add m

xuepengqiang

2020-05-26 bb5cb224c9abe4216aaa49a8287b06d9f05dab60

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
class TrackState:
 
    Tentative = 1
    Confirmed = 2
    Deleted = 3
 
 
class Track:
 
    def __init__(self, mean, covariance, track_id, n_init, max_age,
                 feature=None):
        self.mean = mean
        self.covariance = covariance
        self.track_id = track_id
        self.hits = 1
        self.age = 1
        self.time_since_update = 0
 
        self.state = TrackState.Tentative  
        self.features = []
        if feature is not None:
            self.features.append(feature)
 
        self._n_init = n_init
        self._max_age = max_age
 
    def to_tlwh(self):
        ret = self.mean[:4].copy()
        ret[2] *= ret[3]
        ret[:2] -= ret[2:] / 2
        return ret
 
    def to_tlbr(self):
        ret = self.to_tlwh()
        ret[2:] = ret[:2] + ret[2:]
        return ret
 
    def predict(self, kf):
        self.mean, self.covariance = kf.predict(self.mean, self.covariance)
        self.age += 1
        self.time_since_update += 1
 
    def update(self, kf, detection):
        self.mean, self.covariance = kf.update(
            self.mean, self.covariance, detection.to_xyah())
        self.features.append(detection.feature)
 
        self.hits += 1
        self.time_since_update = 0
        if self.state == TrackState.Tentative and self.hits >= self._n_init:
            self.state = TrackState.Confirmed
 
    def mark_missed(self):
        if self.state == TrackState.Tentative: 
            self.state = TrackState.Deleted
        elif self.time_since_update > self._max_age: 
            self.state = TrackState.Deleted
 
    def is_tentative(self):
        return self.state == TrackState.Tentative
 
    def is_confirmed(self):
        return self.state == TrackState.Confirmed
 
    def is_deleted(self):
        return self.state == TrackState.Deleted