Refactor project structure

modules/ANSMOT/ByteTrackEigen/include/EigenLinearAssignment.h

@@ -0,0 +1,65 @@
+#pragma once
+
+#include <Eigen/Dense>
+#include <vector>
+#include <set>
+#include <iostream>
+#include <algorithm>
+#include <tuple>
+#include "EigenHungarianAlgorithm.h"
+
+/**
+ * @brief The LinearAssignment class encapsulates algorithms for solving the linear assignment problem.
+ *
+ * This class utilizes the Hungarian Algorithm for optimal assignment in a cost matrix. It's designed
+ * to be used in contexts where assignments between different sets (like tasks to workers, or
+ * observations to tracks) need to be made based on a cost matrix that quantifies the cost of each
+ * possible assignment.
+ *
+ * Usage of the Eigen library enhances efficiency and allows for easy manipulation of matrices,
+ * which are fundamental in the operations of this class.
+ */
+
+namespace ByteTrackEigen {
+    class LinearAssignment
+    {
+    private:
+        HungarianAlgorithmEigen hungarian; // An instance of HungarianAlgorithmEigen to perform the actual assignment computations.
+
+    public:
+        /**
+         * @brief Generates matches based on a cost matrix and a set of indices, considering a threshold.
+         *
+         * @param cost_matrix The matrix representing the cost of assigning each pair of elements.
+         * @param indices The matrix of indices representing potential matches.
+         * @param thresh A threshold value to determine acceptable assignments. Assignments with a cost above this threshold won't be considered.
+         * @return A tuple containing:
+         *         1. A vector of pairs representing the selected assignments.
+         *         2. A set of unassigned row indices.
+         *         3. A set of unassigned column indices.
+         */
+        std::tuple<std::vector<std::pair<int, int>>, std::set<int>, std::set<int>> indices_to_matches(
+            const Eigen::MatrixXd& cost_matrix,
+            const Eigen::MatrixXi& indices,
+            double thresh);
+
+        /**
+         * @brief Solves the linear assignment problem for a given cost matrix and threshold.
+         *
+         * This method is a straightforward approach to solve the linear assignment problem when all
+         * elements of the cost matrix are considered for assignment.
+         *
+         * @param cost_matrix The matrix representing the cost of assigning each pair of elements.
+         * @param thresh A threshold value to determine acceptable assignments. Assignments with a cost above this threshold won't be considered.
+         * @return A tuple containing:
+         *         1. A vector of pairs representing the selected assignments.
+         *         2. A set of unassigned row indices.
+         *         3. A set of unassigned column indices.
+         */
+        std::tuple<std::vector<std::pair<int, int>>, std::set<int>, std::set<int>> linear_assignment(
+            const Eigen::MatrixXd& cost_matrix,
+            double thresh
+        );
+    };
+
+}