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import numpy as np |
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from typing import List |
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from detectron2.structures import Instances |
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def create_prediction_pairs( |
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instances: Instances, |
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prev_instances: Instances, |
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iou_all: np.ndarray, |
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threshold: float = 0.5, |
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) -> List: |
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""" |
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Args: |
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instances: predictions from current frame |
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prev_instances: predictions from previous frame |
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iou_all: 2D numpy array containing iou for each bbox pair |
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threshold: below the threshold, doesn't consider the pair of bbox is valid |
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Return: |
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List of bbox pairs |
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""" |
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bbox_pairs = [] |
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for i in range(len(instances)): |
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for j in range(len(prev_instances)): |
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if iou_all[i, j] < threshold: |
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continue |
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bbox_pairs.append( |
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{ |
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"idx": i, |
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"prev_idx": j, |
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"prev_id": prev_instances.ID[j], |
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"IoU": iou_all[i, j], |
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"prev_period": prev_instances.ID_period[j], |
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} |
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) |
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return bbox_pairs |
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LARGE_COST_VALUE = 100000 |
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