deepsort 算法代码阅读

最新推荐文章于 2024-10-18 16:35:14 发布

斐非韭

最新推荐文章于 2024-10-18 16:35:14 发布

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分类专栏： C++

本文链接：https://blog.csdn.net/weixin_39060517/article/details/116713918

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本文详细解读了DeepSort目标追踪算法的实现原理，通过代码分析探讨了其在计算机视觉领域的应用，包括卡尔曼滤波、相似度度量和非极大值抑制等关键步骤。

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deepsort 算法代码阅读

//计算cost_matrix
tracker::iou_cost(
        std::vector<Track> &tracks,
        const DETECTIONS &dets,
        const std::vector<int>& track_indices,
        const std::vector<int>& detection_indices)
{
   
    //!!!python diff: track_indices && detection_indices will never be None.
    //    if(track_indices.empty() == true) {
   
    //        for(size_t i = 0; i < tracks.size(); i++) {
   
    //            track_indices.push_back(i);
    //        }
    //    }
    //    if(detection_indices.empty() == true) {
   
    //        for(size_t i = 0; i < dets.size(); i++) {
   
    //            detection_indices.push_back(i);
    //        }
    //    }
    int rows = track_indices.size();
    int cols = detection_indices.size();
    DYNAMICM cost_matrix = Eigen::MatrixXf::Zero(rows, cols);
    for(int i = 0; i < rows; i++) {
   
        int track_idx = track_indices[i];
        if(tracks[track_idx].time_since_update > 1) {
   
            cost_matrix.row(i) = Eigen::RowVectorXf::Constant(cols, INFTY_COST);
            continue;
        }
        DETECTBOX bbox = tracks[track_idx].to_tlwh();
        int csize = detection_indices.size();
        DETECTBOXSS candidates(csize, 4);
        for(int k = 0; k < csize; k++) candidates.row(k) = dets[detection_indices[k]].tlwh;
        Eigen::RowVectorXf rowV = (1. - iou(bbox, candidates).array()).matrix().transpose();
        cost_matrix.row(i) = rowV;
    }
    return cost_matrix;
}


linear_assignment::gate_cost_matrix(
        KalmanFilters *kf,
        DYNAMICM &cost_matrix,
        std::vector<Track> &tracks,
        const DETECTIONS &detections,
        const std::vector<int> &track_indices,
        const std::vector<int> &detection_indices,
        float gated_cost, bool only_position)
{
   
    int gating_dim = (only_position == true?2:4);
    double gating_threshold = KalmanFilters::chi2inv95[gating_dim];
    std::vector<DETECTBOX> measurements;
    for(int i:detection_indices) <