优化仓库

孙天宇

2022-07-12 ce9d187fd294cca192a27f52719094e9df7b1b62

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#ifndef TRACKER_H 
#define TRACKER_H 
#include <vector> 
 
#include "kalmfilter.h" 
#include "track.h" 
#include "model.h" 
// #include "../utils/config_util.h" 
#include "feature_util.h" 
#include "../utils/geometry_util.h" 
#include "../std_target.h" 
 
typedef int (*fn)(void* args, const int sender_chan, const char *recver, const char *data, const  int len); 
 
class NearNeighborDisMetric; 
 
using CURRENT_ID_REG = std::pair<uint64_t, std::vector<bool>>; 
 
class tracker 
{ 
public: 
    NearNeighborDisMetric* metric; 
    float max_iou_distance; 
    int max_age; 
    int n_init; 
 
    KalmFilter* kf; 
 
    uint64_t _next_idx; 
 
private: 
    // bool P_in_Polygon(SPoint p, IntersectReg polygon); 
//    std::vector<uint64_t> candidate_track_ids;  // 候选列表，也就是新加入的人员信息:id、 track信息（特征信息、 坐标信息） 
//    std::vector<uint64_t> current_track_ids;  // 跟踪的id 信息 
 
public: 
    std::vector<std::shared_ptr<Track>> tracks; 
    tracker(  /*NearNeighborDisMetric* metric,*/ 
            float max_cosine_distance, int nn_budget, 
            float max_iou_distance = MAX_IOU_DISTANCE, 
            int max_age = MAX_AGE, int n_init = N_INIT); 
 
    ~tracker(); 
    void predict(); 
    void update(std::vector<std::shared_ptr<tracker>> &CAMERAS_VCT, const DETECTIONS& detections, int cam_id, char* img_time); 
 
    typedef DYNAMICM (tracker::* GATED_METRIC_FUNC)( 
            std::vector<std::shared_ptr<Track>>& tracks, 
            const DETECTIONS& dets, 
            const std::vector<int>& track_indices, 
            const std::vector<int>& detection_indices); 
private: 
    void _match(const DETECTIONS& detections, TRACHER_MATCHD& res); 
    void _initiate_track(const DETECTION_ROW& detection, int cam_id, char* img_time); 
public: 
    DYNAMICM gated_matric( 
            std::vector<std::shared_ptr<Track>>& tracks, 
            const DETECTIONS& dets, 
            const std::vector<int>& track_indices, 
            const std::vector<int>& detection_indices); 
 
    DYNAMICM cos_matric( 
        std::vector<std::shared_ptr<Track>>& tracks, 
        const DETECTIONS& dets, 
        const std::vector<int>& track_indices, 
        const std::vector<int>& detection_indices); 
 
    DYNAMICM iou_cost( 
            std::vector<std::shared_ptr<Track>>& tracks, 
            const DETECTIONS& dets, 
            const std::vector<int>& track_indices, 
            const std::vector<int>& detection_indices); 
    Eigen::VectorXf iou(DETECTBOX& bbox, 
                        DETECTBOXSS &candidates); 
}; 
 
#endif // TRACKER_H