Filter out rejected shoe detections after association

configs/full_pipeline_1080p_test_alarm.json

@@ -237,8 +237,8 @@
             "max_shoe_roi_height_ratio": 0.6,
             "max_shoe_roi_area_ratio": 0.25,
             "min_front_shoe_width_ratio": 0.18,
-            "max_front_shoe_aspect_ratio": 1.5,
-            "max_side_height_width_ratio": 1.1,
+            "max_front_shoe_aspect_ratio": 2.0,
+            "max_side_height_width_ratio": 1.2,
             "max_shoe_aspect_ratio": 2.0
           }
         },

plugins/logic_gate/logic_gate_node.cpp

@@ -6,6 +6,7 @@
 #include <vector>
 
 #include "color_analyzer.h"
+#include "person_shoe_filter.h"
 #include "person_shoe_shape.h"
 #include "frame/frame.h"
 #include "node.h"
@@ -335,6 +336,8 @@ private:
 
         std::vector<bool> shoe_used(shoe_indices.size(), false);
         std::vector<Detection> appended;
+        std::vector<size_t> selected_shoe_item_indices;
+        selected_shoe_item_indices.reserve(shoe_indices.size());
 
         for (size_t pi = 0; pi < person_indices.size(); ++pi) {
             Detection& person = items[person_indices[pi]];
@@ -445,7 +448,9 @@ private:
 
             if (best_shoe_local >= 0) {
                 shoe_used[static_cast<size_t>(best_shoe_local)] = true;
-                Detection& matched_shoe = items[shoe_indices[static_cast<size_t>(best_shoe_local)]];
+                const size_t matched_item_index = shoe_indices[static_cast<size_t>(best_shoe_local)];
+                Detection& matched_shoe = items[matched_item_index];
+                selected_shoe_item_indices.push_back(matched_item_index);
                 if (config_.debug) {
                     LogInfo("[logic_gate] shoe selected person_track=" + std::to_string(person.track_id) +
                             " candidate_count=" + std::to_string(candidate_count) +
@@ -493,6 +498,10 @@ private:
             }
         }
 
+        items = FilterPersonShoeOutput(items,
+                                       config_.person_shoe.shoe_class,
+                                       selected_shoe_item_indices);
+
         if (!appended.empty()) {
             items.insert(items.end(), appended.begin(), appended.end());
         }

plugins/logic_gate/person_shoe_filter.h

@@ -0,0 +1,27 @@
+#pragma once
+
+#include <cstddef>
+#include <unordered_set>
+#include <vector>
+
+#include "frame/frame.h"
+
+namespace rk3588 {
+
+inline std::vector<Detection> FilterPersonShoeOutput(const std::vector<Detection>& items,
+                                                     int shoe_class,
+                                                     const std::vector<size_t>& selected_shoe_indices) {
+    const std::unordered_set<size_t> selected(selected_shoe_indices.begin(), selected_shoe_indices.end());
+
+    std::vector<Detection> filtered;
+    filtered.reserve(items.size());
+    for (size_t i = 0; i < items.size(); ++i) {
+        const Detection& det = items[i];
+        if (det.cls_id != shoe_class || selected.count(i) > 0) {
+            filtered.push_back(det);
+        }
+    }
+    return filtered;
+}
+
+}  // namespace rk3588

tests/CMakeLists.txt

@@ -39,6 +39,7 @@ add_executable(rk3588_gtests
     test_frame_buffer.cpp
     test_behavior_event_model.cpp
     test_person_shoe_shape.cpp
+    test_person_shoe_filter.cpp
     test_region_event.cpp
     test_action_recog.cpp
     test_event_fusion.cpp

tests/test_person_shoe_filter.cpp

@@ -0,0 +1,52 @@
+#include <gtest/gtest.h>
+
+#include <vector>
+
+#include "../plugins/logic_gate/person_shoe_filter.h"
+
+namespace rk3588 {
+namespace {
+
+Detection MakeDetection(int cls_id, int track_id, float x) {
+    Detection det;
+    det.cls_id = cls_id;
+    det.track_id = track_id;
+    det.score = 0.9f;
+    det.bbox = Rect{x, 10.0f, 20.0f, 20.0f};
+    return det;
+}
+
+TEST(PersonShoeFilterTest, KeepsOnlySelectedShoesAndAllNonShoes) {
+    std::vector<Detection> items;
+    items.push_back(MakeDetection(0, 101, 10.0f));
+    items.push_back(MakeDetection(1, -1, 20.0f));
+    items.push_back(MakeDetection(1, 101, 30.0f));
+    items.push_back(MakeDetection(2, 101, 40.0f));
+    items.push_back(MakeDetection(1, -1, 50.0f));
+
+    const std::vector<size_t> selected_shoe_indices = {2};
+    const auto filtered = FilterPersonShoeOutput(items, 1, selected_shoe_indices);
+
+    ASSERT_EQ(filtered.size(), 3u);
+    EXPECT_EQ(filtered[0].cls_id, 0);
+    EXPECT_EQ(filtered[1].cls_id, 1);
+    EXPECT_EQ(filtered[1].track_id, 101);
+    EXPECT_FLOAT_EQ(filtered[1].bbox.x, 30.0f);
+    EXPECT_EQ(filtered[2].cls_id, 2);
+}
+
+TEST(PersonShoeFilterTest, DropsAllShoesWhenNothingIsSelected) {
+    std::vector<Detection> items;
+    items.push_back(MakeDetection(1, -1, 20.0f));
+    items.push_back(MakeDetection(0, 101, 30.0f));
+    items.push_back(MakeDetection(1, -1, 40.0f));
+
+    const auto filtered = FilterPersonShoeOutput(items, 1, {});
+
+    ASSERT_EQ(filtered.size(), 1u);
+    EXPECT_EQ(filtered[0].cls_id, 0);
+    EXPECT_EQ(filtered[0].track_id, 101);
+}
+
+}  // namespace
+}  // namespace rk3588