提交测试代码和编译

BaseTracker/Track2D.cpp

@@ -65,5 +65,11 @@ double Track2D::CalculateIou(const std::vector<float>& data)
     //float union_area = det_area + trk_area - intersection_area;
     //auto iou = intersection_area / union_area;
 
-	return 0.0f;
+    auto w = std::max(std::min((states[0] + states[2]), (data[0] + data[2])) - std::max(states[0], data[0]), 0.0f);
+    auto h = std::max(std::min((states[1] + states[3]), (data[1] + data[3])) - std::max(states[1], data[1]), 0.0f);
+
+    auto intersection_area = w * h;
+    float union_area = states[2] * states[3] + data[2] * data[3] - intersection_area;
+    auto iou = intersection_area / union_area;
+	return iou;
 }

BaseTracker/Track2D.h

@@ -11,5 +11,10 @@ public:
     Track2D();
     ~Track2D() {}
 
+    virtual int GetIouDataOrder(std::vector<int>& order) { return 0; };
+    virtual int GetKFDataOrder(std::vector<int>& order) { return 0; };
+
     virtual double CalculateIou(const std::vector<float>& data);
+
+    static void MeasureIouData(const std::vector<float>& input, std::vector<float>& out, int& obj_type) {}
 };

test/CMakeLists.txt

 cmake_minimum_required(VERSION 3.0.2)
-
-project(test)
+  
+project(kf_test)
 
 SET(CMAKE_BUILD_TYPE "Debug")
 #SET(CMAKE_BUILD_TYPE "Release")
@@ -8,14 +8,34 @@ SET(CMAKE_BUILD_TYPE "Debug")
 SET(CMAKE_CXX_FLAGS_DEBUG "$ENV{CXXFLAGS} -O0 -Wall -g -ggdb")
 SET(CMAKE_CXX_FLAGS_RELEASE "$ENV{CXXFLAGS} -O3 -Wall")
 
+find_package(OpenCV REQUIRED)
+include_directories(OpenCV_INCLUDE_DIRS)
+
+
 include_directories(
     ${PROJECT_SOURCE_DIR}/
+    ${PROJECT_SOURCE_DIR}/../
+    ${PROJECT_SOURCE_DIR}/../BaseTracker
+    ${PROJECT_SOURCE_DIR}/../tracker
+    ${PROJECT_SOURCE_DIR}/../log
+    ${PROJECT_SOURCE_DIR}/../common
+)
+
+file(GLOB_RECURSE SRC_FILES
+        ${PROJECT_SOURCE_DIR}/../tracker/kalman_filter.cpp
+        ${PROJECT_SOURCE_DIR}/../tracker/munkres.cpp
+        ${PROJECT_SOURCE_DIR}/../common/Component.cpp
+        # ${PROJECT_SOURCE_DIR}/../coordinate/*.cpp
 )
 
 add_executable(${PROJECT_NAME}
-    main.cpp
+    ./main.cpp
+    ./../BaseTracker/Track2D.cpp
+    ./../BaseTracker/BaseTrack.cpp
+    ./../BaseTracker/Iou.cpp
+    ${SRC_FILES}
 )
 
 target_link_libraries(${PROJECT_NAME}
-
-        )
\ No newline at end of file
+    ${OpenCV_LIBS}
+    )
\ No newline at end of file

test/main.cpp

-
+#include <string>
+#include "BaseTracker.h"
+#include "Track2D.h"
+#include <fstream>
+#include <iostream>
+
+void Split(std::string& input, std::string separator, std::vector<std::string>& out)
+{
+    int begin = 0;
+    while (begin < input.size())
+    {
+        auto idx = input.find_first_of(separator.c_str(), begin);
+        if (idx == std::string::npos)
+            idx = input.size();
+        std::string value = input.substr(begin, idx - begin);
+        out.emplace_back(value);
+        begin = idx + 1;
+    }
+}
+
+SDKLogBase* g_logHandle;
+int g_logFileIdx[IDX_NUM];
+char* g_moduleName;
 
 
 int main(int argc, char* argv[])
 {
-	printf("hello world\n");
-	return 0;
+    printf("hello world\n");
+    BaseTracker<Track2D> tracker;
+    tracker.SetGPU(0);
+    tracker.SetIouThreshold(0.1);
+    tracker.SetMaxCoastCycles(50);
+    tracker.SetValidUpdateCount(0);
+
+    std::ifstream fp("../train/MOT16-02/det/det.txt");
+
+    if (fp.fail())
+    {
+        printf("load file failed\n");
+        return -1;
+    }
+    else
+    {
+        printf("load file success\n");
+    }
+    int id = 0;
+    std::vector<std::vector<float>> input;
+
+    std::map<uint64_t, std::vector<std::vector<float>>> results;
+    while (fp)
+    {
+        std::string str;
+        std::getline(fp, str, '\n');
+        printf("load str = %s\n", str.c_str());
+        std::vector<std::string> values;
+        Split(str, ",", values);
+        int _id = id;
+        if (values.size() == 10)
+            _id = std::stoi(values[0].c_str());
+        if ((id != 0 && _id != id) || str.empty())
+        {
+            //处理input数据
+            std::vector<uint64_t> detectionsId;
+            std::map<uint64_t, int> updateId;
+            std::vector<uint64_t> lostId;
+            tracker.Run(input, 4, 6, detectionsId, updateId, lostId);
+            std::map<uint64_t, std::shared_ptr<Track2D> >& trackers = tracker.GetStates();
+            for (auto& iter : trackers)
+            {
+                std::vector<float> data;
+                if (iter.second->IsValid() && iter.second->GetStateData(data) == 0)
+                {
+                    if (results.find(iter.first) == results.end())
+                    {
+                        std::vector<std::vector<float>> info;
+                        results[iter.first] = info;
+                    }
+                    std::vector<float> inf{ (float)id, data[0],data[1],data[2],data[3] };
+                    printf("id = %d,data  = [%f,%f,%f,%f,%f]\n", id, inf[0], inf[1], inf[2], inf[3], inf[4]);
+                    results[iter.first].push_back(inf);
+                }
+            }
+            input.clear();
+        }
+        if (values.size() != 10)
+        {
+            printf("load values is not 10  str = %s\n", str.c_str());
+            break;
+        }
+        id = _id;
+        std::vector<float> obj;
+        obj.push_back(std::stof(values[2]));
+        obj.push_back(std::stof(values[3]));
+        obj.push_back(std::stof(values[4]));
+        obj.push_back(std::stof(values[5]));
+        input.push_back(obj);
+        // printf("obj value id = %d, x = %f,y = %f,w = %f,h = %f\n",id,obj[0],obj[1],obj[2],obj[3]);
+    }
+    printf("results size = %d\n", results.size());
+    std::ofstream fpw("test.txt");
+    if (fpw)
+    {
+        for (auto iter : results)
+        {
+            for (int i = 0; i < iter.second.size(); i++)
+            {
+                fpw << int(iter.second[i][0]) << "," << iter.first << "," << iter.second[i][1] << "," << iter.second[i][2] << "," << iter.second[i][3] << "," << iter.second[i][4] << "," << "0.99,-1,-1,-1\n";
+            }
+        }
+
+    }
+    else
+    {
+        printf("open file failed \n");
+    }
+    fp.close();
+    fpw.close();
+    return 0;
 }
\ No newline at end of file