| | |
|---|
| | | if (i.size() > 0) prev_track_id_present = true; |
|---|
| | | |
|---|
| | | if (!prev_track_id_present) { |
|---|
| | | //track_id = 1; |
|---|
| | | for (size_t i = 0; i < cur_bbox_vec.size(); ++i) |
|---|
| | | cur_bbox_vec[i].track_id = det_gpu.track_id[cur_bbox_vec[i].obj_id]++; |
|---|
| | | prev_bbox_vec_deque.push_front(cur_bbox_vec); |
|---|
| | |
|---|
| | | for (size_t m = 0; m < cur_bbox_vec.size(); ++m) { |
|---|
| | | bbox_t const& k = cur_bbox_vec[m]; |
|---|
| | | if (i.obj_id == k.obj_id) { |
|---|
| | | 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)); |
|---|
| | | float center_x_diff = (float)(i.x + i.w/2) - (float)(k.x + k.w/2); |
|---|
| | | float center_y_diff = (float)(i.y + i.h/2) - (float)(k.y + k.h/2); |
|---|
| | | unsigned int cur_dist = sqrt(center_x_diff*center_x_diff + center_y_diff*center_y_diff); |
|---|
| | | if (cur_dist < 100 && (k.track_id == 0 || dist_vec[m] > cur_dist)) { |
|---|
| | | dist_vec[m] = cur_dist; |
|---|
| | | cur_index = m; |
|---|
| | |
|---|
| | | } |
|---|
| | | } |
|---|
| | | |
|---|
| | | 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; }); |
|---|
| | | bool track_id_absent = !std::any_of(cur_bbox_vec.begin(), cur_bbox_vec.end(), |
|---|
| | | [&i](bbox_t const& b) { return b.track_id == i.track_id && b.obj_id == i.obj_id; }); |
|---|
| | | |
|---|
| | | if (cur_index >= 0 && track_id_absent) { |
|---|
| | | if (cur_index >= 0 && track_id_absent){ |
|---|
| | | cur_bbox_vec[cur_index].track_id = i.track_id; |
|---|
| | | cur_bbox_vec[cur_index].w = (cur_bbox_vec[cur_index].w + i.w) / 2; |
|---|
| | | cur_bbox_vec[cur_index].h = (cur_bbox_vec[cur_index].h + i.h) / 2; |
|---|
