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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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