initial project version!

tracking/dotrack/dotracks_front.py

@@ -0,0 +1,184 @@
+# -*- coding: utf-8 -*-
+"""
+Created on Mon Mar  4 18:38:20 2024
+
+@author: ym
+"""
+import numpy as np
+from utils.mergetrack import track_equal_track
+from .dotracks import doTracks
+from .track_front import frontTrack
+
+class doFrontTracks(doTracks):
+    def __init__(self, bboxes, TracksDict):
+        super().__init__(bboxes, TracksDict)
+        
+        self.tracks = [frontTrack(b) for b in self.lboxes]
+
+    def classify(self):
+        '''功能：对 tracks 中元素分类 '''
+        
+        tracks = self.tracks
+
+        '''提取手的 tracks'''
+        hand_tracks = [t for t in tracks if t.cls==0]
+        
+                
+        self.Hands.extend(hand_tracks)
+        tracks = self.sub_tracks(tracks, hand_tracks)
+        
+        
+        
+        '''提取小孩的 tracks'''
+        kid_tracks = [t for t in tracks if t.cls==9]        
+        tracks = self.sub_tracks(tracks, kid_tracks)
+
+
+        '''静态 tracks'''        
+        static_tracks = [t for t in tracks if t.frnum>1 and t.is_static()] 
+
+        
+        '''剔除静止目标后的 tracks'''
+        tracks = self.sub_tracks(tracks, static_tracks)
+         
+        '''轨迹循环归并'''
+        merged_tracks = self.merge_tracks_loop(tracks)
+        
+        tracks = [t for t in merged_tracks if t.frnum > 1]
+
+        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)
+                    
+        freemoved_tracks = [t for t in tracks if t.is_free_move()]
+        
+        tracks = self.sub_tracks(tracks, freemoved_tracks)
+                    
+
+        self.Residual = tracks
+  
+    def is_associate_with_hand(self, htrack, gtrack):
+        '''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!'
+        
+        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.dynamic_y2:
+            hboxes = np.concatenate((hboxes, htrack.boxes[start:end+1, :]), axis=0)    
+        for start, end in gtrack.dynamic_y1:
+            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 False
+        
+        
+        # print(f"Goods ID: {gtrack.tid}, Hand ID: {htrack.tid}")
+        ious = []
+        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: 
+                ious.append(iou)
+        
+        return len(ious)
+    
+    
+    
+    def merge_tracks(self, Residual):
+        """
+        对不同id，但可能是同一商品的目标进行归并
+        """ 
+# =============================================================================
+#         mergedTracks = []
+#         alist = [t for t in Residual]
+#         while alist:
+#             atrack = alist[0]
+#             cur_list = []
+#             cur_list.append(atrack)
+#             alist.pop(0)
+#             
+#             blist = [b for b in alist]
+#             alist = []
+#             for btrack in blist:
+#                 if track_equal_track(atrack, btrack, self.TracksDict):
+#                     cur_list.append(btrack)
+#                 else:
+#                     alist.append(btrack)
+#                     
+#             mergedTracks.append(cur_list)
+# =============================================================================
+        mergedTracks = self.base_merge_tracks(Residual)
+        
+        oldtracks, newtracks = [], []
+        for tracklist in mergedTracks:
+            if len(tracklist) > 1:
+                boxes = np.empty((0, 9), 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
+                    boxes = np.concatenate((boxes, iboxes), axis=0)
+                    oldtracks.append(track)
+                
+                fid_indices = np.argsort(boxes[:, 7])
+                boxes_fid = boxes[fid_indices]
+                
+                newtracks.append(frontTrack(boxes_fid))
+            elif len(tracklist) == 1:
+                oldtracks.append(tracklist[0])
+                newtracks.append(tracklist[0])
+                
+
+        redu = self.sub_tracks(Residual, oldtracks)
+        merged = self.join_tracks(redu, newtracks)
+
+        return merged
+            
+        
+    
+        
+# =============================================================================
+#     def array2list(self):
+#         '''
+#             将 bboxes 变换为 track 列表
+#             bboxes: [x1, y1, x2, y2, track_id, score, cls, frame_index, box_index]
+#         Return：
+#             lboxes：列表，列表中元素具有同一 track_id，x1y1x2y2 格式
+#                     [x1, y1, x2, y2, track_id, score, cls, frame_index, box_index]        
+#         '''
+#         track_ids = set(self.bboxes[:, 4])
+#         lboxes = []
+#         for t_id in track_ids: 
+#             # print(f"The ID is: {t_id}")
+#             idx = np.where(self.bboxes[:, 4] == t_id)[0]
+#             box = self.bboxes[idx, :]     
+# 
+#             lboxes.append(box)
+#         
+#         return lboxes
+# =============================================================================
+