modularization/src/detection/detection_yolov4_shigong_monocular/include/detect_obstacle.h

#ifndef DETECT_TURNSTILE_H
#define DETECT_TURNSTILE_H

#include "Hungarian.h"
#include "KalmanTracker.h"

namespace od{

const int COLOR_MAP[2][3]={{0, 0, 255},{255, 0, 0}};
const int max_age = 3;
const int min_hits = 3;
const double iouThreshold = 0.5;

struct bbox_t {
    unsigned int x, y, w, h;       // (x,y) - top-left corner, (w, h) - width & height of bounded box
    float prob;                    // confidence - probability that the object was found correctly
    unsigned int obj_id;           // class of object - from range [0, classes-1]
    unsigned int track_id;         // tracking id for video (0 - untracked, 1 - inf - tracked object)
    unsigned int frames_counter;   // counter of frames on which the object was detected
    float x_3d, y_3d, z_3d;        // center of object (in Meters) if ZED 3D Camera is used
};

typedef struct TrackingBox
{
    int frame;
    int id;
    int class_id;
    float prob;
    Rect_<float> box;
    vector<int> class_history;
}TrackingBox;

//yolo data o DetectBox
typedef struct DetectBox
{
    int class_id;
    float prob;
    Rect_<float> box;
}DetectBox;

//Computes IOU between two bounding boxes
double GetIOU(Rect_<float> bb_test, Rect_<float> bb_gt);
//画出检测框和相关信息
void DrawBoxes(Mat &frame, vector<string> classes, int classId, int turnstileId,float conf, int left, int top, int right, int bottom);

//画出检测结果,image
void Drawer(Mat &frame, vector<bbox_t> outs, vector<string> classes);
//画出检测结果,video
void Drawer(Mat &frame, vector<od::TrackingBox> &track_result, vector<string> &classes);
//tracking obstacle
bool TrackObstacle(int frame_count,vector<KalmanTracker> &trackers,vector<bbox_t> &outs,vector<od::TrackingBox> &track_result);
}

#endif // DETECT_TURNSTILE_H