文末有福利领取哦~
👉一、Python所有方向的学习路线
Python所有方向的技术点做的整理,形成各个领域的知识点汇总,它的用处就在于,你可以按照上面的知识点去找对应的学习资源,保证自己学得较为全面。
👉二、Python必备开发工具
👉三、Python视频合集
观看零基础学习视频,看视频学习是最快捷也是最有效果的方式,跟着视频中老师的思路,从基础到深入,还是很容易入门的。
👉 四、实战案例
光学理论是没用的,要学会跟着一起敲,要动手实操,才能将自己的所学运用到实际当中去,这时候可以搞点实战案例来学习。(文末领读者福利)
👉五、Python练习题
检查学习结果。
👉六、面试资料
我们学习Python必然是为了找到高薪的工作,下面这些面试题是来自阿里、腾讯、字节等一线互联网大厂最新的面试资料,并且有阿里大佬给出了权威的解答,刷完这一套面试资料相信大家都能找到满意的工作。
👉因篇幅有限,仅展示部分资料,这份完整版的Python全套学习资料已经上传
网上学习资料一大堆,但如果学到的知识不成体系,遇到问题时只是浅尝辄止,不再深入研究,那么很难做到真正的技术提升。
一个人可以走的很快,但一群人才能走的更远!不论你是正从事IT行业的老鸟或是对IT行业感兴趣的新人,都欢迎加入我们的的圈子(技术交流、学习资源、职场吐槽、大厂内推、面试辅导),让我们一起学习成长!
import os
import numpy as np
import cv2
from filterpy.kalman import KalmanFilter
def linear_assignment(cost_matrix):
try:
import lap
_, x, y = lap.lapjv(cost_matrix, extend_cost=True)
return np.array([[y[i], i] for i in x if i >= 0]) #
except ImportError:
from scipy.optimize import linear_sum_assignment
x, y = linear_sum_assignment(cost_matrix)
return np.array(list(zip(x, y)))
def iou_batch(bb_test, bb_gt):
bb_gt = np.expand_dims(bb_gt, 0)
bb_test = np.expand_dims(bb_test, 1)
xx1 = np.maximum(bb_test[..., 0], bb_gt[..., 0])
yy1 = np.maximum(bb_test[..., 1], bb_gt[..., 1])
xx2 = np.minimum(bb_test[..., 2], bb_gt[..., 2])
yy2 = np.minimum(bb_test[..., 3], bb_gt[..., 3])
w = np.maximum(0., xx2 - xx1)
h = np.maximum(0., yy2 - yy1)
wh = w \* h
o = wh / ((bb_test[..., 2] - bb_test[..., 0]) \* (bb_test[..., 3] - bb_test[..., 1])
+ (bb_gt[..., 2] - bb_gt[..., 0]) \* (bb_gt[..., 3] - bb_gt[..., 1]) - wh)
return (o)
def convert_bbox_to_z(bbox):
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):
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))
class KalmanBoxTracker(object):
count = 0
def \_\_init\_\_(self, bbox):
self.kf = KalmanFilter(dim_x=7, dim_z=4)
# [center\_x, center\_y, s, r, center\_x', center\_y', s'] s = w \* h r = w / h bbox 宽高比保持不变
self.kf.F = np.array(
[[1, 0, 0, 0, 1, 0, 0],
[0, 1, 0, 0, 0, 1, 0],
[0, 0, 1, 0, 0, 0, 1],
[0, 0, 0, 1, 0, 0, 0],
[0, 0, 0, 0, 1, 0, 0],
[0, 0, 0, 0, 0, 1, 0],
[0, 0, 0, 0, 0, 0, 1]])
self.kf.H = np.array(
[[1, 0, 0, 0, 0, 0, 0], [0, 1, 0, 0, 0, 0, 0], [0, 0, 1, 0, 0, 0, 0], [0, 0, 0, 1, 0, 0, 0]])
self.kf.R[2:, 2:] \*= 10.
self.kf.P[4:, 4:] \*= 1000.
self.kf.P \*= 10.
self.kf.Q[-1, -1] \*= 0.01
self.kf.Q[4:, 4:] \*= 0.01
self.kf.x[:4] = convert_bbox_to_z(bbox)
self.time_since_update = 0
self.id = KalmanBoxTracker.count
KalmanBoxTracker.count += 1
self.history = []
self.hits = 0
self.hit_streak = 0
self.age = 0
def update(self, bbox):
self.time_since_update = 0
self.history = []
self.hits += 1
self.hit_streak += 1
self.kf.update(convert_bbox_to_z(bbox))
def predict(self):
if ((self.kf.x[6] + self.kf.x[2]) <= 0):
self.kf.x[6] \*= 0.0
self.kf.predict()
self.age += 1
if (self.time_since_update > 0):
self.hit_streak = 0
self.time_since_update += 1
self.history.append(convert_x_to_bbox(self.kf.x))
return self.history[-1]
def get\_state(self):
return convert_x_to_bbox(self.kf.x)
def associate_detections_to_trackers(detections, trackers, iou_threshold=0.3):
if (len(trackers) == 0):
return np.empty((0, 2), dtype=int), np.arange(len(detections)), np.empty((0, 5), dtype=int)
iou_matrix = iou_batch(detections, trackers)
if min(iou_matrix.shape) > 0:
a = (iou_matrix > iou_threshold).astype(np.int32)
if a.sum(1).max() == 1 and a.sum(0).max() == 1:
matched_indices = np.stack(np.where(a), axis=1)
else:
matched_indices = linear_assignment(-iou_matrix)
else:
matched_indices = np.empty(shape=(0, 2))
unmatched_detections = []
for d, det in enumerate(detections):
if (d not in matched_indices[:, 0]):
unmatched_detections.append(d)
unmatched_trackers = []
for t, trk in enumerate(trackers):
if (t not in matched_indices[:, 1]):
unmatched_trackers.append(t)
matches = []
for m in matched_indices:
if (iou_matrix[m[0], m[1]] < iou_threshold):
unmatched_detections.append(m[0])
unmatched_trackers.append(m[1])
else:
matches.append(m.reshape(1, 2))
if (len(matches) == 0):
matches = np.empty((0, 2), dtype=int)
else:
matches = np.concatenate(matches, axis=0)
return matches, np.array(unmatched_detections), np.array(unmatched_trackers)
class Sort(object):
def __init__(self, max_age=1, min_hits=3, iou_threshold=0.3):
self.max_age = max_age
self.min_hits = min_hits
self.iou_threshold = iou_threshold
self.trackers = []
self.frame_count = 0
def update(self, dets=np.empty((0, 5))):
self.frame_count += 1
# 根据上一帧航迹的框 预测当前帧的框.
trks = np.zeros((len(self.trackers), 5))
to_del = []
ret = []
for t, trk in enumerate(trks):
pos = self.trackers[t].predict()[0]
trk[:] = [pos[0], pos[1], pos[2], pos[3], 0]
if np.any(np.isnan(pos)):
to_del.append(t)
trks = np.ma.compress_rows(np.ma.masked_invalid(trks))
for t in reversed(to_del):
self.trackers.pop(t)
# 匈牙利匹配 上一帧预测框与当前帧检测框进行 iou 匹配
matched, unmatched_dets, unmatched_trks = associate_detections_to_trackers(dets, trks, self.iou_threshold)
# 如果匹配上 则更新修正当前检测框
for m in matched:
self.trackers[m[1]].update(dets[m[0], :])
# 如果检测框未匹配上,则当作新目标,新起航迹
for i in unmatched_dets:
trk = KalmanBoxTracker(dets[i, :])
self.trackers.append(trk)
i = len(self.trackers)
for trk in reversed(self.trackers):
d = trk.get_state()[0]
if (trk.time_since_update < 1) and (trk.hit_streak >= self.min_hits or self.frame_count <= self.min_hits):
ret.append(np.concatenate((d, [trk.id + 1])).reshape(1, -1))
网上学习资料一大堆,但如果学到的知识不成体系,遇到问题时只是浅尝辄止,不再深入研究,那么很难做到真正的技术提升。
一个人可以走的很快,但一群人才能走的更远!不论你是正从事IT行业的老鸟或是对IT行业感兴趣的新人,都欢迎加入我们的的圈子(技术交流、学习资源、职场吐槽、大厂内推、面试辅导),让我们一起学习成长!