Refactor project structure

2026-03-28 19:56:39 +11:00
parent 1d267378b2
commit 8a2e721058
511 changed files with 59 additions and 48 deletions
--- a/modules/ANSMOT/ByteTrack/include/BYTETracker.h
+++ b/modules/ANSMOT/ByteTrack/include/BYTETracker.h
@@ -0,0 +1,86 @@
+#pragma once
+#include "STrack.h"
+#include "lapjv.h"
+#include "Object.h"
+#include <chrono>
+#include <cstddef>
+#include <limits>
+#include <map>
+#include <memory>
+#include <vector>
+
+namespace ByteTrack
+{
+    class BYTETracker
+    {
+    public:
+        using STrackPtr = std::shared_ptr<STrack>;
+
+        BYTETracker(const int& frame_rate = 30,
+                    const int& track_buffer = 30,
+                    const float& track_thresh = 0.5,
+                    const float& high_thresh = 0.6,
+                    const float& match_thresh = 0.8);
+        ~BYTETracker();
+        std::vector<STrackPtr> update(const std::vector<Object>& objects);
+        void update_parameters(int frameRate = 30, int trackBuffer = 30, double trackThreshold = 0.5, double highThreshold = 0.6, double matchThresold = 0.8, bool autoFrameRate = false);
+        float getEstimatedFps() const;
+
+    private:
+        std::vector<STrackPtr> jointStracks(const std::vector<STrackPtr> &a_tlist,
+                                            const std::vector<STrackPtr> &b_tlist) const;
+
+        std::vector<STrackPtr> subStracks(const std::vector<STrackPtr> &a_tlist,
+                                          const std::vector<STrackPtr> &b_tlist) const;
+
+        void removeDuplicateStracks(const std::vector<STrackPtr> &a_stracks,
+                                    const std::vector<STrackPtr> &b_stracks,
+                                    std::vector<STrackPtr> &a_res,
+                                    std::vector<STrackPtr> &b_res) const;
+
+        void linearAssignment(const std::vector<std::vector<float>> &cost_matrix,
+                              const int &cost_matrix_size,
+                              const int &cost_matrix_size_size,
+                              const float &thresh,
+                              std::vector<std::vector<int>> &matches,
+                              std::vector<int> &b_unmatched,
+                              std::vector<int> &a_unmatched) const;
+
+        std::vector<std::vector<float>> calcIouDistance(const std::vector<STrackPtr> &a_tracks,
+                                                        const std::vector<STrackPtr> &b_tracks) const;
+
+        std::vector<std::vector<float>> calcIous(const std::vector<Rect<float>> &a_rect,
+                                                 const std::vector<Rect<float>> &b_rect) const;
+
+        double execLapjv(const std::vector<std::vector<float> > &cost,
+                         std::vector<int> &rowsol,
+                         std::vector<int> &colsol,
+                         bool extend_cost = false,
+                         float cost_limit = LONG_MAX,
+                         bool return_cost = true) const;
+
+        void estimateFrameRate();
+
+    private:
+        float track_thresh_;
+        float high_thresh_;
+        float match_thresh_;
+        size_t max_time_lost_;
+        int track_buffer_;
+
+        size_t frame_id_;
+        size_t track_id_count_;
+
+        // Frame rate auto-estimation
+        bool auto_frame_rate_;
+        float estimated_fps_;
+        float time_scale_factor_;
+        size_t fps_sample_count_;
+        std::chrono::steady_clock::time_point last_update_time_;
+        bool has_last_update_time_;
+
+        std::vector<STrackPtr> tracked_stracks_;
+        std::vector<STrackPtr> lost_stracks_;
+        std::vector<STrackPtr> removed_stracks_;
+    };
+}