modify dotrack module
This commit is contained in:
王庆刚
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@ -84,7 +84,6 @@ class Track:
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boxes: [x1, y1, x2, y2, track_id, score, cls, frame_index, box_index]
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0 1 2 3 4 5 6 7 8
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'''
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# 不满足以下条件时会如何？
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# assert len(set(boxes[:, 4].astype(int))) == 1, "For a Track, track_id more than 1"
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# assert len(set(boxes[:, 6].astype(int))) == 1, "For a Track, class number more than 1"
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@ -110,7 +109,8 @@ class Track:
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'''5个关键点（中心点、左上点、右上点、左下点、右下点 ）坐标'''
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self.compute_cornpoints()
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'''5个关键点轨迹特征，可以在子类中实现，降低顺序处理时的计算量'''
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'''5个关键点轨迹特征，可以在子类中实现，降低顺序处理时的计算量
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（中心点、左上点、右上点、左下点、右下点 ）轨迹特征'''
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self.compute_cornpts_feats()
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@ -341,8 +341,6 @@ class Track:
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return
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class doTracks:
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def __init__(self, bboxes, TracksDict):
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@ -394,42 +392,7 @@ class doTracks:
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lfeats.append(afeat)
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return lfeats
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'''
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def classify(self):
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tracks = self.tracks
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# 提取手的frame_id，并和动目标的frame_id 进行关联
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hand_tracks = [t for t in tracks if t.cls==0]
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self.Hands.extend(hand_tracks)
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tracks = self.sub_tracks(tracks, hand_tracks)
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# 提取小孩的track，并计算状态：left, right, incart
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kid_tracks = [t for t in tracks if t.cls==9]
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kid_states = [self.kid_state(t) for t in kid_tracks]
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self.Kids = [x for x in zip(kid_tracks, kid_states)]
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tracks = self.sub_tracks(tracks, kid_tracks)
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static_tracks = [t for t in tracks if t.frnum>1 and t.is_static()]
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self.Static.extend(static_tracks)
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# 剔除静止目标后的 tracks
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tracks = self.sub_tracks(tracks, static_tracks)
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return tracks
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'''
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def similarity(self):
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nt = len(self.tracks)
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@ -23,34 +23,6 @@ class doBackTracks(doTracks):
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self.shopcart = ShoppingCart(bboxes)
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# =============================================================================
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# def array2list(self):
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# ''' 0, 1, 2, 3, 4, 5, 6, 7, 8
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# bboxes: [x1, y1, x2, y2, track_id, score, cls, frame_index, box_index]
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# lboxes：[x1, y1, x2, y2, track_id, score, cls, frame_index, box_index]
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# '''
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#
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# track_ids = set(self.bboxes[:, 4])
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# lboxes = []
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# for t_id in track_ids:
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# idx = np.where(self.bboxes[:, 4] == t_id)[0]
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# box = self.bboxes[idx, :]
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#
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# x = (box[:, 0] + box[:, 2]) / 2
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# y = (box[:, 1] + box[:, 3]) / 2
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#
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# # box: [x, y, w, h, track_id, score, cls, frame_index]
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# box[:, 2] = box[:, 2] - box[:, 0]
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# box[:, 3] = box[:, 3] - box[:, 1]
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# box[:, 0] = x
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# box[:, 1] = y
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#
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# lboxes.append(box)
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#
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#
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# return lboxes
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# =============================================================================
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def classify(self):
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'''功能：对 tracks 中元素分类 '''
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@ -122,25 +122,6 @@ class doFrontTracks(doTracks):
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"""
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对不同id，但可能是同一商品的目标进行归并
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"""
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# =============================================================================
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# mergedTracks = []
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# alist = [t for t in Residual]
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# while alist:
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# atrack = alist[0]
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# cur_list = []
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# cur_list.append(atrack)
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# alist.pop(0)
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#
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# blist = [b for b in alist]
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# alist = []
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# for btrack in blist:
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# if track_equal_track(atrack, btrack, self.TracksDict):
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# cur_list.append(btrack)
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# else:
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# alist.append(btrack)
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#
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# mergedTracks.append(cur_list)
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# =============================================================================
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mergedTracks = self.base_merge_tracks(Residual)
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oldtracks, newtracks = [], []
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@ -175,27 +156,3 @@ class doFrontTracks(doTracks):
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return merged
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# =============================================================================
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# def array2list(self):
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# '''
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# 将 bboxes 变换为 track 列表
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# bboxes: [x1, y1, x2, y2, track_id, score, cls, frame_index, box_index]
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# Return：
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# lboxes：列表，列表中元素具有同一 track_id，x1y1x2y2 格式
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# [x1, y1, x2, y2, track_id, score, cls, frame_index, box_index]
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# '''
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# track_ids = set(self.bboxes[:, 4])
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# lboxes = []
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# for t_id in track_ids:
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# # print(f"The ID is: {t_id}")
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# idx = np.where(self.bboxes[:, 4] == t_id)[0]
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# box = self.bboxes[idx, :]
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#
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# lboxes.append(box)
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#
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# return lboxes
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# =============================================================================
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@ -48,7 +48,6 @@ class backTrack(Track):
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# self.PCA()
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def isimgborder(self, BoundPixel=10, BoundThresh=0.3):
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x1, y1 = self.cornpoints[:,2], self.cornpoints[:,3],
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@ -74,69 +73,12 @@ class backTrack(Track):
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MarginState = [condtA, condtB, condtC, condtD, condtE, condtF, condtG]
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return isCornpoint, MarginState
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# =============================================================================
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# def PositionState(self, camerType="back"):
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# '''
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# 已迁移至基类
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# camerType: back, 后置摄像头
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# front, 前置摄像头
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# '''
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# if camerType=="front":
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# incart = cv2.imread("./shopcart/cart_tempt/incart.png", cv2.IMREAD_GRAYSCALE)
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# outcart = cv2.imread("./shopcart/cart_tempt/outcart.png", cv2.IMREAD_GRAYSCALE)
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# else:
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# incart = cv2.imread("./shopcart/cart_tempt/incart_ftmp.png", cv2.IMREAD_GRAYSCALE)
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# outcart = cv2.imread("./shopcart/cart_tempt/outcart_ftmp.png", cv2.IMREAD_GRAYSCALE)
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#
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# 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)
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# 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)
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# 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)
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#
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# # print(self.tid)
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# Cent_inCartnum = np.count_nonzero(incart[(yc, xc)])
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# LB_inCartnum = np.count_nonzero(incart[(y1, x1)])
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# RB_inCartnum = np.count_nonzero(incart[(y2, x2)])
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#
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# Cent_outCartnum = np.count_nonzero(outcart[(yc, xc)])
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# LB_outCartnum = np.count_nonzero(outcart[(y1, x1)])
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# RB_outCartnum = np.count_nonzero(outcart[(y2, x2)])
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#
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# '''Track完全在车内：左下角点、右下角点与 outcart 的交集为 0'''
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# self.isWholeInCart = False
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# if LB_outCartnum + RB_outCartnum == 0:
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# self.isWholeInCart = True
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#
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# '''Track完全在车外：左下角点、中心点与 incart 的交集为 0
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# 右下角点、中心点与 incart 的交集为 0
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# '''
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# self.isWholeOutCart = False
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# if Cent_inCartnum + LB_inCartnum == 0 or Cent_inCartnum + RB_inCartnum == 0:
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# self.isWholeOutCart = True
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#
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#
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# self.Cent_isIncart = False
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# self.LB_isIncart = False
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# self.RB_isIncart = False
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# if Cent_inCartnum: self.Cent_isIncart = True
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# if LB_inCartnum: self.LB_isIncart = True
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# if RB_inCartnum: self.RB_isIncart = True
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#
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# self.posState = self.Cent_isIncart+self.LB_isIncart+self.RB_isIncart
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# =============================================================================
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def PCA(self):
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self.pca = PCA()
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X = self.cornpoints[:, 0:2]
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self.pca.fit(X)
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def compute_ious_feat(self):
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@ -194,96 +136,8 @@ class backTrack(Track):
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self.feature_ious = (incart_iou, outcart_iou, cartboarder_iou, maxbox_iou, minbox_iou)
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self.incartrates = incartrates
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def compute_static_fids(self, thresh1 = 12, thresh2 = 3):
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'''
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计算 track 的轨迹中相对处于静止状态的轨迹点的（start_frame_id, end_frame_id）
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thresh1: 相邻两帧目标中心点是否静止的的阈值，以像素为单位，
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thresh2: 连续捕捉到目标处于静止状态的帧数,当 thresh2 = 3时,至少连续 4个点,
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产生3个相邻点差值均小于 thresh1 时，判定为连续静止.
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处理过程中利用了插值技术，因此start、end并非 self.boxes 中对应的帧索引
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'''
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BoundPixel = 8
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x1, y1 = self.cornpoints[:,2], self.cornpoints[:,3],
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x2, y2 = self.cornpoints[:,8], self.cornpoints[:,9]
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cont1 = sum(abs(x1)<BoundPixel) > 3
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# cont2 = sum(abs(y1)<BoundPixel) > 3
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cont3 = sum(abs(x2-self.imgshape[0])<BoundPixel) > 3
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# cont4 = sum(abs(y2-self.imgshape[1])<BoundPixel) > 3
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cont = not(cont1 or cont3)
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## ============== 下一步，启用中心点，选择具有最小运动幅度的角点作为参考点
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static_index = []
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if self.frnum>=2 and cont:
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x1 = self.boxes[1:,7]
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x2 = [i for i in range(int(min(x1)), int(max(x1)+1))]
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dist_adjc = np.interp(x2, x1, self.trajmin)
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# dist_adjc = self.trajmin
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static_thresh = (dist_adjc < thresh1)[:, None].astype(np.uint8)
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static_cnts, _ = cv2.findContours(static_thresh, cv2.RETR_LIST, cv2.CHAIN_APPROX_NONE)
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for cnt in static_cnts:
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_, start, _, num = cv2.boundingRect(cnt)
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end = start + num
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if num < thresh2:
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continue
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static_index.append((start, end))
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static_index = np.array(static_index)
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if static_index.size:
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indx = np.argsort(static_index[:, 0])
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static_index = static_index[indx]
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return static_index
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def compute_dynamic_fids(self, thresh1 = 12, thresh2 = 3):
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'''
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计算 track 的轨迹中运动轨迹点的（start_frame_id, end_frame_id）
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thresh1: 相邻两帧目标中心点是否运动的阈值，以像素为单位，
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thresh2: 连续捕捉到目标连续运动的帧数
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目标：
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1. 计算轨迹方向
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2. 计算和手部运动的关联性
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'''
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moving_index = []
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if self.frnum>=2:
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x1 = self.boxes[1:,7]
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x2 = [i for i in range(int(min(x1)), int(max(x1)+1))]
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dist_adjc = np.interp(x2, x1, self.trajmin)
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moving_thresh = (dist_adjc >= thresh1)[:, None].astype(np.uint8)
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moving_cnts, _ = cv2.findContours(moving_thresh, cv2.RETR_LIST, cv2.CHAIN_APPROX_NONE)
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for cnt in moving_cnts:
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_, start, _, num = cv2.boundingRect(cnt)
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if num < thresh2:
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continue
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end = start + num
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moving_index.append((start, end))
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# =============================================================================
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# '''========= 输出帧id，不太合适 ========='''
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# moving_fids = []
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# for i in range(len(moving_index)):
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# i1, i2 = moving_index[i]
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# fid1, fid2 = boxes[i1, 7], boxes[i2, 7]
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# moving_fids.append([fid1, fid2])
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# moving_fids = np.array(moving_fids)
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# =============================================================================
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moving_index = np.array(moving_index)
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if moving_index.size:
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indx = np.argsort(moving_index[:, 0])
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moving_index = moving_index[indx]
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return moving_index
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def compute_static_dynamic_fids(self):
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if self.MarginState[0] or self.MarginState[2]:
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@ -319,17 +173,6 @@ class backTrack(Track):
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return static, dynamic
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# =============================================================================
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# static_dynamic_fids = []
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# for traj in self.trajectory:
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# static, dynamic = self.pt_state_fids(traj)
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# static_dynamic_fids.append((static, dynamic))
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#
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# return static_dynamic_fids
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# =============================================================================
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def is_static(self):
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'''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
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@ -354,7 +197,6 @@ class backTrack(Track):
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# and self.posState >= 2
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# and self.TrajFeat[0] < 240 \
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'''静态情况 3: 目标初始状态和最终状态均为静止'''
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condt3 = self.static_index.shape[0] >= 2 \
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and self.static_index[0, 0] <= 2 \
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@ -370,50 +212,23 @@ class backTrack(Track):
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and self.static_index[0, 1] >= 6 \
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and self.static_index[-1, 0] <= self.frnum-5 \
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and self.static_index[-1, 1] >= self.frnum-2
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condt = condt1 or condt2 or condt3 or condt4
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return condt
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# =============================================================================
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# track1 = [t for t in tracks if t.TrajFeat[5] < 0.2
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# or t.TrajFeat[3] < 120
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# ]
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#
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# track2 = [t for t in tracks if t.static_index.size > 0
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# and t.static_index[0, 0] <= 2
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# and t.TrajFeat[5] < 0.5]
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#
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# track3 = [t for t in tracks if t.static_index.shape[0] >= 2
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# and t.static_index[0, 0] <= 2
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# and t.static_index[-1, 1] >= t.frnum-3]
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#
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# track12 = self.join_tracks(track1, track2)
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#
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# '''提取静止状态的 track'''
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# static_tracks = self.join_tracks(track12, track3)
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# self.Static.extend(static_tracks)
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#
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# =============================================================================
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def is_OutTrack(self):
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if self.posState <= 1:
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isout = True
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else:
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isout = False
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return isout
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def compute_distance(self):
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pass
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def move_start_fid(self):
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pass
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def move_end_fid(self):
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pass
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@ -15,17 +15,9 @@ class frontTrack(Track):
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def __init__(self, boxes, features, imgshape=(1024, 1280)):
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super().__init__(boxes, features, imgshape)
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'''5个关键点（中心点、左上点、右上点、左下点、右下点 ）轨迹特征'''
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# self.compute_cornpts_feats()
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self.CART_HIGH_THRESH1 = imgshape[1]/2.98
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# if self.tid==10:
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# print(f"ID: {self.tid}")
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'''y1、y2静止状态区间，值是 boxes 中对 axis=0 的索引，不是帧索引'''
|
||||
det_y1 = np.diff(boxes[:, 1], axis=0)
|
||||
det_y2 = np.diff(boxes[:, 3], axis=0)
|
||||
@ -78,69 +70,6 @@ class frontTrack(Track):
|
||||
condt = all(self.boxes[:, 3] > self.imgshape[1]-20)
|
||||
|
||||
return condt
|
||||
|
||||
# def is_OutTrack(self):
|
||||
# isout = False
|
||||
# if self.posState <= 1:
|
||||
# isout = True
|
||||
# return isout
|
||||
|
||||
|
||||
# =============================================================================
|
||||
# def compute_static_fids(self, det_y, STATIC_THRESH = 8):
|
||||
# '''
|
||||
# 前摄时，y一般选择为 box 的 y1 坐标，且需限定商品在购物车内。
|
||||
# inputs：
|
||||
# y：1D array，
|
||||
# parameters：
|
||||
# STATIC_THRESH：轨迹处于静止状态的阈值。
|
||||
# outputs：
|
||||
# 输出为差分值小于 STATIC_THRESH 的y中元素的（start, end）索引
|
||||
# ranges = [(x1, y1),
|
||||
# (x1, y1),
|
||||
# ...]
|
||||
# '''
|
||||
# # print(f"The ID is: {self.tid}")
|
||||
#
|
||||
# # det_y = np.diff(y, axis=0)
|
||||
# ranges, rangex = [], []
|
||||
#
|
||||
# static_indices = np.where(np.abs(det_y) < STATIC_THRESH)[0]
|
||||
#
|
||||
# if len(static_indices) == 0:
|
||||
# rangex.append((0, len(det_y)))
|
||||
# return ranges, rangex
|
||||
#
|
||||
# start_index = static_indices[0]
|
||||
#
|
||||
# for i in range(1, len(static_indices)):
|
||||
# if static_indices[i] != static_indices[i-1] + 1:
|
||||
# ranges.append((start_index, static_indices[i-1] + 1))
|
||||
# start_index = static_indices[i]
|
||||
# ranges.append((start_index, static_indices[-1] + 1))
|
||||
#
|
||||
# if len(ranges) == 0:
|
||||
# rangex.append((0, len(det_y)))
|
||||
# return ranges, rangex
|
||||
#
|
||||
# idx1, idx2 = ranges[0][0], ranges[-1][1]
|
||||
#
|
||||
# if idx1 != 0:
|
||||
# rangex.append((0, idx1))
|
||||
#
|
||||
# # 轨迹的最后阶段是运动状态
|
||||
# for k in range(1, len(ranges)):
|
||||
# index1 = ranges[k-1][1]
|
||||
# index2 = ranges[k][0]
|
||||
# rangex.append((index1, index2))
|
||||
#
|
||||
# if idx2 != len(det_y):
|
||||
# rangex.append((idx2, len(det_y)))
|
||||
#
|
||||
# return ranges, rangex
|
||||
#
|
||||
# =============================================================================
|
||||
|
||||
|
||||
|
||||
def is_static(self):
|
||||
@ -202,14 +131,6 @@ class frontTrack(Track):
|
||||
return condt
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
def is_upward(self):
|
||||
'''判断商品是否取出，'''
|
||||
print(f"The ID is: {self.tid}")
|
||||
|
||||
Reference in New Issue
Block a user