46 lines
1.3 KiB
C
46 lines
1.3 KiB
C
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#pragma once
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#include <map>
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#include <opencv2/core.hpp>
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#include "track.h"
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#include "munkres.h"
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#include "utils.h"
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class Tracker {
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public:
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Tracker();
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~Tracker() = default;
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static float CalculateIou(const cv::Rect& det, const Track& track);
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static void HungarianMatching(const std::vector<std::vector<float>>& iou_matrix,
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size_t nrows, size_t ncols,
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std::vector<std::vector<float>>& association);
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/**
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* Assigns detections to tracked object (both represented as bounding boxes)
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* Returns 2 lists of matches, unmatched_detections
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* @param detection
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* @param tracks
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* @param matched
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* @param unmatched_det
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* @param iou_threshold
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*/
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static void AssociateDetectionsToTrackers(const std::vector<cv::Rect>& detection,
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std::map<int, Track>& tracks,
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std::map<int, cv::Rect>& matched,
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std::vector<cv::Rect>& unmatched_det,
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float iou_threshold = 0.3);
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void Run(const std::vector<cv::Rect>& detections);
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std::map<int, Track> GetTracks();
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private:
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// Hash-map between ID and corresponding tracker
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std::map<int, Track> tracks_;
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// Assigned ID for each bounding box
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int id_;
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};
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