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Commit 30746ff

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add checking to valid bbox, handling disapare tracker and refactor code to more oop
1 parent 06caf13 commit 30746ff

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1 file changed

+83
-15
lines changed

1 file changed

+83
-15
lines changed

‎custom_paralel_threade_refactored.py

Lines changed: 83 additions & 15 deletions
Original file line numberDiff line numberDiff line change
@@ -86,7 +86,12 @@ def detect_objects(self, frame):
8686
for result in results:
8787
for box in result.boxes:
8888
x1, y1, x2, y2 = box.xyxy[0]
89-
bboxes.append((int(x1), int(y1), int(x2 - x1), int(y2 - y1)))
89+
w = int(x2 - x1)
90+
h = int(y2 - y1)
91+
if w > 0 and h > 0:
92+
bboxes.append((int(x1), int(y1), w, h))
93+
else:
94+
logging.warning(f"Detected invalid bounding box with zero area: {(x1, y1, w, h)}")
9095
logging.debug(f"Detected {len(bboxes)} bounding boxes.")
9196
return bboxes
9297
except Exception as e:
@@ -114,6 +119,12 @@ def create_tracker(self, image, bbox, algorithm):
114119
Returns:
115120
dict or None: A dictionary containing tracker info or None if initialization fails.
116121
"""
122+
# Validate the bounding box
123+
x, y, w, h = bbox
124+
if w <= 0 or h <= 0:
125+
logging.error(f"Invalid bounding box with zero area: {bbox}. Cannot initialize tracker.")
126+
return None
127+
117128
tracker = None
118129
logging.debug(f"Initializing tracker '{algorithm}' with bbox: {bbox}")
119130

@@ -200,9 +211,11 @@ def update_single_tracker(tracker_info):
200211
elif algorithm == 'Nano' and area >= upper_threshold:
201212
logging.info(f"Switching tracker {idx} from Nano to KCF due to size increase.")
202213
self.switch_tracker(tracker_info, scaled_image, 'KCF')
214+
203215
except Exception as e:
204216
logging.error(f"Exception in tracker {idx} ({algorithm}): {e}")
205217
tracker_info['ok'] = False
218+
self.trackers.remove(tracker_info)
206219

207220
for idx, tracker_info in enumerate(self.trackers):
208221
tracker_info['index'] = idx
@@ -228,8 +241,10 @@ def switch_tracker(self, tracker_info, scaled_image, new_algorithm):
228241
})
229242
logging.info(f"Tracker {idx} switched to {new_algorithm}.")
230243
else:
231-
logging.error(f"Failed to switch tracker {idx} to {new_algorithm}.")
244+
logging.error(f"Failed to switch tracker {idx} to {new_algorithm} due to invalid bbox. Removing tracker.")
245+
# Remove the tracker since it cannot be initialized
232246
tracker_info['ok'] = False
247+
self.trackers.remove(tracker_info)
233248

234249
def reset_trackers(self):
235250
"""Reset all trackers."""
@@ -290,6 +305,51 @@ def draw_fps(frame, prev_time, prev_fps):
290305
return prev_time, fps
291306

292307

308+
def is_bbox_touches_frame(bbox, frame_width, frame_height):
309+
"""
310+
Check if any part of the bounding box is touches the frame boundaries.
311+
312+
Args:
313+
bbox (list or tuple): Bounding box in the format [x, y, w, h].
314+
frame_width (int): Width of the frame.
315+
frame_height (int): Height of the frame.
316+
317+
Returns:
318+
bool: True if any part of the bounding box is touches the frame, False otherwise.
319+
"""
320+
x, y, w, h = bbox
321+
322+
# Check if bounding box is within frame boundaries
323+
if x < 0 or y < 0 or x + w > frame_width or y + h > frame_height:
324+
return True # Bounding box touches or crosses the frame boundary
325+
else:
326+
return False # Bounding box is completely inside the frame
327+
328+
329+
def display_tracker_info(debug_image, index, algorithm, elapsed_time_ms, score, color_list):
330+
"""
331+
Display tracker information on the debug image.
332+
333+
Args:
334+
debug_image (numpy.ndarray): Image on which to draw.
335+
index (int): Index of the tracker.
336+
algorithm (str): Name of the tracking algorithm.
337+
elapsed_time_ms (float): Elapsed time in milliseconds.
338+
score (str or float): Tracking score.
339+
color_list (list): List of colors for drawing.
340+
"""
341+
if score != '-':
342+
text = f"{algorithm} : {elapsed_time_ms:.1f}ms Score:{score:.2f}"
343+
else:
344+
text = f"{algorithm} : {elapsed_time_ms:.1f}ms"
345+
cv.putText(debug_image, text,
346+
(10, int(25 * (index + 1))),
347+
cv.FONT_HERSHEY_SIMPLEX,
348+
0.7,
349+
color_list[index % len(color_list)],
350+
2, cv.LINE_AA)
351+
352+
293353
def process_tracking_results(trackers, debug_image, tracker_manager, color_list, scale_factor):
294354
"""
295355
Process tracking results, draw bounding boxes, and handle tracking failures.
@@ -301,6 +361,10 @@ def process_tracking_results(trackers, debug_image, tracker_manager, color_list,
301361
color_list (list): List of colors for drawing.
302362
scale_factor (float): The scaling factor used for resizing images.
303363
"""
364+
frame_height, frame_width = debug_image.shape[:2] # Get frame dimensions
365+
366+
trackers_to_reset = [] # List to keep track of trackers that need to be reset
367+
304368
for tracker_info in trackers:
305369
index = tracker_info['index']
306370
ok = tracker_info['ok']
@@ -318,10 +382,17 @@ def process_tracking_results(trackers, debug_image, tracker_manager, color_list,
318382
h = int(h / scale_factor)
319383
new_bbox = [x, y, w, h]
320384

385+
# Use the separate function to check boundary crossing
386+
if is_bbox_touches_frame(new_bbox, frame_width, frame_height):
387+
logging.info(f"Tracker {index} ({algorithm}) bounding box crossed frame boundary. Resetting tracker.")
388+
trackers_to_reset.append(index)
389+
continue # Skip drawing and processing this tracker
390+
321391
# Draw bounding box
322392
cv.rectangle(debug_image,
323-
(new_bbox[0], new_bbox[1]),
324-
(new_bbox[0] + new_bbox[2], new_bbox[1] + new_bbox[3]),
393+
(max(new_bbox[0], 0), max(new_bbox[1], 0)),
394+
(min(new_bbox[0] + new_bbox[2], frame_width - 1),
395+
min(new_bbox[1] + new_bbox[3], frame_height - 1)),
325396
color_list[index % len(color_list)],
326397
thickness=2)
327398
logging.debug(f"Tracker {index} ({algorithm}) updated successfully with bbox: {new_bbox}")
@@ -331,18 +402,15 @@ def process_tracking_results(trackers, debug_image, tracker_manager, color_list,
331402
tracker_manager.reset_trackers()
332403
break
333404

334-
# Display tracker info
405+
# Display tracker info using the new function
335406
elapsed_time_ms = elapsed_time * 1000
336-
if score != '-':
337-
text = f"{algorithm} : {elapsed_time_ms:.1f}ms Score:{score:.2f}"
338-
else:
339-
text = f"{algorithm} : {elapsed_time_ms:.1f}ms"
340-
cv.putText(debug_image, text,
341-
(10, int(25 * (index + 1))),
342-
cv.FONT_HERSHEY_SIMPLEX,
343-
0.7,
344-
color_list[index % len(color_list)],
345-
2, cv.LINE_AA)
407+
display_tracker_info(debug_image, index, algorithm, elapsed_time_ms, score, color_list)
408+
409+
# Reset trackers that are marked for reset
410+
if trackers_to_reset:
411+
for idx in sorted(trackers_to_reset, reverse=True):
412+
logging.info(f"Removing tracker {idx} due to boundary crossing.")
413+
del tracker_manager.trackers[idx]
346414

347415

348416
def main():

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