55 lines
2.7 KiB
C
55 lines
2.7 KiB
C
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#pragma once
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#include <vector>
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#include <map>
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#include <unordered_set>
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#include <Eigen/Dense>
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#include "EigenKalmanBBoxTrack.h"
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#include "EigenBoundingBoxIoUMatching.h"
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namespace ByteTrackEigen {
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/**
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* @brief Joins two lists of KalmanBBoxTrack pointers, ensuring unique track IDs.
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*
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* This function combines track lists A and B. If a track ID is present in both lists,
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* the track from list B is used in the final list. This ensures that each track ID is
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* unique in the resulting list.
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*
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* @param track_list_a First list of shared pointers to KalmanBBoxTrack objects.
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* @param track_list_b Second list of shared pointers to KalmanBBoxTrack objects.
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* @return std::vector<std::shared_ptr<KalmanBBoxTrack>> A list with unique tracks based on track IDs.
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*/
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std::vector<std::shared_ptr<KalmanBBoxTrack>> join_tracks(
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const std::vector<std::shared_ptr<KalmanBBoxTrack>> track_list_a,
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const std::vector<std::shared_ptr<KalmanBBoxTrack>> track_list_b);
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/**
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* @brief Subtracts tracks in track_list_b from track_list_a based on track IDs.
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*
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* This function creates a new list of tracks from track_list_a excluding those
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* tracks whose IDs are found in track_list_b, effectively performing a set subtraction.
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*
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* @param track_list_a First list of shared pointers to KalmanBBoxTrack objects.
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* @param track_list_b Second list of shared pointers to KalmanBBoxTrack objects.
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* @return std::vector<std::shared_ptr<KalmanBBoxTrack>> A list of tracks present in track_list_a but not in track_list_b.
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*/
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std::vector<std::shared_ptr<KalmanBBoxTrack>> sub_tracks(
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const std::vector<std::shared_ptr<KalmanBBoxTrack>>& track_list_a,
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const std::vector<std::shared_ptr<KalmanBBoxTrack>>& track_list_b);
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/**
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* @brief Removes duplicate tracks from two lists based on IOU distance and track age.
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*
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* This function identifies and removes duplicate tracks between two lists based on the
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* Intersection Over Union (IOU) distance. If two tracks have an IOU distance less than
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* a threshold (0.15), the older track is retained.
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*
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* @param track_list_a First list of shared pointers to KalmanBBoxTrack objects.
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* @param track_list_b Second list of shared pointers to KalmanBBoxTrack objects.
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* @return Pair of vectors each containing unique tracks after removing duplicates.
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*/
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std::pair<std::vector<std::shared_ptr<KalmanBBoxTrack>>, std::vector<std::shared_ptr<KalmanBBoxTrack>>> remove_duplicate_tracks(
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const std::vector<std::shared_ptr<KalmanBBoxTrack>> track_list_a,
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const std::vector<std::shared_ptr<KalmanBBoxTrack>> track_list_b);
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}
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