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add some reasonable constraints to the estimated box

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This commit is contained in:
Blake Blackshear 2023-06-11 06:35:41 -05:00
parent 4e93e8c427
commit b1e16b5634
1 changed files with 13 additions and 2 deletions
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15
frigate/track/norfair_tracker.py
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@ -231,9 +231,17 @@ class NorfairTracker(ObjectTracker):
# update or create new tracks # update or create new tracks
active_ids = [] active_ids = []
for t in tracked_objects: for t in tracked_objects:
estimate = tuple(t.estimate.flatten().astype(int))
# keep the estimate within the bounds of the image
estimate = (
max(0, estimate[0]),
max(0, estimate[1]),
min(self.detect_config.width - 1, estimate[2]),
min(self.detect_config.height - 1, estimate[3]),
)
obj = { obj = {
**t.last_detection.data, **t.last_detection.data,
"estimate": tuple(t.estimate.flatten().astype(int)), "estimate": estimate,
} }
active_ids.append(t.global_id) active_ids.append(t.global_id)
if t.global_id not in self.track_id_map: if t.global_id not in self.track_id_map:
@ -242,7 +250,10 @@ class NorfairTracker(ObjectTracker):
elif t.last_detection.data["frame_time"] != frame_time: elif t.last_detection.data["frame_time"] != frame_time:
id = self.track_id_map[t.global_id] id = self.track_id_map[t.global_id]
self.disappeared[id] += 1 self.disappeared[id] += 1
self.tracked_objects[id]["estimate"] = obj["estimate"] # sometimes the estimate gets way off
# only update if the upper left corner is actually upper left
if estimate[0] < estimate[2] and estimate[1] < estimate[3]:
self.tracked_objects[id]["estimate"] = obj["estimate"]
# else update it # else update it
else: else:
self.update(t.global_id, obj) self.update(t.global_id, obj)