add tracker.py

ObjectTraking/tracker.py

+import math
+
+
+class EuclideanDistTracker:
+    def __init__(self):
+        # Store the center positions of the objects
+        self.center_points = {}
+        # Keep the count of the IDs
+        # each time a new object id detected, the count will increase by one
+        self.id_count = 0
+
+
+    def update(self, objects_rect):
+        # Objects boxes and ids
+        objects_bbs_ids = []
+
+        # Get center point of new object
+        for rect in objects_rect:
+            x, y, w, h = rect
+            cx = (x + x + w) // 2
+            cy = (y + y + h) // 2
+
+            # Find out if that object was detected already
+            same_object_detected = False
+            for id, pt in self.center_points.items():
+                dist = math.hypot(cx - pt[0], cy - pt[1])
+
+                if dist < 25:
+                    self.center_points[id] = (cx, cy)
+                    print(self.center_points)
+                    objects_bbs_ids.append([x, y, w, h, id])
+                    same_object_detected = True
+                    break
+
+            # New object is detected we assign the ID to that object
+            if same_object_detected is False:
+                self.center_points[self.id_count] = (cx, cy)
+                objects_bbs_ids.append([x, y, w, h, self.id_count])
+                self.id_count += 1
+
+        # Clean the dictionary by center points to remove IDS not used anymore
+        new_center_points = {}
+        for obj_bb_id in objects_bbs_ids:
+            _, _, _, _, object_id = obj_bb_id
+            center = self.center_points[object_id]
+            new_center_points[object_id] = center
+
+        # Update dictionary with IDs not used removed
+        self.center_points = new_center_points.copy()
+        return objects_bbs_ids
+
+
+