byte_tracker.h

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/*
 * MIT License
 * Copyright (c) 2021 Yifu Zhang
 *
 * Modified by nullptr, Aug 8, 2024, Seeed Technology Co.,Ltd
 */
 
#ifndef _BYTETRACK_BYTE_TRACKER_H_
#define _BYTETRACK_BYTE_TRACKER_H_
 
#include <cfloat>
#include <climits>
#include <cstdint>
#include <vector>
 
#include "core/ma_types.h"
#include "strack.h"
 
class BYTETracker {
public:
    BYTETracker(int frame_rate = 10, int track_buffer = 30, float track_thresh = 0.5, float high_thresh = 0.6, float match_thresh = 0.8, float scale_factor = 1000.0);
    ~BYTETracker();
 
    std::vector<int> inplace_update(std::vector<ma_bbox_t>& objects);
    void clear();
 
protected:
    std::vector<STrack> update(const std::vector<ma_bbox_t>& objects);
 
private:
    std::vector<STrack*> joint_stracks(std::vector<STrack*>& tlista, std::vector<STrack>& tlistb);
    std::vector<STrack> joint_stracks(std::vector<STrack>& tlista, std::vector<STrack>& tlistb);
 
    std::vector<STrack> sub_stracks(std::vector<STrack>& tlista, std::vector<STrack>& tlistb);
    void remove_duplicate_stracks(std::vector<STrack>& resa, std::vector<STrack>& resb, std::vector<STrack>& stracksa, std::vector<STrack>& stracksb);
 
    void linear_assignment(std::vector<std::vector<float>>& cost_matrix,
                           int cost_matrix_size,
                           int cost_matrix_size_size,
                           float thresh,
                           std::vector<std::vector<int>>& matches,
                           std::vector<int>& unmatched_a,
                           std::vector<int>& unmatched_b);
    std::vector<std::vector<float>> iou_distance(std::vector<STrack*>& atracks, std::vector<STrack>& btracks, int& dist_size, int& dist_size_size);
    std::vector<std::vector<float>> iou_distance(std::vector<STrack>& atracks, std::vector<STrack>& btracks);
    std::vector<std::vector<float>> ious(std::vector<std::vector<float>>& atlbrs, std::vector<std::vector<float>>& btlbrs);
 
    double lapjv(const std::vector<std::vector<float>>& cost, std::vector<int>& rowsol, std::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;
    float scale_factor;
    int frame_id;
    int max_time_lost;
 
    std::vector<STrack> tracked_stracks;
    std::vector<STrack> lost_stracks;
    std::vector<STrack> removed_stracks;
    KalmanFilter kalman_filter;
};
 
#endif