86 lines
3.3 KiB
C++
86 lines
3.3 KiB
C++
#pragma once
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#include "STrack.h"
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#include "lapjv.h"
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#include "Object.h"
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#include <chrono>
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#include <cstddef>
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#include <limits>
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#include <map>
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#include <memory>
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#include <vector>
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namespace ByteTrack
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{
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class BYTETracker
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{
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public:
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using STrackPtr = std::shared_ptr<STrack>;
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BYTETracker(const int& frame_rate = 10,
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const int& track_buffer = 30,
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const float& track_thresh = 0.5,
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const float& high_thresh = 0.6,
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const float& match_thresh = 0.8);
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~BYTETracker();
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std::vector<STrackPtr> update(const std::vector<Object>& objects);
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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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float getEstimatedFps() const;
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private:
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std::vector<STrackPtr> jointStracks(const std::vector<STrackPtr> &a_tlist,
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const std::vector<STrackPtr> &b_tlist) const;
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std::vector<STrackPtr> subStracks(const std::vector<STrackPtr> &a_tlist,
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const std::vector<STrackPtr> &b_tlist) const;
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void removeDuplicateStracks(const std::vector<STrackPtr> &a_stracks,
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const std::vector<STrackPtr> &b_stracks,
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std::vector<STrackPtr> &a_res,
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std::vector<STrackPtr> &b_res) const;
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void linearAssignment(const std::vector<std::vector<float>> &cost_matrix,
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const int &cost_matrix_size,
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const int &cost_matrix_size_size,
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const float &thresh,
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std::vector<std::vector<int>> &matches,
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std::vector<int> &b_unmatched,
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std::vector<int> &a_unmatched) const;
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std::vector<std::vector<float>> calcIouDistance(const std::vector<STrackPtr> &a_tracks,
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const std::vector<STrackPtr> &b_tracks) const;
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std::vector<std::vector<float>> calcIous(const std::vector<Rect<float>> &a_rect,
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const std::vector<Rect<float>> &b_rect) const;
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double execLapjv(const std::vector<std::vector<float> > &cost,
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std::vector<int> &rowsol,
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std::vector<int> &colsol,
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bool extend_cost = false,
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float cost_limit = LONG_MAX,
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bool return_cost = true) const;
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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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size_t max_time_lost_;
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int track_buffer_;
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size_t frame_id_;
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size_t track_id_count_;
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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<STrackPtr> tracked_stracks_;
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std::vector<STrackPtr> lost_stracks_;
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std::vector<STrackPtr> removed_stracks_;
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};
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} |