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modified for site test

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This commit is contained in:
王庆刚
2024-07-18 17:52:12 +08:00
parent f90ef72cbf
commit e986ec060b
39 changed files with 2279 additions and 375 deletions
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tracking/dotrack/__pycache__/dotracks.cpython-39.pyc
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tracking/dotrack/__pycache__/dotracks_front.cpython-39.pyc
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tracking/dotrack/dotracks.py
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@ -94,6 +94,7 @@ class Track:
self.cls = int(boxes[0, 6])
self.frnum = boxes.shape[0]
self.imgBorder = False
self.isCornpoint = False
self.imgshape = imgshape
self.state = MoveState.Unknown
@ -101,9 +102,13 @@ class Track:
self.start_fid = int(np.min(boxes[:, 7]))
self.end_fid = int(np.max(boxes[:, 7]))
''''''
self.Hands = []
self.HandsIou = []
self.Goods = []
self.GoodsIou = []
'''5个关键点（中心点、左上点、右上点、左下点、右下点 ）坐标'''
@ -113,7 +118,7 @@ class Track:
（中心点、左上点、右上点、左下点、右下点 ）轨迹特征'''
self.compute_cornpts_feats()
'''应计算各个角点面积、平均面积'''
mw, mh = np.mean(boxes[:, 2]-boxes[:, 0]), np.mean((boxes[:, 3]-boxes[:, 1]))
self.mwh = np.mean((mw, mh))
self.Area = mw * mh

51
tracking/dotrack/dotracks_back.py
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@ -55,6 +55,7 @@ class doBackTracks(doTracks):
# tracks = self.sub_tracks(tracks, out_trcak)
[self.associate_with_hand(htrack, gtrack) for htrack in hand_tracks for gtrack in tracks]
'''轨迹循环归并'''
# merged_tracks = self.merge_tracks(tracks)
merged_tracks = self.merge_tracks_loop(tracks)
@ -66,17 +67,28 @@ class doBackTracks(doTracks):
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
# for gtrack in tracks:
# 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)
# htrack.Goods.append((gtrack, hand_ious))
# for htrack in hand_tracks:
# self.merge_based_hands(htrack)
self.Residual = tracks
# def merge_based_hands(self, htrack):
# gtracks = htrack.Goods
# if len(gtracks) >= 2:
# atrack, afious = gtracks[0]
# btrack, bfious = gtracks[1]
def associate_with_hand(self, htrack, gtrack):
'''
迁移至基类：
@ -91,6 +103,7 @@ class doBackTracks(doTracks):
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:
@ -99,18 +112,17 @@ class doBackTracks(doTracks):
gboxes = np.concatenate((gboxes, gtrack.boxes[start:end+1, :]), axis=0)
hfids, gfids = hboxes[:, 7], gboxes[:, 7]
fids = set(hfids).intersection(set(gfids))
fids = sorted(set(hfids).intersection(set(gfids)))
if len(fids)==0:
return hand_ious
return None
# 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]
h = np.where(hboxes[:,7] == f)[0][0]
g = np.where(gboxes[:,7] == f)[0][0]
x11, y11, x12, y12 = hboxes[h, 0:4]
x21, y21, x22, y22 = gboxes[g, 0:4]
@ -124,10 +136,11 @@ class doBackTracks(doTracks):
iou = union / (area1 + area2 - union + 1e-6)
if iou>0:
hand_ious.append((f, iou))
if iou >= 0.01:
gtrack.Hands.append((htrack.tid, f, iou))
return hand_ious
return gtrack.Hands
def merge_tracks(self, Residual):
"""

40
tracking/dotrack/dotracks_front.py
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@ -44,21 +44,25 @@ class doFrontTracks(doTracks):
'''剔除静止目标后的 tracks'''
tracks = self.sub_tracks(tracks, static_tracks)
[self.associate_with_hand(htrack, gtrack) for htrack in hand_tracks for gtrack in 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:
hand_ious = self.associate_with_hand(htrack, gtrack)
if len(hand_ious):
gtrack.Hands.append(htrack)
gtrack.HandsIou.append(hand_ious)
# 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)
'''静止 tracks 判断与剔除静止 tracks'''
static_tracks = [t for t in tracks if t.frnum>1 and t.is_static()]
tracks = self.sub_tracks(tracks, static_tracks)
freemoved_tracks = [t for t in tracks if t.is_free_move()]
tracks = self.sub_tracks(tracks, freemoved_tracks)
@ -73,10 +77,8 @@ class doFrontTracks(doTracks):
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)
@ -87,14 +89,12 @@ class doFrontTracks(doTracks):
gboxes = np.concatenate((gboxes, gtrack.boxes[start:end+1, :]), axis=0)
hfids, gfids = hboxes[:, 7], gboxes[:, 7]
fids = set(hfids).intersection(set(gfids))
fids = sorted(set(hfids).intersection(set(gfids)))
if len(fids)==0:
return hand_ious
return None
# 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]
@ -111,10 +111,10 @@ class doFrontTracks(doTracks):
iou = union / (area1 + area2 - union + 1e-6)
if iou>0:
hand_ious.append((f, iou))
return hand_ious
if iou >= 0.01:
gtrack.Hands.append((htrack.tid, f, iou))
return gtrack.Hands