提交更新

BaseTracker/BaseTracker.h

@@ -34,6 +34,7 @@ public:
     void SetValues(std::vector<float>& values) { m_values = values; }
 
     int Run(const std::vector<std::vector<float> >& detections, int _no/*观测数量*/, int _ns/*状态数量*/, std::vector<uint64_t>& detectionsId, std::map<uint64_t, int>& updateId, std::vector<uint64_t>& lostId);
+    int Run(const std::vector<std::vector<float> >& detections, int _no/*观测数量*/, int _ns/*状态数量*/, std::vector<uint64_t>& detectionsId, std::map<uint64_t, int>& updateId, std::map<uint64_t, int>& addId,std::vector<uint64_t>& lostId);
 
     int Run(const std::vector<std::vector<float> >& dets_high, const std::vector<std::vector<float> >& dets_low, int _no/*观测数量*/, int _ns/*状态数量*/, std::map<uint64_t, int>& update_high_ids, std::map<uint64_t, int>& update_low_ids, std::vector<uint64_t>& lostId);
 
@@ -601,6 +602,85 @@ void BaseTracker<T>::AssociateDetectionsToTrackersEx(const std::vector<std::vect
             }
         }
     }
+}
+
+template<class T>
+int BaseTracker<T>::Run(const std::vector<std::vector<float> >& detections, int _no/*观测数量*/, int _ns/*状态数量*/, std::vector<uint64_t>& detectionsId, std::map<uint64_t, int>& updateId, std::map<uint64_t, int>& addId,std::vector<uint64_t>& lostId)
+{
+    /*** Predict internal tracks from previous frame ***/
+    for (auto& track : m_tracker)
+    {
+        track.second->Predict();
+    }
+    if (detections.empty())
+    {
+        /*** Delete lose tracked tracks ***/
+        for (auto it = m_tracker.begin(); it != m_tracker.end();)
+        {
+            if (it->second->IsLost())
+            {
+                lostId.push_back(it->first);
+                it = m_tracker.erase(it);
+            }
+            else
+            {
+                it++;
+            }
+        }
+        return 0;
+    }
+    detectionsId.resize(detections.size());
+    // Hash-map between track ID and associated detection bounding box
+    std::map<uint64_t, int> matched;
+    // vector of unassociated detections
+    std::vector<int> unmatched_det;
+
+    // return values - matched, unmatched_det
+    AssociateDetectionsToTrackers(detections,_no,_ns, m_tracker, matched, unmatched_det);
+    /*** Update tracks with associated bbox ***/
+    if (m_isGPU == 0)
+    {
+        for (const auto& match : matched)
+        {
+            const auto& id = match.first;
+            m_tracker[id]->Update(detections[match.second]);
+            detectionsId[match.second] = id;
+            updateId[id] = match.second;
+        }
+    }
+    else
+    {
 
+    }
+    /*** Create new tracks for unmatched detections ***/
+    for (const auto& det : unmatched_det)
+    {
+        std::shared_ptr<T> trackPtr = std::make_shared<T>();
+        trackPtr->Init(detections[det]);
+        trackPtr->SetIouThreshold(m_iou_threshold);
+        trackPtr->SetMaxCoastCycles(m_kMaxCoastCycles);
+        trackPtr->SetValidUpdateCount(m_updateValidCount);
+        trackPtr->SetValues(m_values);
+        // Create new track and generate new ID
+        uint64_t newId = ++m_countId;
+        m_tracker[newId] = trackPtr;
+        detectionsId[det] = newId;
+        updateId[newId] = det;
+        addId[newId] = det;
+    }
 
+    /*** Delete lose tracked tracks ***/
+    for (auto it = m_tracker.begin(); it != m_tracker.end();)
+    {
+        if (it->second->IsLost())
+        {
+            lostId.push_back(it->first);
+            it = m_tracker.erase(it);
+        }
+        else
+        {
+            it++;
+        }
+    }
+    return 0;    
 }