2026-03-28 16:54:11 +11:00
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#pragma once
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#include "NCNNSTrack.h"
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#include <NCNNObject.h>
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#include <chrono>
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namespace ByteTrackNCNN {
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class BYTETracker
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{
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public:
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2026-04-05 11:55:37 +10:00
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BYTETracker(int frame_rate = 10, int track_buffer = 30);
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2026-03-28 16:54:11 +11:00
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~BYTETracker();
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std::vector<STrack> update(const std::vector<ByteTrackNCNN::Object>& objects);
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//cv::Scalar get_color(int idx);
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2026-04-05 11:55:37 +10:00
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void update_parameters(int frameRate = 10, int trackBuffer = 30, double trackThreshold = 0.5, double highThreshold = 0.6, double matchThresold = 0.8, bool autoFrameRate = false);
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2026-03-28 16:54:11 +11:00
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float getEstimatedFps() const;
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private:
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std::vector<STrack*> joint_stracks(std::vector<STrack*>& tlista, std::vector<STrack>& tlistb);
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std::vector<STrack> joint_stracks(std::vector<STrack>& tlista, std::vector<STrack>& tlistb);
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std::vector<STrack> sub_stracks(std::vector<STrack>& tlista, std::vector<STrack>& tlistb);
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void remove_duplicate_stracks(std::vector<STrack>& resa, std::vector<STrack>& resb, std::vector<STrack>& stracksa, std::vector<STrack>& stracksb);
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void linear_assignment(std::vector< std::vector<float> >& cost_matrix, int cost_matrix_size, int cost_matrix_size_size, float thresh,
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std::vector< std::vector<int> >& matches, std::vector<int>& unmatched_a, std::vector<int>& unmatched_b);
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std::vector< std::vector<float> > iou_distance(std::vector<STrack*>& atracks, std::vector<STrack>& btracks, int& dist_size, int& dist_size_size);
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std::vector< std::vector<float> > iou_distance(std::vector<STrack>& atracks, std::vector<STrack>& btracks);
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std::vector< std::vector<float> > ious(std::vector< std::vector<float> >& atlbrs, std::vector< std::vector<float> >& btlbrs);
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double lapjv(const std::vector< std::vector<float> >& cost, std::vector<int>& rowsol, std::vector<int>& colsol,
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bool extend_cost = false, float cost_limit = LONG_MAX, bool return_cost = true);
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void estimateFrameRate();
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private:
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float track_thresh;
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float high_thresh;
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float match_thresh;
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int frame_id;
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int max_time_lost;
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int track_id_count;
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int track_buffer_;
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// Frame rate auto-estimation
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bool auto_frame_rate_;
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float estimated_fps_;
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float time_scale_factor_;
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size_t fps_sample_count_;
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std::chrono::steady_clock::time_point last_update_time_;
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bool has_last_update_time_;
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std::vector<STrack> tracked_stracks;
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std::vector<STrack> lost_stracks;
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std::vector<STrack> removed_stracks;
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ByteTrackNCNN::ByteKalmanFilter kalman_filter;
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};
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}
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