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kalmen.py.txt

+import numpy as np
+        self.kf.Q[4:, 4:] *= 0.01
+            self.ylist.append(zbox[1][0])
+        else:
+            self.ylist.append(zbox[1][0])
+
+        if len(self.xlist) > 1:
+            # print(self.xlist)
+            xstd = statistics.stdev(self.xlist)
+            ystd = statistics.stdev(self.ylist)
+
+            if xstd < self.stdvar and ystd < self.stdvar and len(self.xlist) >= self.length :
+                self.dynamicstste = 0
+            else:
+                self.dynamicstste = 1
+            if len(self.ylist) >= int(config.fps):
+                if self.ylist[-1] > self.ylist[-int(config.fps)]:
+                    self.reversevar = 1
+                elif self.ylist[-1] < self.ylist[-int(config.fps)]:
+                    self.reversevar = -1
+                else:
+                    self.reversevar = 0
+                # print('0',self.ylist[-int(config.fps)],'-1',self.ylist[-1])
+
+        return np.concatenate((convert_x_to_bbox(zbox)[0],[self.dynamicstste],[self.reversevar]))
+
+
+def convert_bbox_to_z(bbox):
+    """
+    Takes a bounding box in the form [x1,y1,x2,y2] and returns z in the form
+    [x,y,s,r] where x,y is the centre of the box and s is the scale/area and r is
+    the aspect ratio
+    """
+    w = bbox[2] - bbox[0]
+    h = bbox[3] - bbox[1]
+    x = bbox[0] + w/2.
+    y = bbox[1] + h/2.
+    s = w * h 
+    r = w / float(h)
+    return np.array([x, y, s, r]).reshape((4, 1))
+
+def convert_x_to_bbox(x,score=None):
+    """
+    Takes a bounding box in the centre form [x,y,s,r] and returns it in the form
+    [x1,y1,x2,y2] where x1,y1 is the top left and x2,y2 is the bottom right
+    """
+    w = np.sqrt(x[2] * x[3])
+    h = x[2] / w
+
+    if score == None:
+        return np.array([x[0]-w/2., x[1]-h/2., x[0]+w/2., x[1]+h/2.]).reshape((1, 4))
+    else:
+        return np.array([x[0]-w/2., x[1]-h/2., x[0]+w/2., x[1]+h/2., score]).reshape((1, 5))
+
+
+