def mot_motion_model_generation(Trk=None,
param=None,
type_=None,
*args,
**kwargs):
if 'Forward' == type_:
Y = lists2array(Trk.state, 4)
X = np.array([0] * 4)
X = X[:, np.newaxis]
X[0, :] = Y[0, 0]
X[2, :] = Y[1, 0]
Y = np.delete(Y, [2, 3], 0)
#Y[2:3,:]=np.array([])
Yr = Y
else:
if 'Backward' == type_:
Y = lists2array(Trk.state, 4)
X = np.array([0] * 4)
X = X[:, np.newaxis]
X[0, :] = Y[0, -1]
X[2, :] = Y[1, -1]
Y = np.delete(Y, [2, 3], 0)
Yr = Y[:, ::-1]
XX, PP = km_state_est(X, Yr, param)
return XX, PP
def mot_motion_model_generation_for_search(head1_state, head2_state, param):
FMotion = F_Motion()
FMotion_wh = F_Motion()
states = []
states.append(head1_state)
states.append(head2_state)
Y = lists2array(states, 4)
X = np.array([0] * 4)
X = X[:, np.newaxis]
X[0, :] = Y[0, 0]
X[2, :] = Y[1, 0]
Y = np.delete(Y, [2, 3], 0)
Yr = Y
XX, PP = km_state_est(X, Yr, param)
FMotion.X = XX
FMotion.P = PP
if param.wh_predict == True:
#for w and h
Y = lists2array(states, 4)
X = np.array([0] * 4)
X = X[:, np.newaxis]
X[0, :] = Y[2, 0]
X[2, :] = Y[3, 0]
Y = np.delete(Y, [0, 1], 0)
Yr = Y
XX, PP = km_state_est(X, Yr, param)
FMotion_wh.X = XX
FMotion_wh.P = PP
return FMotion, FMotion_wh
def draw_frame(img_url, save_url, img_name, fr_detections, xy_center=False):
fr_detections = lists2array(fr_detections, 7)
fr_detections = np.swapaxes(fr_detections, 0, 1)
if xy_center:
fr_detections[:, 2] = fr_detections[:, 2] - fr_detections[:, 4] / 2
fr_detections[:, 3] = fr_detections[:, 3] - fr_detections[:, 5] / 2
img = cv2.imread(img_url + "/" + img_name) #read image
for detection in fr_detections: #iterate detections in this frame
####draw the bbx on image
x1 = int(detection[2])
y1 = int(detection[3])
x2 = int(detection[2] + detection[4])
y2 = int(detection[3] + detection[5])
cv2.rectangle(img, (x1, y1), (x2, y2),
(128 + 96 * (-detection[6]), 0, 128 + 96 *
(detection[6])), 4)
cv2.putText(img,
str(detection[1]),
(int(detection[2] + detection[4] / 2 - 30),
int(detection[3] + detection[5] / 2 + 25)),
cv2.FONT_HERSHEY_COMPLEX,
1.2, (0, 255, 0),
thickness=4)
cv2.imwrite(save_url + '/' + "tracked" + img_name, img)