initial commit

wangrong

2025-01-03 2c4b8838f89bebca97615c5f0bac2c58e0349771

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
#pragma once 
 
#include <vector> 
#include <set> 
#include <map> 
#include "vp_track_node.h" 
#include "sort/Hungarian.h" 
#include "sort/KalmanTracker.h" 
 
namespace vp_nodes { 
    // track node using sort 
    class vp_sort_track_node: public vp_track_node 
    { 
    private: 
        /* config data for sort algo */ 
        /* data */ 
        typedef struct TrackingBox 
        { 
            //int frame; 
            int id; 
            Rect_<float> box; 
        }TrackingBox; 
 
        int max_age = 1; 
        int min_hits = 3; 
        double iouThreshold = 0.5; 
        // vector<KalmanTracker> trackers; 
        std::map<int, std::vector<KalmanTracker>> all_trackers; 
        std::vector<cv::Rect_<float>> predictedBoxes; 
        std::vector<vector<double>> iouMatrix; 
        std::vector<int> assignment; 
        std::set<int> unmatchedDetections; 
        std::set<int> unmatchedTrajectories; 
        std::set<int> allItems; 
        std::set<int> matchedItems; 
        std::vector<cv::Point> matchedPairs; 
        std::vector<TrackingBox> frameTrackingResult; 
    private: 
        double GetIOU(cv::Rect_<float> bb_test, cv::Rect_<float> bb_gt); 
    protected: 
        // fill track_ids using sort algo 
        virtual void track(int channel_index, const std::vector<vp_objects::vp_rect>& target_rects,  
                        const std::vector<std::vector<float>>& target_embeddings,  
                        std::vector<int>& track_ids) override; 
    public: 
        vp_sort_track_node(std::string node_name, vp_track_for track_for = vp_track_for::NORMAL); 
        virtual ~vp_sort_track_node(); 
    }; 
 
}