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| """Test temporal tracker.""" | |
| from sensorflow.schemas.unified_frame import Object3D | |
| from sensorflow.temporal_tracker import TemporalTracker | |
| def _make_proposal(x, y, frame_offset=0): | |
| return Object3D( | |
| bbox_3d=[x, y, 0.5, 4.0, 1.8, 1.5, 0.0], | |
| class_name="car", | |
| confidence=0.9, | |
| ) | |
| def test_track_persistence(): | |
| tracker = TemporalTracker(max_age=5) | |
| p1 = _make_proposal(10.0, 2.0) | |
| result1 = tracker.update("frame_0000", [p1]) | |
| assert len(result1) == 1 | |
| track_id = result1[0].track_id | |
| p2 = _make_proposal(10.5, 2.1) | |
| result2 = tracker.update("frame_0001", [p2]) | |
| assert result2[0].track_id == track_id | |
| def test_occlusion_recovery(): | |
| tracker = TemporalTracker(max_age=3) | |
| tracker.update("frame_0000", [_make_proposal(10.0, 2.0)]) | |
| tid = list(tracker.tracks.keys())[0] | |
| tracker.update("frame_0001", []) | |
| tracker.update("frame_0002", []) | |
| result = tracker.update("frame_0003", [_make_proposal(11.0, 2.0)]) | |
| assert len(result) >= 1 | |
| def test_run_sequence(tmp_path): | |
| tracker = TemporalTracker() | |
| proposals = { | |
| "frame_0000": [_make_proposal(10.0, 2.0)], | |
| "frame_0001": [_make_proposal(10.5, 2.1)], | |
| "frame_0002": [_make_proposal(11.0, 2.0)], | |
| } | |
| output = tmp_path / "tracks.json" | |
| tracks = tracker.run_sequence(proposals, output) | |
| assert output.exists() | |
| assert len(tracks) >= 1 | |