64 lines
1.9 KiB
C++
64 lines
1.9 KiB
C++
// Copyright (c) 2021 PaddlePaddle Authors. All Rights Reserved.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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// The code is based on:
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// https://github.com/CnybTseng/JDE/blob/master/platforms/common/jdetracker.h
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// Ths copyright of CnybTseng/JDE is as follows:
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// MIT License
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#pragma once
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#include <map>
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#include <vector>
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#include <opencv2/opencv.hpp>
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#include "trajectory.h"
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namespace PaddleDetection {
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typedef std::map<int, int> Match;
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typedef std::map<int, int>::iterator MatchIterator;
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struct Track
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{
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int id;
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float score;
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cv::Vec4f ltrb;
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};
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class JDETracker
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{
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public:
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static JDETracker *instance(void);
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virtual bool update(const cv::Mat &dets, const cv::Mat &emb, std::vector<Track> &tracks);
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private:
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JDETracker(void);
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virtual ~JDETracker(void) {}
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cv::Mat motion_distance(const TrajectoryPtrPool &a, const TrajectoryPool &b);
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void linear_assignment(const cv::Mat &cost, float cost_limit, Match &matches,
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std::vector<int> &mismatch_row, std::vector<int> &mismatch_col);
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void remove_duplicate_trajectory(TrajectoryPool &a, TrajectoryPool &b, float iou_thresh=0.15f);
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private:
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static JDETracker *me;
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int timestamp;
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TrajectoryPool tracked_trajectories;
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TrajectoryPool lost_trajectories;
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TrajectoryPool removed_trajectories;
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int max_lost_time;
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float lambda;
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float det_thresh;
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};
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} // namespace PaddleDetection
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