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- #pragma once
- #include "STrack.h"
- #include "BYTETracker.h"
- #include "nvdstracker.h"
- #include <map>
- #include "DataType.h"
- #include <iostream>
- class NvObject {
- public:
- float rect[4];
- int label;
- float prob;
- NvMOTObjToTrack *associatedObjectIn;
- };
- class BYTETracker {
- public:
- BYTETracker(int frame_rate = 30, int track_buffer = 30);
- ~BYTETracker();
- vector<STrack> update(const vector<NvObject> &nvObjects);
- private:
- vector<STrack *> joint_stracks(vector<STrack *> &tlista, vector<STrack> &tlistb);
- vector<STrack> joint_stracks(vector<STrack> &tlista, vector<STrack> &tlistb);
- vector<STrack> sub_stracks(vector<STrack> &tlista, vector<STrack> &tlistb);
- void remove_duplicate_stracks(vector<STrack> &resa, vector<STrack> &resb, vector<STrack> &stracksa,
- vector<STrack> &stracksb);
- void linear_assignment(vector<vector<float> > &cost_matrix, int cost_matrix_size, int cost_matrix_size_size,
- float thresh,
- vector<vector<int> > &matches, vector<int> &unmatched_a, vector<int> &unmatched_b);
- vector<vector<float>>iou_distance(vector<STrack *> &atracks, vector<STrack> &btracks, int &dist_size, int &dist_size_size);
- vector<vector<float>> iou_distance(vector<STrack> &atracks, vector<STrack> &btracks);
- vector<vector<float>> ious(vector<vector<float> > &atlbrs, vector<vector<float> > &btlbrs);
- double lapjv(const vector<vector<float> > &cost, vector<int> &rowsol, vector<int> &colsol,
- bool extend_cost = false, float cost_limit = LONG_MAX, bool return_cost = true);
- private:
- float track_thresh;
- float high_thresh;
- float match_thresh;
- int frame_id;
- int max_time_lost;
- vector<STrack> tracked_stracks;
- vector<STrack> lost_stracks;
- vector<STrack> removed_stracks;
- byte_kalman::KalmanFilter kalman_filter;
- };
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