Refactor project structure
This commit is contained in:
437
modules/ANSMOT/ByteTrackNCNN/src/NCNNutils.cpp
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437
modules/ANSMOT/ByteTrackNCNN/src/NCNNutils.cpp
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#include <map>
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#include "NCNNBYTETracker.h"
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#include "NCNNlapjv.h"
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namespace ByteTrackNCNN {
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std::vector<STrack*> BYTETracker::joint_stracks( std::vector<STrack*> &tlista, std::vector<STrack> &tlistb)
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{
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std::map<int, int> exists;
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std::vector<STrack*> res;
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for (int i = 0; i < tlista.size(); i++)
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{
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exists.insert(std::pair<int, int>(tlista[i]->track_id, 1));
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res.push_back(tlista[i]);
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}
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for (int i = 0; i < tlistb.size(); i++)
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{
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int tid = tlistb[i].track_id;
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if (!exists[tid] || exists.count(tid) == 0)
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{
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exists[tid] = 1;
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res.push_back(&tlistb[i]);
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}
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}
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return res;
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}
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std::vector<STrack> BYTETracker::joint_stracks( std::vector<STrack> &tlista, std::vector<STrack> &tlistb)
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{
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std::map<int, int> exists;
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std::vector<STrack> res;
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for (int i = 0; i < tlista.size(); i++)
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{
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exists.insert(std::pair<int, int>(tlista[i].track_id, 1));
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res.push_back(tlista[i]);
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}
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for (int i = 0; i < tlistb.size(); i++)
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{
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int tid = tlistb[i].track_id;
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if (!exists[tid] || exists.count(tid) == 0)
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{
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exists[tid] = 1;
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res.push_back(tlistb[i]);
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}
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}
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return res;
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}
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std::vector<STrack> BYTETracker::sub_stracks( std::vector<STrack> &tlista, std::vector<STrack> &tlistb)
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{
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std::map<int, STrack> stracks;
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for (int i = 0; i < tlista.size(); i++)
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{
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stracks.insert(std::pair<int, STrack>(tlista[i].track_id, tlista[i]));
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}
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for (int i = 0; i < tlistb.size(); i++)
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{
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int tid = tlistb[i].track_id;
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if (stracks.count(tid) != 0)
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{
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stracks.erase(tid);
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}
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}
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std::vector<STrack> res;
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std::map<int, STrack>::iterator it;
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for (it = stracks.begin(); it != stracks.end(); ++it)
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{
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res.push_back(it->second);
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}
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return res;
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}
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void BYTETracker::remove_duplicate_stracks( std::vector<STrack> &resa, std::vector<STrack> &resb, std::vector<STrack> &stracksa, std::vector<STrack> &stracksb)
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{
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std::vector< std::vector<float> > pdist = iou_distance(stracksa, stracksb);
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std::vector<std::pair<int, int> > pairs;
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for (int i = 0; i < pdist.size(); i++)
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{
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for (int j = 0; j < pdist[i].size(); j++)
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{
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if (pdist[i][j] < 0.15)
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{
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pairs.push_back(std::pair<int, int>(i, j));
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}
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}
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}
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std::vector<int> dupa, dupb;
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for (int i = 0; i < pairs.size(); i++)
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{
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int timep = stracksa[pairs[i].first].frame_id - stracksa[pairs[i].first].start_frame;
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int timeq = stracksb[pairs[i].second].frame_id - stracksb[pairs[i].second].start_frame;
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if (timep > timeq)
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dupb.push_back(pairs[i].second);
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else
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dupa.push_back(pairs[i].first);
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}
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for (int i = 0; i < stracksa.size(); i++)
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{
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std::vector<int>::iterator iter = find(dupa.begin(), dupa.end(), i);
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if (iter == dupa.end())
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{
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resa.push_back(stracksa[i]);
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}
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}
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for (int i = 0; i < stracksb.size(); i++)
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{
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std::vector<int>::iterator iter = find(dupb.begin(), dupb.end(), i);
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if (iter == dupb.end())
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{
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resb.push_back(stracksb[i]);
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}
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}
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}
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void BYTETracker::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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{
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if (cost_matrix.size() == 0)
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{
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for (int i = 0; i < cost_matrix_size; i++)
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{
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unmatched_a.push_back(i);
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}
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for (int i = 0; i < cost_matrix_size_size; i++)
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{
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unmatched_b.push_back(i);
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}
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return;
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}
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std::vector<int> rowsol; std::vector<int> colsol;
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float c = lapjv(cost_matrix, rowsol, colsol, true, thresh);
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for (int i = 0; i < rowsol.size(); i++)
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{
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if (rowsol[i] >= 0)
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{
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std::vector<int> match;
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match.push_back(i);
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match.push_back(rowsol[i]);
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matches.push_back(match);
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}
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else
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{
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unmatched_a.push_back(i);
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}
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}
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for (int i = 0; i < colsol.size(); i++)
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{
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if (colsol[i] < 0)
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{
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unmatched_b.push_back(i);
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}
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}
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}
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std::vector< std::vector<float> > BYTETracker::ious( std::vector< std::vector<float> > &atlbrs, std::vector< std::vector<float> > &btlbrs)
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{
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std::vector< std::vector<float> > ious;
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if (atlbrs.size()*btlbrs.size() == 0)
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return ious;
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ious.resize(atlbrs.size());
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for (int i = 0; i < ious.size(); i++)
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{
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ious[i].resize(btlbrs.size());
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}
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//bbox_ious
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for (int k = 0; k < btlbrs.size(); k++)
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{
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std::vector<float> ious_tmp;
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float box_area = (btlbrs[k][2] - btlbrs[k][0] + 1)*(btlbrs[k][3] - btlbrs[k][1] + 1);
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for (int n = 0; n < atlbrs.size(); n++)
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{
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float iw = std::min(atlbrs[n][2], btlbrs[k][2]) - std::max(atlbrs[n][0], btlbrs[k][0]) + 1;
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if (iw > 0)
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{
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float ih = std::min(atlbrs[n][3], btlbrs[k][3]) - std::max(atlbrs[n][1], btlbrs[k][1]) + 1;
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if(ih > 0)
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{
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float ua = (atlbrs[n][2] - atlbrs[n][0] + 1)*(atlbrs[n][3] - atlbrs[n][1] + 1) + box_area - iw * ih;
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ious[n][k] = iw * ih / ua;
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}
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else
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{
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ious[n][k] = 0.0;
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}
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}
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else
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{
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ious[n][k] = 0.0;
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}
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}
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}
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return ious;
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}
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std::vector< std::vector<float> > BYTETracker::iou_distance( std::vector<STrack*> &atracks, std::vector<STrack> &btracks, int &dist_size, int &dist_size_size)
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{
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std::vector< std::vector<float> > cost_matrix;
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if (atracks.size() * btracks.size() == 0)
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{
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dist_size = atracks.size();
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dist_size_size = btracks.size();
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return cost_matrix;
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}
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std::vector< std::vector<float> > atlbrs, btlbrs;
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for (int i = 0; i < atracks.size(); i++)
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{
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atlbrs.push_back(atracks[i]->tlbr);
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}
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for (int i = 0; i < btracks.size(); i++)
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{
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btlbrs.push_back(btracks[i].tlbr);
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}
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dist_size = atracks.size();
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dist_size_size = btracks.size();
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std::vector< std::vector<float> > _ious = ious(atlbrs, btlbrs);
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for (int i = 0; i < _ious.size();i++)
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{
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std::vector<float> _iou;
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for (int j = 0; j < _ious[i].size(); j++)
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{
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_iou.push_back(1 - _ious[i][j]);
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}
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cost_matrix.push_back(_iou);
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}
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return cost_matrix;
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}
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std::vector< std::vector<float> > BYTETracker::iou_distance( std::vector<STrack> &atracks, std::vector<STrack> &btracks)
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{
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std::vector< std::vector<float> > atlbrs, btlbrs;
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for (int i = 0; i < atracks.size(); i++)
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{
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atlbrs.push_back(atracks[i].tlbr);
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}
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for (int i = 0; i < btracks.size(); i++)
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{
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btlbrs.push_back(btracks[i].tlbr);
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}
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std::vector< std::vector<float> > _ious = ious(atlbrs, btlbrs);
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std::vector< std::vector<float> > cost_matrix;
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for (int i = 0; i < _ious.size(); i++)
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{
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std::vector<float> _iou;
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for (int j = 0; j < _ious[i].size(); j++)
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{
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_iou.push_back(1 - _ious[i][j]);
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}
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cost_matrix.push_back(_iou);
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}
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return cost_matrix;
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}
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double BYTETracker::lapjv(const std::vector< std::vector<float> > &cost, std::vector<int> &rowsol, std::vector<int> &colsol,
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bool extend_cost, float cost_limit, bool return_cost)
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{
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std::vector< std::vector<float> > cost_c;
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cost_c.assign(cost.begin(), cost.end());
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std::vector< std::vector<float> > cost_c_extended;
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int n_rows = cost.size();
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int n_cols = cost[0].size();
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rowsol.resize(n_rows);
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colsol.resize(n_cols);
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int n = 0;
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if (n_rows == n_cols)
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{
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n = n_rows;
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}
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else
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{
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if (!extend_cost)
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{
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//std::cout << "set extend_cost=True" << std::endl;
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system("pause");
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exit(0);
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}
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}
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if (extend_cost || cost_limit < LONG_MAX)
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{
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n = n_rows + n_cols;
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cost_c_extended.resize(n);
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for (int i = 0; i < cost_c_extended.size(); i++)
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cost_c_extended[i].resize(n);
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if (cost_limit < LONG_MAX)
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{
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for (int i = 0; i < cost_c_extended.size(); i++)
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{
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for (int j = 0; j < cost_c_extended[i].size(); j++)
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{
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cost_c_extended[i][j] = cost_limit / 2.0;
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}
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}
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}
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else
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{
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float cost_max = -1;
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for (int i = 0; i < cost_c.size(); i++)
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{
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for (int j = 0; j < cost_c[i].size(); j++)
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{
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if (cost_c[i][j] > cost_max)
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cost_max = cost_c[i][j];
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}
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}
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for (int i = 0; i < cost_c_extended.size(); i++)
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{
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for (int j = 0; j < cost_c_extended[i].size(); j++)
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{
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cost_c_extended[i][j] = cost_max + 1;
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}
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}
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}
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for (int i = n_rows; i < cost_c_extended.size(); i++)
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{
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for (int j = n_cols; j < cost_c_extended[i].size(); j++)
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{
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cost_c_extended[i][j] = 0;
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}
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}
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for (int i = 0; i < n_rows; i++)
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{
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for (int j = 0; j < n_cols; j++)
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{
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cost_c_extended[i][j] = cost_c[i][j];
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}
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}
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cost_c.clear();
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cost_c.assign(cost_c_extended.begin(), cost_c_extended.end());
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}
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double **cost_ptr;
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cost_ptr = new double *[n];
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for (int i = 0; i < n; i++)
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cost_ptr[i] = new double[n];
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for (int i = 0; i < n; i++)
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{
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for (int j = 0; j < n; j++)
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{
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cost_ptr[i][j] = cost_c[i][j];
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}
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}
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int* x_c = new int[n];
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int *y_c = new int[n];
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int ret = lapjv_internal(n, cost_ptr, x_c, y_c);
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if (ret != 0)
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{
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for (int i = 0; i < n; i++)
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delete[] cost_ptr[i];
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delete[] cost_ptr;
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delete[] x_c;
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delete[] y_c;
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return -1;
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}
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double opt = 0.0;
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if (n != n_rows)
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{
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for (int i = 0; i < n; i++)
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{
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if (x_c[i] >= n_cols)
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x_c[i] = -1;
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if (y_c[i] >= n_rows)
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y_c[i] = -1;
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}
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for (int i = 0; i < n_rows; i++)
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{
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rowsol[i] = x_c[i];
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}
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for (int i = 0; i < n_cols; i++)
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{
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colsol[i] = y_c[i];
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}
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if (return_cost)
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{
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for (int i = 0; i < rowsol.size(); i++)
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{
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if (rowsol[i] != -1)
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{
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//cout << i << "\t" << rowsol[i] << "\t" << cost_ptr[i][rowsol[i]] << endl;
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opt += cost_ptr[i][rowsol[i]];
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}
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}
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}
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}
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else if (return_cost)
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{
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for (int i = 0; i < rowsol.size(); i++)
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{
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opt += cost_ptr[i][rowsol[i]];
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}
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}
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for (int i = 0; i < n; i++)
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{
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delete[]cost_ptr[i];
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}
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delete[]cost_ptr;
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delete[]x_c;
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delete[]y_c;
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return opt;
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}
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//cv::Scalar BYTETracker::get_color(int idx)
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//{
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// idx += 3;
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// return cv::Scalar(37 * idx % 255, 17 * idx % 255, 29 * idx % 255);
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//}
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}
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