cppadaptbytetrack/include/BYTETracker.h

#pragma once

#include "STrack.h"
#include "GlobalMotionCompensation.h"

struct Object {
    cv::Rect_<float> rect; // object location
    int label; // object identity
    float prob;
};

class BYTETracker {
public:
    BYTETracker(int frate = 30, int tbuffer = 30, float tthresh = 0.5, float mthresh = 0.8, bool use_gmc = false);

    ~BYTETracker();

    vector <vector<float>> update(const vector <vector<float>> &objects, string img_path);

    Scalar get_color(int idx);

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, bool giou= false);

    vector <vector<float>> iou_distance(vector <STrack> &atracks, vector <STrack> &btracks);

    vector <vector<float>> ious(vector <vector<float>> &atlbrs, vector <vector<float>> &btlbrs);

    vector <vector<float>> gious(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;
    GlobalMotionCompensation _gmc_algo;
    bool _gmc_enabled = false;

    vector <STrack> tracked_stracks;
    vector <STrack> lost_stracks;
    vector <STrack> removed_stracks;
    byte_kalman::KalmanFilter kalman_filter;
};