def init(self, init_frame, initial_bbox):
"""
Initialize DaSiamRPN tracker with inital frame and bounding box.
"""
target_pos, target_sz = self.bbox_to_pos(initial_bbox)
self.state = SiamRPN_init(
init_frame, target_pos, target_sz, self.net)
def __init__(self, frame, bbox, siam_net):
width = bbox[1] - bbox[0]
height = bbox[3] - bbox[2]
target_pos = np.array([(bbox[0] + bbox[1]) / 2.0,
(bbox[2] + bbox[3]) / 2.0])
target_size = np.array([width, height])
self._tracker = SiamRPN_init(frame, target_pos, target_size, siam_net)
def __init__(self, frame, obstacle, siam_net):
""" Construct a single obstacle tracker.
Args:
frame: perception.camera_frame.CameraFrame to track in.
obstacle: perception.detection.utils.DetectedObstacle.
"""
self.obstacle = obstacle
self.missed_det_updates = 0
center_point = obstacle.bounding_box.get_center_point()
target_pos = np.array([center_point.x, center_point.y])
target_size = np.array([
obstacle.bounding_box.get_width(),
obstacle.bounding_box.get_height()
])
self._tracker = SiamRPN_init(frame.frame, target_pos, target_size,
siam_net)
def __init__(self, frame, obstacle, siam_net):
""" Construct a single obstacle tracker.
Args:
frame (:py:class:`~pylot.perception.camera_frame.CameraFrame`):
Frame to reinitialize with.
obstacle: perception.detection.obstacle.Obstacle.
"""
self.obstacle = obstacle
self.missed_det_updates = 0
center_point = obstacle.bounding_box_2D.get_center_point()
target_pos = np.array([center_point.x, center_point.y])
target_size = np.array([
obstacle.bounding_box_2D.get_width(),
obstacle.bounding_box_2D.get_height()
])
self._tracker = SiamRPN_init(frame.frame, target_pos, target_size,
siam_net)