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improve method for determining position
compares the centroid to a history of bounding boxes
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@ -20,7 +20,9 @@ class 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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def register(self, index, obj):
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rand_id = "".join(random.choices(string.ascii_lowercase + string.digits, k=6))
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@ -30,17 +32,71 @@ class ObjectTracker:
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obj["motionless_count"] = 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 10 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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xmin, ymin, xmax, ymax = box
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# get the centroid
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x = (xmax + xmin) / 2
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y = (ymax + ymin) / 2
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# if the centroid of this box is outside the computed bounding box
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# assume the object has moved to a new position and reset the computed box
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# TODO: should this only happen if there are a few boxes?
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if (
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x < position["xmin"]
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or x > position["xmax"]
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or y < position["ymin"]
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or y > position["ymax"]
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):
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position = {
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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 update(self, id, new_obj):
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self.disappeared[id] = 0
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if (
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intersection_over_union(self.tracked_objects[id]["box"], new_obj["box"])
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> 0.9
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):
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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, new_obj["box"]):
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self.tracked_objects[id]["motionless_count"] += 1
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else:
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self.tracked_objects[id]["motionless_count"] = 0
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