Refactor project structure

modules/ANSMOT/ByteTrackEigen/include/EigenBoundingBoxTrackUtils.h

@@ -0,0 +1,54 @@
+#pragma once
+#include <vector>
+#include <map>
+#include <unordered_set>
+#include <Eigen/Dense>
+#include "EigenKalmanBBoxTrack.h"
+#include "EigenBoundingBoxIoUMatching.h"
+
+namespace ByteTrackEigen {
+    /**
+     * @brief Joins two lists of KalmanBBoxTrack pointers, ensuring unique track IDs.
+     *
+     * This function combines track lists A and B. If a track ID is present in both lists,
+     * the track from list B is used in the final list. This ensures that each track ID is
+     * unique in the resulting list.
+     *
+     * @param track_list_a First list of shared pointers to KalmanBBoxTrack objects.
+     * @param track_list_b Second list of shared pointers to KalmanBBoxTrack objects.
+     * @return std::vector<std::shared_ptr<KalmanBBoxTrack>> A list with unique tracks based on track IDs.
+     */
+    std::vector<std::shared_ptr<KalmanBBoxTrack>> join_tracks(
+        const std::vector<std::shared_ptr<KalmanBBoxTrack>> track_list_a,
+        const std::vector<std::shared_ptr<KalmanBBoxTrack>> track_list_b);
+
+    /**
+     * @brief Subtracts tracks in track_list_b from track_list_a based on track IDs.
+     *
+     * This function creates a new list of tracks from track_list_a excluding those
+     * tracks whose IDs are found in track_list_b, effectively performing a set subtraction.
+     *
+     * @param track_list_a First list of shared pointers to KalmanBBoxTrack objects.
+     * @param track_list_b Second list of shared pointers to KalmanBBoxTrack objects.
+     * @return std::vector<std::shared_ptr<KalmanBBoxTrack>> A list of tracks present in track_list_a but not in track_list_b.
+     */
+    std::vector<std::shared_ptr<KalmanBBoxTrack>> sub_tracks(
+        const std::vector<std::shared_ptr<KalmanBBoxTrack>>& track_list_a,
+        const std::vector<std::shared_ptr<KalmanBBoxTrack>>& track_list_b);
+
+    /**
+     * @brief Removes duplicate tracks from two lists based on IOU distance and track age.
+     *
+     * This function identifies and removes duplicate tracks between two lists based on the
+     * Intersection Over Union (IOU) distance. If two tracks have an IOU distance less than
+     * a threshold (0.15), the older track is retained.
+     *
+     * @param track_list_a First list of shared pointers to KalmanBBoxTrack objects.
+     * @param track_list_b Second list of shared pointers to KalmanBBoxTrack objects.
+     * @return Pair of vectors each containing unique tracks after removing duplicates.
+     */
+    std::pair<std::vector<std::shared_ptr<KalmanBBoxTrack>>, std::vector<std::shared_ptr<KalmanBBoxTrack>>> remove_duplicate_tracks(
+        const std::vector<std::shared_ptr<KalmanBBoxTrack>> track_list_a,
+        const std::vector<std::shared_ptr<KalmanBBoxTrack>> track_list_b);
+
+}