coco
155 lines
4.7 KiB
C++
155 lines
4.7 KiB
C++
// Copyright (C) 2014 Davis E. King (davis@dlib.net)
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// License: Boost Software License See LICENSE.txt for the full license.
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#ifndef DLIB_TRACK_ASSOCiATION_FUNCTION_Hh_
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#define DLIB_TRACK_ASSOCiATION_FUNCTION_Hh_
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#include "track_association_function_abstract.h"
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#include <vector>
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#include <iostream>
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#include "../algs.h"
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#include "../serialize.h"
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#include "assignment_function.h"
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namespace dlib
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{
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// ----------------------------------------------------------------------------------------
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template <
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typename detection_type
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>
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class feature_extractor_track_association
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{
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public:
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typedef typename detection_type::track_type track_type;
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typedef typename track_type::feature_vector_type feature_vector_type;
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typedef detection_type lhs_element;
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typedef track_type rhs_element;
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feature_extractor_track_association() : num_dims(0), num_nonnegative(0) {}
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explicit feature_extractor_track_association (
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unsigned long num_dims_,
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unsigned long num_nonnegative_
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) : num_dims(num_dims_), num_nonnegative(num_nonnegative_) {}
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unsigned long num_features(
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) const { return num_dims; }
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unsigned long num_nonnegative_weights (
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) const { return num_nonnegative; }
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void get_features (
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const detection_type& det,
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const track_type& track,
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feature_vector_type& feats
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) const
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{
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track.get_similarity_features(det, feats);
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}
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friend void serialize (const feature_extractor_track_association& item, std::ostream& out)
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{
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serialize(item.num_dims, out);
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serialize(item.num_nonnegative, out);
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}
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friend void deserialize (feature_extractor_track_association& item, std::istream& in)
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{
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deserialize(item.num_dims, in);
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deserialize(item.num_nonnegative, in);
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}
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private:
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unsigned long num_dims;
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unsigned long num_nonnegative;
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};
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// ----------------------------------------------------------------------------------------
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template <
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typename detection_type_
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>
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class track_association_function
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{
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public:
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typedef detection_type_ detection_type;
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typedef typename detection_type::track_type track_type;
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typedef assignment_function<feature_extractor_track_association<detection_type> > association_function_type;
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track_association_function() {}
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track_association_function (
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const association_function_type& assoc_
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) : assoc(assoc_)
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{
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}
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const association_function_type& get_assignment_function (
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) const
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{
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return assoc;
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}
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void operator() (
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std::vector<track_type>& tracks,
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const std::vector<detection_type>& dets
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) const
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{
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std::vector<long> assignments = assoc(dets, tracks);
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std::vector<bool> updated_track(tracks.size(), false);
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// now update all the tracks with the detections that associated to them.
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for (unsigned long i = 0; i < assignments.size(); ++i)
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{
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if (assignments[i] != -1)
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{
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tracks[assignments[i]].update_track(dets[i]);
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updated_track[assignments[i]] = true;
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}
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else
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{
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track_type new_track;
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new_track.update_track(dets[i]);
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tracks.push_back(new_track);
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}
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}
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// Now propagate all the tracks that didn't get any detections.
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for (unsigned long i = 0; i < updated_track.size(); ++i)
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{
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if (!updated_track[i])
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tracks[i].propagate_track();
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}
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}
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friend void serialize (const track_association_function& item, std::ostream& out)
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{
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int version = 1;
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serialize(version, out);
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serialize(item.assoc, out);
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}
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friend void deserialize (track_association_function& item, std::istream& in)
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{
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int version = 0;
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deserialize(version, in);
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if (version != 1)
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throw serialization_error("Unexpected version found while deserializing dlib::track_association_function.");
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deserialize(item.assoc, in);
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}
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private:
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assignment_function<feature_extractor_track_association<detection_type> > assoc;
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};
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// ----------------------------------------------------------------------------------------
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}
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#endif // DLIB_TRACK_ASSOCiATION_FUNCTION_Hh_
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