1 = sum(abs(x1)<BoundPixel) / self.frnum > BoundThresh
cont2 = sum(abs(y1)<BoundPixel) / self.frnum > BoundThresh
cont3 = sum(abs(x2-self.imgshape[0])<BoundPixel) / self.frnum > BoundThresh
cont4 = sum(abs(y2-self.imgshape[1])<BoundPixel) / self.frnum > BoundThresh
condt1 = sum(abs(x1)<BoundPixel) / self.frnum > BoundThresh
condt2 = sum(abs(y1)<BoundPixel) / self.frnum > BoundThresh
condt3 = sum(abs(x2-self.imgshape[0])<BoundPixel) / self.frnum > BoundThresh
condt4 = sum(abs(y2-self.imgshape[1])<BoundPixel) / self.frnum > BoundThresh
cont = cont1 or cont2 or cont3 or cont4
condt = condt1 or condt2 or condt3 or condt4
isCornpoint = False
if cont:
if condt:
isCornpoint = True
return isCornpoint
condtA = condt1 and condt2
condtB = condt3 and condt2
condtC = condt1 and not condt2 and not condt4
condtD = condt3 and not condt2 and not condt4
condtE = condt1 and condt4
condtF = condt3 and condt4
condtG = condt4 and not condt1 and not condt3
MarginState = [condtA, condtB, condtC, condtD, condtE, condtF, condtG]
return isCornpoint, MarginState
def PositionState(self, camerType="back"):
'''
camerType: back, 后置摄像头
front, 前置摄像头
'''
if camerType=="front":
incart = cv2.imread("./shopcart/cart_tempt/incart.png", cv2.IMREAD_GRAYSCALE)
else:
incart = cv2.imread("./shopcart/cart_tempt/incart_ftmp.png", cv2.IMREAD_GRAYSCALE)
# =============================================================================
# def PositionState(self, camerType="back"):
# '''
# 已迁移至基类
# camerType: back, 后置摄像头
# front, 前置摄像头
# '''
# if camerType=="front":
# incart = cv2.imread("./shopcart/cart_tempt/incart.png", cv2.IMREAD_GRAYSCALE)
# outcart = cv2.imread("./shopcart/cart_tempt/outcart.png", cv2.IMREAD_GRAYSCALE)
# else:
# incart = cv2.imread("./shopcart/cart_tempt/incart_ftmp.png", cv2.IMREAD_GRAYSCALE)
# outcart = cv2.imread("./shopcart/cart_tempt/outcart_ftmp.png", cv2.IMREAD_GRAYSCALE)
#
# xc, yc = self.cornpoints[:,0].clip(0,self.imgshape[0]-1).astype(np.int64), self.cornpoints[:,1].clip(0,self.imgshape[1]-1).astype(np.int64)
# x1, y1 = self.cornpoints[:,6].clip(0,self.imgshape[0]-1).astype(np.int64), self.cornpoints[:,7].clip(0,self.imgshape[1]-1).astype(np.int64)
# x2, y2 = self.cornpoints[:,8].clip(0,self.imgshape[0]-1).astype(np.int64), self.cornpoints[:,9].clip(0,self.imgshape[1]-1).astype(np.int64)
#
# # print(self.tid)
# Cent_inCartnum = np.count_nonzero(incart[(yc, xc)])
# LB_inCartnum = np.count_nonzero(incart[(y1, x1)])
# RB_inCartnum = np.count_nonzero(incart[(y2, x2)])
#
# Cent_outCartnum = np.count_nonzero(outcart[(yc, xc)])
# LB_outCartnum = np.count_nonzero(outcart[(y1, x1)])
# RB_outCartnum = np.count_nonzero(outcart[(y2, x2)])
#
# '''Track完全在车内：左下角点、右下角点与 outcart 的交集为 0'''
# self.isWholeInCart = False
# if LB_outCartnum + RB_outCartnum == 0:
# self.isWholeInCart = True
#
# '''Track完全在车外：左下角点、中心点与 incart 的交集为 0
# 右下角点、中心点与 incart 的交集为 0
# '''
# self.isWholeOutCart = False
# if Cent_inCartnum + LB_inCartnum == 0 or Cent_inCartnum + RB_inCartnum == 0:
# self.isWholeOutCart = True
#
#
# self.Cent_isIncart = False
# self.LB_isIncart = False
# self.RB_isIncart = False
# if Cent_inCartnum: self.Cent_isIncart = True
# if LB_inCartnum: self.LB_isIncart = True
# if RB_inCartnum: self.RB_isIncart = True
#
# self.posState = self.Cent_isIncart+self.LB_isIncart+self.RB_isIncart
# =============================================================================
xc, yc = self.cornpoints[:,0].clip(0,self.imgshape[0]-1).astype(np.int64), self.cornpoints[:,1].clip(0,self.imgshape[1]-1).astype(np.int64)
x1, y1 = self.cornpoints[:,6].clip(0,self.imgshape[0]-1).astype(np.int64), self.cornpoints[:,7].clip(0,self.imgshape[1]-1).astype(np.int64)
x2, y2 = self.cornpoints[:,8].clip(0,self.imgshape[0]-1).astype(np.int64), self.cornpoints[:,9].clip(0,self.imgshape[1]-1).astype(np.int64)
# print(self.tid)
Cent_inCartnum = np.count_nonzero(incart[(yc, xc)])
LB_inCartnum = np.count_nonzero(incart[(y1, x1)])
RB_inCartnum = np.count_nonzero(incart[(y2, x2)])
self.Cent_isIncart = False
self.LB_isIncart = False
self.RB_isIncart = False
if Cent_inCartnum: self.Cent_isIncart = True
if LB_inCartnum: self.LB_isIncart = True
if RB_inCartnum: self.RB_isIncart = True
self.posState = self.Cent_isIncart+self.LB_isIncart+self.RB_isIncart
def PCA(self):
@ -251,9 +286,25 @@ class backTrack(Track):
def compute_static_dynamic_fids(self):
idx2 = self.trajlens.index(min(self.trajlens))
trajmin = self.trajectory[idx2]
if self.MarginState[0] or self.MarginState[2]:
idx1 = 4
elif self.MarginState[1] or self.MarginState[3]:
idx1 = 3
elif self.MarginState[4]:
idx1 = 2
elif self.MarginState[5]:
idx1 = 1
elif self.MarginState[6]:
if self.trajlens[1] < self.trajlens[2]:
idx1 = 1
else:
idx1 = 2
else:
idx1 = self.trajlens.index(min(self.trajlens))
# idx1 = self.trajlens.index(min(self.trajlens))
trajmin = self.trajectory[idx1]
static, dynamic = self.pt_state_fids(trajmin)
static = np.array(static)
@ -279,47 +330,60 @@ class backTrack(Track):
#
# return static_dynamic_fids
# =============================================================================
def is_static(self):
def is_static(self):
'''静态情况 1: 目标关键点最小相对运动轨迹 < 0.2, 指标值偏大
feature = [trajlen_min, trajlen_max,
TrajFeat = [trajlen_min, trajlen_max,
trajdist_min, trajdist_max,
trajlen_rate, trajdist_rate]
'''
# print(f"TrackID: {self.tid}")
boxes = self.boxes
condt1 = self.feature[5] < 0.2 or self.feature[3] < 120
'''静态情况 1: '''
condt1 = self.TrajFeat[5] < 0.2 or self.TrajFeat[3] < 120
'''静态情况 2: 目标初始状态为静止，适当放宽关键点最小相对运动轨迹 < 0.5'''
condt2 = self.static_index.size > 0 \
and self.static_index[0, 0] <= 2 \
and self.feature[5] < 0.5
and self.static_index[0, 1] >= 5 \
and self.TrajFeat[5] < 0.5 \
and self.TrajFeat[1] < 240 \
and self.isWholeInCart
# and self.posState >= 2
# and self.TrajFeat[0] < 240 \
'''静态情况 3: 目标初始状态和最终状态均为静止'''
condt3 = self.static_index.shape[0] >= 2 \
and self.static_index[0, 0] <= 2 \
and self.static_index[0, 1] >= 5 \
and self.static_index[-1, 1] >= self.frnum-3 \
and self.TrajFeat[1] < 240 \
and self.isWholeInCart
# and self.posState >= 2
# and self.TrajFeat[0] < 240 \
condt = condt1 or condt2 or condt3
condt4 = self.static_index.shape[0] >= 2 \
and self.static_index[0, 0] <= 2 \
and self.static_index[0, 1] >= 6 \
and self.static_index[-1, 0] <= self.frnum-5 \
and self.static_index[-1, 1] >= self.frnum-2
condt = condt1 or condt2 or condt3 or condt4
return condt
# =============================================================================
# track1 = [t for t in tracks if t.feature[5] < 0.2
# or t.feature[3] < 120
# track1 = [t for t in tracks if t.TrajFeat[5] < 0.2
# or t.TrajFeat[3] < 120
# ]
#
# track2 = [t for t in tracks if t.static_index.size > 0
# and t.static_index[0, 0] <= 2
# and t.feature[5] < 0.5]
# and t.TrajFeat[5] < 0.5]
#
# track3 = [t for t in tracks if t.static_index.shape[0] >= 2
# and t.static_index[0, 0] <= 2