From 34b14ec7c26708896054bbd2d9a98e362e376299 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Agust=C3=ADn=20Castro?= <acastro@acastros-MacBook-Pro.local>
Date: Wed, 28 Feb 2024 17:14:54 -0300
Subject: [PATCH] Add an initialization delay for the clusters

---
 demos/multi_camera/demo.py     | 14 +++++++++++++
 norfair/common_reference_ui.py | 36 +---------------------------------
 norfair/multi_camera.py        | 35 ++++++++++++++++++++++++++++++++-
 3 files changed, 49 insertions(+), 36 deletions(-)

diff --git a/demos/multi_camera/demo.py b/demos/multi_camera/demo.py
index c1e45ecf..41476257 100644
--- a/demos/multi_camera/demo.py
+++ b/demos/multi_camera/demo.py
@@ -243,6 +243,18 @@ def run():
         default=20,
         help="Min detections needed to start the tracked object",
     )
+    parser.add_argument(
+        "--clusterizer-initialization-delay",
+        type=float,
+        default=6,
+        help="Minimum age of a cluster (or it's objects) to be returned",
+    )
+    parser.add_argument(
+        "--filter-by-objects-age",
+        type=bool,
+        default=False,
+        help="Filter cluster by their objects age, instead of the clusters age.",
+    )
     parser.add_argument(
         "--hit-counter-max",
         type=int,
@@ -450,6 +462,8 @@ def normalized_foot_distance(tracker1, tracker2):
         max_votes_grow=args.max_votes_grow,
         max_votes_split=args.max_votes_grow,
         memory=args.memory,
+        initialization_delay=args.clusterizer_initialization_delay,
+        filter_by_objects_age=args.filter_by_objects_age,
     )
 
     while True:
diff --git a/norfair/common_reference_ui.py b/norfair/common_reference_ui.py
index 1d8e3e2f..d0dbbebd 100644
--- a/norfair/common_reference_ui.py
+++ b/norfair/common_reference_ui.py
@@ -11,40 +11,6 @@
 from norfair import Video
 from norfair.camera_motion import HomographyTransformationGetter, TransformationGetter
 
-transformation = None
-
-window = None
-
-button_finish = None
-
-reference_point_canvas = None
-footage_point_canvas = None
-
-canvas_reference = None
-canvas_footage = None
-
-reference_original_size = None
-reference_canvas_size = None
-footage_original_size = None
-footage_canvas_size = None
-
-footage_point = None
-reference_point = None
-
-skipper = None
-
-points = None
-points_sampled = None
-
-mode_annotate = None
-
-frame_options_annotations = None
-handling_mark_functions = None
-handle_mark_annotation = None
-
-global button_says_ignore
-global button_ignore
-
 
 def resize_image(image, desired_width=None, desired_height=None):
     aspect_ratio = image.height / image.width
@@ -281,7 +247,7 @@ def handle_finish():
             for info in skipper.values():
                 if info["video"] is not None:
                     info["video"].video_capture.release()
-                    cv2.destroyAllWindows()
+            cv2.destroyAllWindows()
             return transformation
         else:
             print("Can't leave without estimating the transformation.")
diff --git a/norfair/multi_camera.py b/norfair/multi_camera.py
index e09c31cc..ebc7e956 100644
--- a/norfair/multi_camera.py
+++ b/norfair/multi_camera.py
@@ -76,6 +76,8 @@ def __init__(
         max_votes_grow: int = 5,
         max_votes_split: int = 5,
         memory: int = 3,
+        initialization_delay: int = 4,
+        filter_by_objects_age: bool = False,
     ):
         """
         Associate trackers from different cameras/videos.
@@ -130,6 +132,12 @@ def __init__(
         self.max_votes_grow = max_votes_grow
         self.max_votes_split = max_votes_split
 
+        # I will give the trackers at least enough time to merge their cluster with another
+        self.initialization_delay = initialization_delay + max_votes_grow
+        self.filter_by_objects_age = filter_by_objects_age
+
+        self.id_to_ages = {}
+
     def update(self, trackers_by_camera):
         # trackers_by_camera = [list(tracked_objects_camera_0), list(tracked_objects_camera_1),...]
 
@@ -649,4 +657,29 @@ def update(self, trackers_by_camera):
                     cluster for cluster in self.clusters if len(cluster) > 0
                 ]
 
-        return self.clusters
+        if self.filter_by_objects_age:
+            return [
+                cluster
+                for cluster in self.clusters
+                if any(
+                    [
+                        obj.age - obj.initialization_delay > self.initialization_delay
+                        for obj in cluster.tracked_objects.values()
+                    ]
+                )
+            ]
+        else:
+            id_to_ages = {}
+            for cluster in self.clusters:
+                if cluster.id in self.id_to_ages.keys():
+                    id_to_ages[cluster.id] = self.id_to_ages[cluster.id] + 1
+                else:
+                    id_to_ages[cluster.id] = 0
+
+            self.id_to_ages = id_to_ages
+
+            return [
+                cluster
+                for cluster in self.clusters
+                if id_to_ages[cluster.id] > self.initialization_delay
+            ]