1 #include "stdio.h"
2 #include "objects_update.h"
3 #include "track_link.h"
4
OdtDetector()5 OdtDetector::OdtDetector()
6 {
7 printf("success build\n");
8 }
9
~OdtDetector()10 OdtDetector::~OdtDetector()
11 {
12 }
13
update(int maxTrackLifetime,int track_num_input,object_T * object_input,int * track_num_output,object_T * object_output,int width,int height)14 int OdtDetector::update(int maxTrackLifetime, int track_num_input, object_T* object_input,
15 int* track_num_output, object_T* object_output, int width, int height)
16 {
17
18 m_width = width;
19 m_height = height;
20
21 std::vector<Rect_T> objects_Rect_T;
22 std::vector<int> objects_class;
23 std::vector<float> object_score;
24 for (int i = 0; i < track_num_input; i++) {
25 objects_Rect_T.push_back(object_input[i].r);
26 objects_class.push_back(object_input[i].obj_class);
27 object_score.push_back(object_input[i].score);
28 }
29
30 m_objects_tracker.updateTrackedObjects(objects_Rect_T, objects_class, object_score, maxTrackLifetime, m_width, m_height);
31 objects_Rect_T.clear();
32 objects_class.clear();
33 object_score.clear();
34
35 std::vector<ObjectsTracker::ExtObject> extObjects;
36 m_objects_tracker.getObjects(extObjects);
37
38 int nobjects = (int)extObjects.size();
39 track_num_output[0] = nobjects;
40
41 int i = 0;
42 for (; i < nobjects && i < 100; i++)
43 {
44 if(extObjects[i].miss == 0){
45 //object_output[i].r = extObjects[i].location;
46 object_output[i].r = extObjects[i].smooth_rect;
47
48 }
49 else{
50 object_output[i].r = extObjects[i].predict_loc_when_miss;
51 //object_output[i].score = -10000;
52 }
53 object_output[i].obj_class = extObjects[i].obj_class;
54 object_output[i].score = extObjects[i].score;
55 object_output[i].id = extObjects[i].id;
56
57 }
58 return nobjects;
59 }
60