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Include area in norfair distance calculation

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Nicolas Mowen 2023-05-24 08:28:20 -06:00 committed by GitHub
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commit 586533f8f6
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1 changed files with 17 additions and 5 deletions
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frigate/track/norfair_tracker.py
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@ -19,14 +19,26 @@ from norfair.drawing.drawer import Drawer
def frigate_distance(detection: Detection, tracked_object) -> float: def frigate_distance(detection: Detection, tracked_object) -> float:
# calculate distances and normalize it by width and height of previous detection # calculate distances and normalize it by width and height of previous detection
ld = tracked_object.last_detection ld = tracked_object.last_detection
width = ld.points[1][0] - ld.points[0][0] last_width = ld.points[1][0] - ld.points[0][0]
height = ld.points[1][1] - ld.points[0][1] last_height = ld.points[1][1] - ld.points[0][1]
difference = (detection.points - tracked_object.estimate).astype(float) difference = (detection.points - tracked_object.estimate).astype(float)
difference[:, 0] /= width difference[:, 0] /= last_width
difference[:, 1] /= height difference[:, 1] /= last_height
# calculate euclidean distance and average # calculate euclidean distance and average
return np.linalg.norm(difference, axis=1).mean() distance = np.linalg.norm(difference, axis=1).mean()
detected_area = (detection.points[1][0] - detection.points[0][0]) * (detection.points[1][1] - detection.points[0][1])
estimated_area = (tracked_object.estimate[1][0] - tracked_object.estimate[0][0]) * (tracked_object.estimate[1][1] - tracked_object.estimate[0][1])
# calculate the factor of area increase / decrease between detected and estimated bbox
area_factor = detected_area / estimated_area
# account for cases where object is smaller than estimated
if area_factor < 1:
area_factor = 1 / area_factor
return distance * factor
class NorfairTracker(ObjectTracker): class NorfairTracker(ObjectTracker):