63 lines
2.3 KiB
C
63 lines
2.3 KiB
C
|
// Copyright 2020 The MediaPipe Authors.
|
||
|
|
//
|
||
|
|
// Licensed under the Apache License, Version 2.0 (the "License");
|
||
|
|
// you may not use this file except in compliance with the License.
|
||
|
|
// You may obtain a copy of the License at
|
||
|
|
//
|
||
|
|
// http://www.apache.org/licenses/LICENSE-2.0
|
||
|
|
//
|
||
|
|
// Unless required by applicable law or agreed to in writing, software
|
||
|
|
// distributed under the License is distributed on an "AS IS" BASIS,
|
||
|
|
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||
|
|
// See the License for the specific language governing permissions and
|
||
|
|
// limitations under the License.
|
||
|
|
|
||
|
|
#ifndef MEDIAPIPE_MODULES_OBJECTRON_CALCULATORS_FRAME_ANNOTATION_TRACKER_H_
|
||
|
|
#define MEDIAPIPE_MODULES_OBJECTRON_CALCULATORS_FRAME_ANNOTATION_TRACKER_H_
|
||
|
|
|
||
|
|
#include <functional>
|
||
|
|
|
||
|
|
#include "absl/container/btree_map.h"
|
||
|
|
#include "absl/container/flat_hash_set.h"
|
||
|
|
#include "mediapipe/framework/port/integral_types.h"
|
||
|
|
#include "mediapipe/modules/objectron/calculators/annotation_data.pb.h"
|
||
|
|
#include "mediapipe/util/tracking/box_tracker.pb.h"
|
||
|
|
|
||
|
|
namespace mediapipe {
|
||
|
|
|
||
|
|
class FrameAnnotationTracker {
|
||
|
|
public:
|
||
|
|
// If two bounding boxes have IoU over iou_threshold, then we consider them
|
||
|
|
// describing the same object.
|
||
|
|
FrameAnnotationTracker(float iou_threshold, float img_width, float img_height)
|
||
|
|
: iou_threshold_(iou_threshold),
|
||
|
|
img_width_(img_width),
|
||
|
|
img_height_(img_height) {}
|
||
|
|
|
||
|
|
// Adds detection results from an external detector.
|
||
|
|
void AddDetectionResult(const FrameAnnotation& frame_annotation);
|
||
|
|
|
||
|
|
// Consolidates tracking result from an external tracker, associates with
|
||
|
|
// the detection result by the object id, and produces the corresponding
|
||
|
|
// result in FrameAnnotation. When there are duplicates, output the ids that
|
||
|
|
// need to be cancelled in cancel_object_ids.
|
||
|
|
// Note that the returned FrameAnnotation is missing timestamp. Need to fill
|
||
|
|
// that field.
|
||
|
|
FrameAnnotation ConsolidateTrackingResult(
|
||
|
|
const TimedBoxProtoList& tracked_boxes,
|
||
|
|
absl::flat_hash_set<int>* cancel_object_ids);
|
||
|
|
|
||
|
|
private:
|
||
|
|
float iou_threshold_;
|
||
|
|
float img_width_;
|
||
|
|
float img_height_;
|
||
|
|
// Cached detection results over time.
|
||
|
|
// Key is timestamp_us + object_id.
|
||
|
|
absl::btree_map<int64, ObjectAnnotation, std::greater<int64>>
|
||
|
|
detected_objects_;
|
||
|
|
};
|
||
|
|
|
||
|
|
} // namespace mediapipe
|
||
|
|
|
||
|
|
#endif // MEDIAPIPE_MODULES_OBJECTRON_CALCULATORS_FRAME_ANNOTATION_TRACKER_H_
|