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// Copyright (c) 2021 PaddlePaddle Authors. All Rights Reserved.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
// The code is based on:
// https://github.com/CnybTseng/JDE/blob/master/platforms/common/jdetracker.h
// Ths copyright of CnybTseng/JDE is as follows:
// MIT License
#pragma once
#include <map>
#include <vector>
#include <opencv2/core/core.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include "include/trajectory.h"
namespace PaddleDetection {
typedef std::map<int, int> Match;
typedef std::map<int, int>::iterator MatchIterator;
struct Track {
int id;
float score;
cv::Vec4f ltrb;
};
class JDETracker {
public:
static JDETracker *instance(void);
virtual bool update(const cv::Mat &dets,
const cv::Mat &emb,
std::vector<Track> *tracks);
private:
JDETracker(void);
virtual ~JDETracker(void) {}
cv::Mat motion_distance(const TrajectoryPtrPool &a, const TrajectoryPool &b);
void linear_assignment(const cv::Mat &cost,
float cost_limit,
Match *matches,
std::vector<int> *mismatch_row,
std::vector<int> *mismatch_col);
void remove_duplicate_trajectory(TrajectoryPool *a,
TrajectoryPool *b,
float iou_thresh = 0.15f);
private:
static JDETracker *me;
int timestamp;
TrajectoryPool tracked_trajectories;
TrajectoryPool lost_trajectories;
TrajectoryPool removed_trajectories;
int max_lost_time;
float lambda;
float det_thresh;
};
} // namespace PaddleDetection
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