base_klt.py 文件源码

def draw_tracks(self, out, colored=False, color_type='unique', min_track_length=4, max_track_length=4):
        """
        color_type: {age, unique}
        """

        N = 20
        # inds = self.confident_tracks(min_length=min_track_length)
        # if not len(inds): 
        #     return

        # ids, pts = self.latest_ids[inds], self.latest_pts[inds]
        # lengths = self.tm_.lengths[inds]

        ids, pts, lengths = self.latest_ids, self.latest_pts, self.tm_.lengths

        if color_type == 'unique': 
            cwheel = colormap(np.linspace(0, 1, N))
            cols = np.vstack([cwheel[tid % N] for idx, tid in enumerate(ids)])
        elif color_type == 'age': 
            cols = colormap(lengths)
        else: 
            raise ValueError('Color type {:} undefined, use age or unique'.format(color_type))

        if not colored: 
            cols = np.tile([0,240,0], [len(self.tm_.tracks), 1])

        for col, pts in izip(cols.astype(np.int64), self.tm_.tracks.itervalues()): 
            cv2.polylines(out, [np.vstack(pts.items).astype(np.int32)[-max_track_length:]], False, 
                          tuple(col), thickness=1)
            tl, br = np.int32(pts.latest_item)-2, np.int32(pts.latest_item)+2
            cv2.rectangle(out, (tl[0], tl[1]), (br[0], br[1]), tuple(col), -1)