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exception case added
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Signed-off-by: Ken Haagh <[email protected]>
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@KenH2
KenH2 committed Dec 19, 2023
1 parent 32c211f commit ab8a9d4
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Showing 2 changed files with 50 additions and 45 deletions.
80 changes: 41 additions & 39 deletions people_tracking/src/people_tracking/people_tracker.py
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Original file line number Diff line number Diff line change
Expand Up @@ -547,61 +547,63 @@ def get_tracked_hocs(self, idx_tracked=None):

def update_target(self, from_batch):
""" Update the self.approved_targets from batch."""
try:
exists_detection, idx_detection = self.element_exists([detection.nr_batch for detection in self.detections], from_batch)
if not exists_detection: # Make sure existing batch number in detections
return

exists_detection, idx_detection = self.element_exists([detection.nr_batch for detection in self.detections], from_batch)
if not exists_detection: # Make sure existing batch number in detections
return

exist_tracked, idx_tracked = self.element_exists([detection.nr_batch for detection in self.approved_targets], from_batch)
exist_tracked, idx_tracked = self.element_exists([detection.nr_batch for detection in self.approved_targets], from_batch)

if exist_tracked: # Check new data with existing track.
idx_compare = idx_tracked-1
while not self.approved_targets[idx_compare].valid_measurement:
idx_compare -= 1
if exist_tracked: # Check new data with existing track.
idx_compare = idx_tracked-1
while not self.approved_targets[idx_compare].valid_measurement:
idx_compare -= 1

tracked_hocs = self.get_tracked_hocs(idx_tracked)
# print(f"tracked hocs exists: {tracked_hocs}")
idx_target, valid = self.get_target_value(self.detections[idx_detection], tracked_hocs,
self.approved_targets[idx_compare-2: idx_compare],
self.approved_targets[idx_compare].valid_measurement)
tracked_hocs = self.get_tracked_hocs(idx_tracked)
# print(f"tracked hocs exists: {tracked_hocs}")
idx_target, valid = self.get_target_value(self.detections[idx_detection], tracked_hocs,
self.approved_targets[idx_compare-2: idx_compare],
self.approved_targets[idx_compare].valid_measurement)

if self.approved_targets[idx_tracked].idx_person == idx_target:
self.update_approved_target(idx_target, idx_tracked, self.detections[idx_detection], valid)
# print(f"correct {valid}")
return
else:
# print(f"dummu {self.approved_targets[idx_tracked].idx_person} {idx_target}")
if self.approved_targets[idx_tracked].idx_person == idx_target:
self.update_approved_target(idx_target, idx_tracked, self.detections[idx_detection], valid)
# print(f"correct {valid}")
return
else:
# print(f"dummu {self.approved_targets[idx_tracked].idx_person} {idx_target}")

self.approved_targets = self.approved_targets[:idx_compare]
self.approved_targets = self.approved_targets[:idx_compare]

while idx_detection < len(self.detections)-1:
tracked_hocs = self.get_tracked_hocs()
# print(f"tracked hocs new: {tracked_hocs}")
while idx_detection < len(self.detections)-1:
tracked_hocs = self.get_tracked_hocs()
# print(f"tracked hocs new: {tracked_hocs}")

idx_target, valid = self.get_target_value(self.detections[idx_detection], tracked_hocs,
self.approved_targets[-3:-1],
self.approved_targets[-1].valid_measurement)
self.add_approved_target(self.detections[idx_detection], idx_target, valid)
idx_target, valid = self.get_target_value(self.detections[idx_detection], tracked_hocs,
self.approved_targets[-3:-1],
self.approved_targets[-1].valid_measurement)
self.add_approved_target(self.detections[idx_detection], idx_target, valid)

idx_detection += 1
idx_detection += 1

return
return



if self.approved_targets[-1].nr_batch < from_batch: # Add single data association step to the end of target list
if self.approved_targets[-1].nr_batch < from_batch: # Add single data association step to the end of target list

# Get 5 previous hoc measurements from track
tracked_hocs = self.get_tracked_hocs()
# print(f"tracked hocs new: {tracked_hocs}")
# Get 5 previous hoc measurements from track
tracked_hocs = self.get_tracked_hocs()
# print(f"tracked hocs new: {tracked_hocs}")

idx_target, valid = self.get_target_value(self.detections[idx_detection], tracked_hocs, self.approved_targets[-3:-1], self.approved_targets[-1].valid_measurement)
self.add_approved_target(self.detections[idx_detection], idx_target, valid)
idx_target, valid = self.get_target_value(self.detections[idx_detection], tracked_hocs, self.approved_targets[-3:-1], self.approved_targets[-1].valid_measurement)
self.add_approved_target(self.detections[idx_detection], idx_target, valid)

return
return

print("TUMMMMMM")
# else: # totaly new data that can be placed somewhere between already associated data, find place, do associaiton 1 back to this, this to next, if match in next return else redo everything -> For now do nothing with it
print("TUMMMMMM")
# else: # totaly new data that can be placed somewhere between already associated data, find place, do associaiton 1 back to this, this to next, if match in next return else redo everything -> For now do nothing with it
except:
print("error updating")

@staticmethod
def get_weights(flag_face, flag_hoc, flag_da, valid):
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15 changes: 9 additions & 6 deletions people_tracking/src/people_tracking/person_detection.py
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Original file line number Diff line number Diff line change
Expand Up @@ -128,12 +128,7 @@ def process_latest_image(self):
if save_data:
cv2.imwrite(f"{save_path}{batch_nr}.jpg", cv_image)

# People detection
classes, segmentations, bounding_box_corners = self.detect(self.model, cv_image)
if classes is None or segmentations is None:
self.latest_image = None # Clear the latest image after processing
self.latest_image_time = None
return


# Import Depth Image
if depth_camera:
Expand All @@ -146,10 +141,18 @@ def process_latest_image(self):
# cv_depth_image = cv2.cvtColor(cv_depth_image, cv2.COLOR_RGB2BGR)

if save_data:
# Render image in opencv window
cv2.imwrite(f"{save_path}{batch_nr}_depth.png", cv_depth_image)
else:
cv_depth_image = None

# People detection
classes, segmentations, bounding_box_corners = self.detect(self.model, cv_image)
if classes is None or segmentations is None:
self.latest_image = None # Clear the latest image after processing
self.latest_image_time = None
return

detected_persons = []
depth_detected = []
x_positions = []
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