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135 lines (112 loc) · 2.68 KB
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Copy pathSTrack.cpp
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135 lines (112 loc) · 2.68 KB
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#include "ByteTrack/STrack.h"
#include <cstddef>
byte_track::STrack::STrack(const Rect<float>& rect, const float& score) :
kalman_filter_(),
mean_(),
covariance_(),
rect_(rect),
state_(STrackState::New),
is_activated_(false),
score_(score),
track_id_(0),
frame_id_(0),
start_frame_id_(0),
tracklet_len_(0)
{
}
byte_track::STrack::~STrack()
{
}
const byte_track::Rect<float>& byte_track::STrack::getRect() const
{
return rect_;
}
const byte_track::STrackState& byte_track::STrack::getSTrackState() const
{
return state_;
}
const bool& byte_track::STrack::isActivated() const
{
return is_activated_;
}
const float& byte_track::STrack::getScore() const
{
return score_;
}
const size_t& byte_track::STrack::getTrackId() const
{
return track_id_;
}
const size_t& byte_track::STrack::getFrameId() const
{
return frame_id_;
}
const size_t& byte_track::STrack::getStartFrameId() const
{
return start_frame_id_;
}
const size_t& byte_track::STrack::getTrackletLength() const
{
return tracklet_len_;
}
void byte_track::STrack::activate(const size_t& frame_id, const size_t& track_id)
{
kalman_filter_.initiate(mean_, covariance_, rect_.getXyah());
updateRect();
state_ = STrackState::Tracked;
if (frame_id == 1)
{
is_activated_ = true;
}
track_id_ = track_id;
frame_id_ = frame_id;
start_frame_id_ = frame_id;
tracklet_len_ = 0;
}
void byte_track::STrack::reActivate(const STrack &new_track, const size_t &frame_id, const int &new_track_id)
{
kalman_filter_.update(mean_, covariance_, new_track.getRect().getXyah());
updateRect();
state_ = STrackState::Tracked;
is_activated_ = true;
score_ = new_track.getScore();
if (0 <= new_track_id)
{
track_id_ = new_track_id;
}
frame_id_ = frame_id;
tracklet_len_ = 0;
}
void byte_track::STrack::predict()
{
if (state_ != STrackState::Tracked)
{
mean_[7] = 0;
}
kalman_filter_.predict(mean_, covariance_);
}
void byte_track::STrack::update(const STrack &new_track, const size_t &frame_id)
{
kalman_filter_.update(mean_, covariance_, new_track.getRect().getXyah());
updateRect();
state_ = STrackState::Tracked;
is_activated_ = true;
score_ = new_track.getScore();
frame_id_ = frame_id;
tracklet_len_++;
}
void byte_track::STrack::markAsLost()
{
state_ = STrackState::Lost;
}
void byte_track::STrack::markAsRemoved()
{
state_ = STrackState::Removed;
}
void byte_track::STrack::updateRect()
{
rect_.width() = mean_[2] * mean_[3];
rect_.height() = mean_[3];
rect_.x() = mean_[0] - rect_.width() / 2;
rect_.y() = mean_[1] - rect_.height() / 2;
}