#include "yolo_v2_class.hpp"
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#include "network.h"
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extern "C" {
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#include "detection_layer.h"
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#include "region_layer.h"
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#include "cost_layer.h"
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#include "utils.h"
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#include "parser.h"
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#include "box.h"
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#include "image.h"
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#include "demo.h"
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#include "option_list.h"
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#include "stb_image.h"
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}
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//#include <sys/time.h>
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#include <vector>
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#include <iostream>
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#include <algorithm>
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#define FRAMES 3
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struct detector_gpu_t{
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float **probs;
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box *boxes;
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network net;
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image images[FRAMES];
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float *avg;
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float *predictions[FRAMES];
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};
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YOLODLL_API Detector::Detector(std::string cfg_filename, std::string weight_filename, int gpu_id)
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{
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int old_gpu_index;
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cudaGetDevice(&old_gpu_index);
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detector_gpu_ptr = std::make_shared<detector_gpu_t>();
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detector_gpu_t &detector_gpu = *reinterpret_cast<detector_gpu_t *>(detector_gpu_ptr.get());
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cudaSetDevice(gpu_id);
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network &net = detector_gpu.net;
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net.gpu_index = gpu_id;
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//gpu_index = i;
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char *cfgfile = const_cast<char *>(cfg_filename.data());
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char *weightfile = const_cast<char *>(weight_filename.data());
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net = parse_network_cfg(cfgfile);
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if (weightfile) {
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load_weights(&net, weightfile);
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}
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set_batch_network(&net, 1);
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net.gpu_index = gpu_id;
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layer l = net.layers[net.n - 1];
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int j;
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detector_gpu.avg = (float *)calloc(l.outputs, sizeof(float));
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for (j = 0; j < FRAMES; ++j) detector_gpu.predictions[j] = (float *)calloc(l.outputs, sizeof(float));
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for (j = 0; j < FRAMES; ++j) detector_gpu.images[j] = make_image(1, 1, 3);
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detector_gpu.boxes = (box *)calloc(l.w*l.h*l.n, sizeof(box));
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detector_gpu.probs = (float **)calloc(l.w*l.h*l.n, sizeof(float *));
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for (j = 0; j < l.w*l.h*l.n; ++j) detector_gpu.probs[j] = (float *)calloc(l.classes, sizeof(float));
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cudaSetDevice(old_gpu_index);
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}
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YOLODLL_API Detector::~Detector()
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{
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detector_gpu_t &detector_gpu = *reinterpret_cast<detector_gpu_t *>(detector_gpu_ptr.get());
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layer l = detector_gpu.net.layers[detector_gpu.net.n - 1];
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free(detector_gpu.avg);
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for (int j = 0; j < FRAMES; ++j) free(detector_gpu.predictions[j]);
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for (int j = 0; j < FRAMES; ++j) if(detector_gpu.images[j].data) free(detector_gpu.images[j].data);
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for (int j = 0; j < l.w*l.h*l.n; ++j) free(detector_gpu.probs[j]);
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free(detector_gpu.boxes);
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free(detector_gpu.probs);
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int old_gpu_index;
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cudaGetDevice(&old_gpu_index);
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cudaSetDevice(detector_gpu.net.gpu_index);
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free_network(detector_gpu.net);
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cudaSetDevice(old_gpu_index);
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}
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YOLODLL_API std::vector<bbox_t> Detector::detect(std::string image_filename, float thresh)
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{
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std::shared_ptr<image_t> image_ptr(new image_t, [](image_t *img) { if (img->data) free(img->data); delete img; });
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*image_ptr = load_image(image_filename);
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return detect(*image_ptr, thresh);
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}
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static image load_image_stb(char *filename, int channels)
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{
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int w, h, c;
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unsigned char *data = stbi_load(filename, &w, &h, &c, channels);
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if (!data)
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throw std::runtime_error("file not found");
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if (channels) c = channels;
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int i, j, k;
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image im = make_image(w, h, c);
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for (k = 0; k < c; ++k) {
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for (j = 0; j < h; ++j) {
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for (i = 0; i < w; ++i) {
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int dst_index = i + w*j + w*h*k;
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int src_index = k + c*i + c*w*j;
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im.data[dst_index] = (float)data[src_index] / 255.;
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}
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}
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}
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free(data);
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return im;
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}
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YOLODLL_API image_t Detector::load_image(std::string image_filename)
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{
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char *input = const_cast<char *>(image_filename.data());
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image im = load_image_stb(input, 3);
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image_t img;
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img.c = im.c;
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img.data = im.data;
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img.h = im.h;
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img.w = im.w;
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return img;
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}
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YOLODLL_API void Detector::free_image(image_t m)
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{
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if (m.data) {
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free(m.data);
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}
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}
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YOLODLL_API std::vector<bbox_t> Detector::detect(image_t img, float thresh)
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{
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detector_gpu_t &detector_gpu = *reinterpret_cast<detector_gpu_t *>(detector_gpu_ptr.get());
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network &net = detector_gpu.net;
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int old_gpu_index;
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cudaGetDevice(&old_gpu_index);
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cudaSetDevice(net.gpu_index);
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//std::cout << "net.gpu_index = " << net.gpu_index << std::endl;
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//float nms = .4;
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image im;
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im.c = img.c;
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im.data = img.data;
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im.h = img.h;
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im.w = img.w;
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image sized = resize_image(im, net.w, net.h);
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layer l = net.layers[net.n - 1];
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float *X = sized.data;
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network_predict(net, X);
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get_region_boxes(l, 1, 1, thresh, detector_gpu.probs, detector_gpu.boxes, 0, 0);
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if (nms) do_nms_sort(detector_gpu.boxes, detector_gpu.probs, l.w*l.h*l.n, l.classes, nms);
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//draw_detections(im, l.w*l.h*l.n, thresh, boxes, probs, names, alphabet, l.classes);
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std::vector<bbox_t> bbox_vec;
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for (size_t i = 0; i < (l.w*l.h*l.n); ++i) {
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box b = detector_gpu.boxes[i];
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int const obj_id = max_index(detector_gpu.probs[i], l.classes);
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float const prob = detector_gpu.probs[i][obj_id];
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if (prob > thresh)
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{
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bbox_t bbox;
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bbox.x = std::max((double)0, (b.x - b.w / 2.)*im.w);
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bbox.y = std::max((double)0, (b.y - b.h / 2.)*im.h);
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bbox.w = b.w*im.w;
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bbox.h = b.h*im.h;
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bbox.obj_id = obj_id;
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bbox.prob = prob;
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bbox.track_id = 0;
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bbox_vec.push_back(bbox);
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}
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}
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if(sized.data)
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free(sized.data);
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cudaSetDevice(old_gpu_index);
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return bbox_vec;
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}
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YOLODLL_API std::vector<bbox_t> Detector::tracking(std::vector<bbox_t> cur_bbox_vec, int const frames_story)
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{
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bool prev_track_id_present = false;
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for (auto &i : prev_bbox_vec_deque)
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if (i.size() > 0) prev_track_id_present = true;
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static unsigned int track_id = 1;
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if (!prev_track_id_present) {
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//track_id = 1;
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for (size_t i = 0; i < cur_bbox_vec.size(); ++i)
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cur_bbox_vec[i].track_id = track_id++;
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prev_bbox_vec_deque.push_front(cur_bbox_vec);
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if (prev_bbox_vec_deque.size() > frames_story) prev_bbox_vec_deque.pop_back();
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return cur_bbox_vec;
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}
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std::vector<unsigned int> dist_vec(cur_bbox_vec.size(), std::numeric_limits<unsigned int>::max());
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for (auto &prev_bbox_vec : prev_bbox_vec_deque) {
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for (auto &i : prev_bbox_vec) {
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int cur_index = -1;
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for (size_t m = 0; m < cur_bbox_vec.size(); ++m) {
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bbox_t const& k = cur_bbox_vec[m];
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if (i.obj_id == k.obj_id) {
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unsigned int cur_dist = sqrt(((float)i.x - k.x)*((float)i.x - k.x) + ((float)i.y - k.y)*((float)i.y - k.y));
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if (cur_dist < 100 && (k.track_id == 0 || dist_vec[m] > cur_dist)) {
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dist_vec[m] = cur_dist;
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cur_index = m;
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}
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}
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}
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bool track_id_absent = !std::any_of(cur_bbox_vec.begin(), cur_bbox_vec.end(), [&](bbox_t const& b) { return b.track_id == i.track_id; });
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if (cur_index >= 0 && track_id_absent)
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cur_bbox_vec[cur_index].track_id = i.track_id;
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}
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}
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for (size_t i = 0; i < cur_bbox_vec.size(); ++i)
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if (cur_bbox_vec[i].track_id == 0)
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cur_bbox_vec[i].track_id = track_id++;
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prev_bbox_vec_deque.push_front(cur_bbox_vec);
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if (prev_bbox_vec_deque.size() > frames_story) prev_bbox_vec_deque.pop_back();
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return cur_bbox_vec;
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}
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