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cleanup
This commit is contained in:
Blake Blackshear
parent
be806f8e52
commit
7c1e04cf7b
@ -23,7 +23,7 @@ def distance(detection: np.array, estimate: np.array) -> float:
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estimate_dim = np.diff(estimate, axis=0).flatten()
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estimate_dim = np.diff(estimate, axis=0).flatten()
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detection_dim = np.diff(detection, axis=0).flatten()
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detection_dim = np.diff(detection, axis=0).flatten()
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# get centroid positions
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# get bottom center positions
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detection_position = np.array(
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detection_position = np.array(
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[np.average(detection[:, 0]), np.max(detection[:, 1])]
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[np.average(detection[:, 0]), np.max(detection[:, 1])]
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)
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)
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@ -1,212 +0,0 @@
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import random
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import string
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import numpy as np
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from similari import BoundingBox, PositionalMetricType, Sort, SpatioTemporalConstraints
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from frigate.config import DetectConfig
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from frigate.track import ObjectTracker
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from frigate.util import intersection_over_union
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class SortTracker(ObjectTracker):
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def __init__(self, config: DetectConfig):
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self.tracked_objects = {}
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self.disappeared = {}
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self.positions = {}
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self.max_disappeared = config.max_disappeared
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self.detect_config = config
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self.track_id_map = {}
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self.scene_map = {}
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constraints = SpatioTemporalConstraints()
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constraints.add_constraints([(1, 1.0)])
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self.sort = Sort(
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shards=1,
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bbox_history=10,
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max_idle_epochs=config.max_disappeared,
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method=PositionalMetricType.iou(threshold=0.1),
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spatio_temporal_constraints=constraints,
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)
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def register(self, track_id, obj):
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rand_id = "".join(random.choices(string.ascii_lowercase + string.digits, k=6))
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id = f"{obj['frame_time']}-{rand_id}"
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self.track_id_map[track_id] = id
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obj["id"] = id
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obj["start_time"] = obj["frame_time"]
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obj["motionless_count"] = 0
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obj["position_changes"] = 0
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self.tracked_objects[id] = obj
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self.disappeared[id] = 0
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self.positions[id] = {
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"xmins": [],
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"ymins": [],
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"xmaxs": [],
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"ymaxs": [],
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"xmin": 0,
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"ymin": 0,
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"xmax": self.detect_config.width,
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"ymax": self.detect_config.height,
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}
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def deregister(self, id):
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del self.tracked_objects[id]
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del self.disappeared[id]
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# tracks the current position of the object based on the last N bounding boxes
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# returns False if the object has moved outside its previous position
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def update_position(self, id, box):
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position = self.positions[id]
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position_box = (
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position["xmin"],
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position["ymin"],
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position["xmax"],
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position["ymax"],
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)
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xmin, ymin, xmax, ymax = box
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iou = intersection_over_union(position_box, box)
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# if the iou drops below the threshold
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# assume the object has moved to a new position and reset the computed box
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if iou < 0.6:
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self.positions[id] = {
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"xmins": [xmin],
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"ymins": [ymin],
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"xmaxs": [xmax],
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"ymaxs": [ymax],
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"xmin": xmin,
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"ymin": ymin,
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"xmax": xmax,
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"ymax": ymax,
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}
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return False
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# if there are less than 10 entries for the position, add the bounding box
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# and recompute the position box
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if len(position["xmins"]) < 10:
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position["xmins"].append(xmin)
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position["ymins"].append(ymin)
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position["xmaxs"].append(xmax)
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position["ymaxs"].append(ymax)
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# by using percentiles here, we hopefully remove outliers
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position["xmin"] = np.percentile(position["xmins"], 15)
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position["ymin"] = np.percentile(position["ymins"], 15)
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position["xmax"] = np.percentile(position["xmaxs"], 85)
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position["ymax"] = np.percentile(position["ymaxs"], 85)
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return True
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def is_expired(self, id):
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obj = self.tracked_objects[id]
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# get the max frames for this label type or the default
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max_frames = self.detect_config.stationary.max_frames.objects.get(
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obj["label"], self.detect_config.stationary.max_frames.default
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)
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# if there is no max_frames for this label type, continue
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if max_frames is None:
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return False
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# if the object has exceeded the max_frames setting, deregister
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if (
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obj["motionless_count"] - self.detect_config.stationary.threshold
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> max_frames
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):
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return True
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return False
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def update(self, track_id, obj):
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id = self.track_id_map[track_id]
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self.disappeared[id] = 0
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# update the motionless count if the object has not moved to a new position
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if self.update_position(id, obj["box"]):
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self.tracked_objects[id]["motionless_count"] += 1
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if self.is_expired(id):
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self.deregister(id)
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return
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else:
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# register the first position change and then only increment if
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# the object was previously stationary
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if (
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self.tracked_objects[id]["position_changes"] == 0
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or self.tracked_objects[id]["motionless_count"]
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>= self.detect_config.stationary.threshold
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):
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self.tracked_objects[id]["position_changes"] += 1
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self.tracked_objects[id]["motionless_count"] = 0
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self.tracked_objects[id].update(obj)
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def update_frame_times(self, frame_time):
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for id in list(self.tracked_objects.keys()):
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self.tracked_objects[id]["frame_time"] = frame_time
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self.tracked_objects[id]["motionless_count"] += 1
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if self.is_expired(id):
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self.deregister(id)
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def match_and_update(self, frame_time, detections):
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# create a dict to hold all the detections grouped by scene_id
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scene_detections = {s_id: [] for s_id in set(self.scene_map.values())}
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# populate objects for scene
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for obj in detections:
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# get the scene_id for this label or create a new one
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# TODO: consider grouping frequently swapped objects in
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# in the same scene
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if obj[0] not in self.scene_map:
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scene_id = len(self.scene_map.keys())
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self.scene_map[obj[0]] = scene_id
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scene_detections[scene_id] = []
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else:
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scene_id = self.scene_map[obj[0]]
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# centroid is used for other things downstream
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centroid_x = int((obj[2][0] + obj[2][2]) / 2.0)
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centroid_y = int((obj[2][1] + obj[2][3]) / 2.0)
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scene_detections[scene_id].append(
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{
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"label": obj[0],
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"score": obj[1],
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"box": obj[2],
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"area": obj[3],
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"ratio": obj[4],
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"region": obj[5],
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"frame_time": frame_time,
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"centroid": (centroid_x, centroid_y),
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}
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)
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# loop over scenes
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for scene_id, objs in scene_detections.items():
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# convert objects to tracker objects
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boxes_to_predict = []
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for idx, obj in enumerate(objs):
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obj_box = obj["box"]
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box = BoundingBox(
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obj_box[0],
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obj_box[1],
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obj_box[2] - obj_box[0],
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obj_box[3] - obj_box[1],
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).as_xyaah()
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custom_object_id = idx
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boxes_to_predict.append((box, custom_object_id))
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# run tracker prediction
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tracks = self.sort.predict_with_scene(scene_id, boxes_to_predict)
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# update or create new tracks
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for t in tracks:
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if t.id not in self.track_id_map:
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self.register(t.id, objs[t.custom_object_id])
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else:
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self.update(t.id, objs[t.custom_object_id])
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# clear expired tracks
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wasted = self.sort.wasted()
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for t in wasted:
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self.deregister(self.track_id_map[t.id])
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del self.track_id_map[t.id]
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@ -19,7 +19,6 @@ types-PyYAML == 6.0.*
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requests == 2.30.*
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requests == 2.30.*
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types-requests == 2.28.*
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types-requests == 2.28.*
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scipy == 1.10.*
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scipy == 1.10.*
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similari-trackers-rs == 0.26.*
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norfair == 2.2.*
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norfair == 2.2.*
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setproctitle == 1.3.*
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setproctitle == 1.3.*
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ws4py == 0.5.*
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ws4py == 0.5.*
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