first commit

nodes/track/vp_sort_track_node.h

@@ -0,0 +1,51 @@
+#pragma once
+
+#include <vector>
+#include <set>
+#include <map>
+#include "vp_track_node.h"
+#include "sort/Hungarian.h"
+#include "sort/KalmanTracker.h"
+
+namespace vp_nodes {
+    // track node using sort
+    class vp_sort_track_node: public vp_track_node
+    {
+    private:
+        /* config data for sort algo */
+        /* data */
+        typedef struct TrackingBox
+        {
+            //int frame;
+            int id;
+            Rect_<float> box;
+        }TrackingBox;
+
+        int max_age = 1;
+        int min_hits = 3;
+        double iouThreshold = 0.5;
+        // vector<KalmanTracker> trackers;
+        std::map<int, std::vector<KalmanTracker>> all_trackers;
+        std::vector<cv::Rect_<float>> predictedBoxes;
+        std::vector<vector<double>> iouMatrix;
+        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;
+    private:
+        double GetIOU(cv::Rect_<float> bb_test, cv::Rect_<float> bb_gt);
+    protected:
+        // fill track_ids using sort algo
+        virtual void track(int channel_index, const std::vector<vp_objects::vp_rect>& target_rects, 
+                        const std::vector<std::vector<float>>& target_embeddings, 
+                        std::vector<int>& track_ids) override;
+    public:
+        vp_sort_track_node(std::string node_name, vp_track_for track_for = vp_track_for::NORMAL);
+        virtual ~vp_sort_track_node();
+    };
+
+}
+