Update app.py

app.py

@@ -128,7 +128,8 @@ class DroneDetectionPipeline:
         
         # Choose color: Red for detection, Blue for tracking
         color = (0, 0, 255) if not is_tracking else (255, 0, 0)
-        label_text = f"Drone (Det)" if not is_tracking else f"Drone (Track)"
+        # label_text = f"Drone (Det)" if not is_tracking else f"Drone (Track)"
+        label_text = f"Drone"
         
         if confidence is not None and not is_tracking:
             label_text = f"Drone {confidence:.2f}"
@@ -208,28 +209,33 @@ class DroneDetectionPipeline:
                                 low_conf_detections.append((x1, y1, x2, y2, confidence))
     
                 if high_conf_detections:
-                    # Use high confidence detection - normal detection display
+                    # High confidence detection - show red box
                     largest_detection = max(high_conf_detections, key=lambda d: (d[2]-d[0]) * (d[3]-d[1]))
                     x1, y1, x2, y2, conf = largest_detection
                     detection_bbox = (x1, y1, x2-x1, y2-y1)
                     
                     frame_processed = self._draw_detection(frame_processed, (x1, y1, x2, y2), None, False)
                     self._initialize_tracker(frame, detection_bbox)
+                    self.has_had_detection = True
                     detection_count += 1
                     
-                elif low_conf_detections and self.last_detection_bbox is not None:
-                    # Use low confidence detection for tracking only
+                elif low_conf_detections and self.has_had_detection:
+                    # Low confidence detection - show blue tracking box
                     largest_low_conf = max(low_conf_detections, key=lambda d: (d[2]-d[0]) * (d[3]-d[1]))
                     x1, y1, x2, y2, conf = largest_low_conf
                     tracking_bbox = (x1, y1, x2-x1, y2-y1)
                     
-                    # Update last known position and show as tracking
+                    # Update tracker with low confidence detection
+                    if self.tracker is not None:
+                        self.tracker.init(frame, tracking_bbox)
+                        self.tracking_active = True
+                    
                     self.last_detection_bbox = tracking_bbox
                     frame_processed = self._draw_detection(frame_processed, (x1, y1, x2, y2), None, True)
                     tracking_count += 1
                     
-                elif self.tracking_active and self.tracker is not None:
-                    # Use CSRT tracker when no detections
+                elif self.has_had_detection and self.tracker is not None:
+                    # No detections - use CSRT tracker
                     success, tracking_bbox = self.tracker.update(frame)
                     
                     if success:
@@ -237,6 +243,7 @@ class DroneDetectionPipeline:
                         self.last_detection_bbox = tracking_bbox
                         frame_processed = self._draw_detection(frame_processed, (x, y, x+w, y+h), None, True)
                         tracking_count += 1
+                        self.tracking_active = True
                     else:
                         # Tracking failed - use last known position
                         if self.last_detection_bbox is not None: