Update associative.py

lib/fish_eye/associative.py

@@ -219,23 +219,18 @@ class Associate(object):
         for t in reversed(to_del):
             self.trackers.pop(t)
 
-        high_matched, unmatched_high_dets, unmatched_trk_ids = associate_detections_to_trackers(high_dets, trks, self.iou_threshold)
+        high_matched, unmatched_high_dets, unmatched_low_trk_ids = associate_detections_to_trackers(high_dets, trks, self.iou_threshold)
+        low_matched, unmatched_low_dets, unmatched_high_trk_ids = associate_detections_to_trackers(low_dets, trks, self.iou_threshold)
 
         # update matched trackers with assigned detections
+        matched_tracks = []
         for m in high_matched:
             self.trackers[m[1]].update(high_dets[m[0], :])
-
-        if len(unmatched_trk_ids) > 0:
-
-            low_matched, unmatched_low_dets, _ = associate_detections_to_trackers(low_dets, trks[unmatched_trk_ids], self.iou_threshold)
-
-            if len(low_matched) > 0:
-                print(trks[unmatched_trk_ids])
-                print("high", high_matched)
-                print("low", low_matched)
-
-            for m in low_matched:
-                self.trackers[unmatched_trk_ids[m[1]]].update(low_dets[m[0], :])
+            matched_tracks.append(m[1])
+        for m in low_matched:
+            if (m[1] not in matched_tracks):
+                self.trackers[m[1]].update(high_dets[m[0], :])
+        
 
         # create and initialise new trackers for unmatched detections
         for i in unmatched_high_dets: