sort.hpp

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// © OpenShot Studios, LLC
//
// SPDX-License-Identifier: LGPL-3.0-or-later
 
#include "KalmanTracker.h"
#include "Hungarian.h"
 
#include <iostream>
#include <fstream>
#include <iomanip> // to format image names using setw() and setfill()
#include <set>
#include <algorithm> // for std::sort
 
#include "opencv2/video/tracking.hpp"
#include "opencv2/highgui/highgui.hpp"
 
#ifndef _OPENCV_KCFTRACKER_HPP_
#define _OPENCV_KCFTRACKER_HPP_
#endif
#pragma once
 
typedef struct TrackingBox
{
    int frame = 0;
    float confidence = 0;
    int classId = 0;
    int id = 0;
    cv::Rect_<float> box = cv::Rect_<float>(0.0, 0.0, 0.0, 0.0);
    TrackingBox() {}
    TrackingBox(int _frame, float _confidence, int _classId, int _id) : frame(_frame), confidence(_confidence), classId(_classId), id(_id) {}
} TrackingBox;
 
class SortTracker
{
public:
    // Constructor
    SortTracker(int max_age = 50, int min_hits = 5, int max_missed = 7, double min_iou = 0.1, double nms_iou_thresh = 0.5, double min_conf = 0.3);
    // Initialize tracker
 
    // Update position based on the new frame
    void update(std::vector<cv::Rect> detection, int frame_count, double image_diagonal, std::vector<float> confidences, std::vector<int> classIds);
    static double GetIOU(cv::Rect_<float> bb_test, cv::Rect_<float> bb_gt);
    double GetCentroidsDistance(cv::Rect_<float> bb_test, cv::Rect_<float> bb_gt);
    std::vector<KalmanTracker> trackers;
 
    double max_centroid_dist_norm = 0.3;
 
    std::vector<cv::Rect_<float>> predictedBoxes;
    std::vector<std::vector<double>> cost_matrix;
    std::vector<int> assignment;
    std::set<int> unmatchedDetections;
    std::set<int> unmatchedTrajectories;
    std::set<int> allItems;
    std::set<int> matchedItems;
    std::vector<cv::Point> matchedPairs;
 
    std::vector<TrackingBox> frameTrackingResult;
    std::vector<int> dead_trackers_id;
 
    unsigned int trkNum = 0;
    unsigned int detNum = 0;
    int _min_hits;
    int _max_age;
    int _max_missed;
    double _min_iou;
    double _nms_iou_thresh;
    double _min_conf;
    unsigned int _next_id;
    bool alive_tracker;
};