def MOT_Type_Update(rgbimg=None,
Trk=None,
param=None,
cfr=None,
*args,
**kwargs):
del_idx = []
lb_idx = []
max_frame = 50
type_thr = param.type_thr
for i in range(0, len(Trk)):
Conf_prob = Trk[i].Conf_prob
type_ = Trk[i].type
if 'High' == type_:
if Conf_prob < type_thr:
Trk[i].type = 'Low'
Trk[i].efr = cfr
else:
if 'Low' == type_:
if Conf_prob > type_thr:
Trk[i].type = 'High'
efr = Trk[i].efr
if np.abs(cfr - efr) >= max_frame:
del_idx.append(i)
lb_idx.append(Trk[i].label)
R_pos = rgbimg.shape[:2]
L_pos = np.array([0, 0])
margin = np.array([0, 0])
for i in range(0, len(Trk)):
tstates = Trk[i].state[-1]
if np.isnan(tstates[0]):
del_idx.append(i)
else:
fmotion = Trk[i].state[-1]
C_pos = np.array(fmotion[0:2])
L_pos = L_pos + margin
R_pos = R_pos - margin
print("**" * 80)
print(C_pos, L_pos, R_pos)
if not mot_is_reg(C_pos, L_pos, R_pos):
del_idx.append(i)
del_idx = np.array(del_idx)
if len(del_idx) != 0:
print(del_idx)
for idx in sorted(del_idx, reverse=True):
mot_count_ids(Trk[idx], param)
Trk.pop(idx)
return Trk
Trk, param, Obs_grap = MOT_Generation_Tracklets(init_img_set, Trk,
detections, param,
Obs_grap, fr)
if param.use_ILDA:
ILDA = MOT_Online_Appearance_Learning(rgbimg, img_path, img_List, fr,
Trk, param, ILDA)
## Tracking Results
Trk_sets = MOT_Tracking_Results(Trk, Trk_sets, fr, param)
if fr == 5 and param.draw_while_track:
for i in range(0, 5):
MOT_Tracking_Reauslt_Realtime(Trk_sets, i, param)
print('Tracking:Frame_{}'.format(fr))
if param.draw_while_track:
MOT_Tracking_Reauslt_Realtime(Trk_sets, fr, param)
##count the ids of the rest Tracklet
for tracklet in Trk:
mot_count_ids(tracklet, param)
print("Tracking Done...")
end_time = time.time()
spend_time = end_time - start_time
print("Tracking: Total Time:{}|FPS :{}".format(
spend_time,
len(param.img_List) / spend_time))
print("Total Tracklet:{} |Total Object:{}".format(param.total_tracklet_count,
param.object_count))
print("TT-TO: {}".format(param.total_tracklet_count - param.object_count))
print("IDS:{}".format(param.ids))
if param.draw_while_track == False:
pass