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127 lines
4.4 KiB
127 lines
4.4 KiB
/**
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********************************************************************************
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* Copyright (C) 2022 NEXTCHIP Inc. All rights reserved.
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* This software is the confidential and proprietary information of
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* NEXTCHIP, Inc. ("Confidential Information"). You shall not disclose such
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* Confidential Information and shall use it only in accordance with
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* the terms of the license agreement you entered into with NEXTCHIP.
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********************************************************************************
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*/
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/**
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********************************************************************************
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* @file : nc_bytetrack_wrapper.cpp
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*
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* @brief : nc_bytetrack_wrapper source
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*
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* @author : SoC SW team. NextChip Inc.
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*
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* @date : 2022.05.27.
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*
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* @version : 1.0.0
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********************************************************************************
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* @note
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* 2022.05.27 / 1.0.0 / Initial released.
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*
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********************************************************************************
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*/
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/*
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********************************************************************************
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* INCLUDES
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********************************************************************************
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*/
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#include <float.h>
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#include <stdio.h>
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#include <vector>
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#include <map>
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#include <chrono>
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#include "ByteTrack/BYTETracker.h"
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#include "nc_bytetrack_wrapper.h"
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#include "nc_utils.h"
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using namespace std;
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using namespace byte_track;
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using STrackPtr = std::shared_ptr<STrack>;
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// map<unique class_id, BYTETracker pointer>
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// static std::map<uint16_t, BYTETracker*> bytetrackers_g;
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static std::vector<std::map<uint16_t, BYTETracker*>> bytetrackers_g;
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const float predefined_probability = 0.95;
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int nc_init_bytetracker(int fps, int track_buffer, uint16_t *class_ids_arr, int class_ids_cnt, int cam_ch)
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{
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if (class_ids_arr == NULL || class_ids_cnt < 1) {
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printf("[Error][%s][%d].... class_ids_arr is '%s' / class_ids_cnt(%d) < 1........\n", __FUNCTION__, __LINE__, (class_ids_arr == NULL)?"NULL":"NOT NULL", class_ids_cnt);
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return -1;
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}
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std::map<uint16_t, BYTETracker*> bytetrackers;
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for(int i = 0; i < class_ids_cnt; i++) {
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bytetrackers.insert(std::pair<uint16_t, BYTETracker*>(class_ids_arr[i], new BYTETracker(fps, track_buffer)));
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}
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printf("\nInit ByteTrack : fps(%d), max class cnt(%d) ......!\n", fps, class_ids_cnt);
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bytetrackers_g.push_back(bytetrackers);
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return 0;
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}
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void nc_destroy_byettracker(int cam_ch)
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{
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for (int i = 0; i < bytetrackers_g[cam_ch].size(); i++) {
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if (bytetrackers_g[cam_ch][i] != NULL)
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delete bytetrackers_g[cam_ch][i];
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}
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}
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void nc_set_bytetracker_thresh_values(uint16_t class_id, float track_thresh, float high_thresh, float match_thresh, int cam_ch)
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{
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bytetrackers_g[cam_ch][class_id]->set_thresh_values(track_thresh, high_thresh, match_thresh);
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}
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int nc_update_bytetracked_objs_per_frame(uint16_t class_id, stCnnDetectedObjInfo *in_objs, uint32_t in_objs_cnt, stObjInfo *out_tracked_objs, uint32_t *out_strack_cnt, int cam_ch)
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{
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if (in_objs == NULL || in_objs_cnt < 1){
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// printf("[Error][%s][%d].... in_objs is '%s' / in_objs_cnt(%d) < 1........\n", __FUNCTION__, __LINE__, (in_objs == NULL)?"NULL":"NOT NULL", in_objs_cnt);
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return -1;
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}
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if (out_tracked_objs == NULL) {
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printf("[Error][%s][%d].... out_tracked_objs is NULL ........\n", __FUNCTION__, __LINE__);
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return -2;
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}
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*out_strack_cnt = 0;
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// 1. make objects list
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std::vector<Object> t_objects;
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for (int i = 0; i < in_objs_cnt; i++) {
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Object obj (Rect<float>(in_objs[i].x, in_objs[i].y, in_objs[i].w, in_objs[i].h), class_id, in_objs[i].prob);
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t_objects.push_back(obj);
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}
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// 2. update tracker
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vector<STrackPtr> output_stracks = bytetrackers_g[cam_ch][class_id]->update(t_objects);
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// 3. return output_result of tracking
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*out_strack_cnt = output_stracks.size();
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if (*out_strack_cnt > (int)MAX_CNN_RESULT_CNT_OF_CLASS) {
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*out_strack_cnt = (int)MAX_CNN_RESULT_CNT_OF_CLASS;
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}
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for (int i = 0; i < (int)*out_strack_cnt; i++)
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{
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int track_id = output_stracks[i]->getTrackId();
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Rect<float> rect = output_stracks[i]->getRect();
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out_tracked_objs[i].track_id = track_id;
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out_tracked_objs[i].prob = output_stracks[i]->getScore();
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out_tracked_objs[i].bbox.x = rect.x();
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out_tracked_objs[i].bbox.y = rect.y();
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out_tracked_objs[i].bbox.w = rect.width();
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out_tracked_objs[i].bbox.h = rect.height();
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}
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return 0;
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}
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