modified for site test

tracking/dotrack/dotracks_front.py

@@ -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