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