#ifndef LINEAR_ASSIGNMENT_H
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#define LINEAR_ASSIGNMENT_H
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#include "dataType.h"
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#include "tracker.h"
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#define INFTY_COST 1e5
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class tracker;
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//for matching;
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class linear_assignment
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{
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linear_assignment();
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linear_assignment(const linear_assignment& );
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linear_assignment& operator=(const linear_assignment&);
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static linear_assignment* instance;
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public:
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static linear_assignment* getInstance();
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~linear_assignment();
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TRACHER_MATCHD matching_cascade(tracker* distance_metric,
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tracker::GATED_METRIC_FUNC distance_metric_func,
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float max_distance,
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int cascade_depth,
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std::vector<std::shared_ptr<Track>>& tracks,
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const DETECTIONS& detections,
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std::vector<int> &track_indices,
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std::vector<int> detection_indices = std::vector<int>());
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TRACHER_MATCHD min_cost_matching(
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tracker* distance_metric,
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tracker::GATED_METRIC_FUNC distance_metric_func,
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float max_distance,
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std::vector<std::shared_ptr<Track>>& tracks,
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const DETECTIONS& detections,
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std::vector<int>& track_indices,
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std::vector<int>& detection_indices);
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DYNAMICM gate_cost_matrix(
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KalmFilter* kf,
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DYNAMICM& cost_matrix,
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std::vector<std::shared_ptr<Track>>& tracks,
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const DETECTIONS& detections,
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const std::vector<int>& track_indices,
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const std::vector<int>& detection_indices,
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float gated_cost = INFTY_COST,
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bool only_position = true);
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};
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#endif // LINEAR_ASSIGNMENT_H
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