Method UpdateTrackingState

src/Tracker/Ctracker.cpp:172–459

\brief CTracker::UpdateTrackingState \param regions \param currFrame \param fps

/// \param fps
///
void CTracker::UpdateTrackingState(const regions_t& regions,
                                   cv::UMat currFrame,
                                   time_point_t frameTime)
{
    const size_t colsTracks = m_tracks.size();	// Tracking objects
    const size_t rowsRegions = regions.size();	// Detections or regions

    assignments_t assignmentT2R(colsTracks, -1); // Assignments: index - track, value - region

    std::vector<RegionEmbedding> regionEmbeddings;
    CalcEmbeddins(regionEmbeddings, regions, currFrame);

#if DRAW_DBG_ASSIGNMENT
    std::cout << "CTracker::UpdateTrackingState: m_tracks = " << colsTracks << ", regions = " << rowsRegions << std::endl;

    int fontType = cv::FONT_HERSHEY_TRIPLEX;
    double fontSize = 0.6;
    cv::Scalar colorRegionEllow(0, 255, 255);
    cv::Scalar colorMatchedAboveThreshRed(0, 0, 255);
    cv::Scalar colorMatchedGreen(0, 255, 0);
    cv::Scalar colorMatchedNearMargenta(255, 0, 255);
    cv::Scalar colorNotMatchedNearWhite(255, 255, 255);
    cv::Scalar colorUnknownBlue(255, 0, 0);

	auto DrawRRect = [](cv::Mat& img, const cv::RotatedRect& rr, const cv::Scalar& cl, int thikness)
	{
		cv::Point2f rectPoints[4];
		rr.points(rectPoints);
		for (int i = 0; i < 4; ++i)
		{
			cv::line(img, rectPoints[i], rectPoints[(i + 1) % 4], cl, thikness, cv::LINE_4);
		}
	};

    cv::Mat dbgAssignment = currFrame.getMat(cv::ACCESS_READ).clone();
    {
#if 0
        cv::Mat foreground(dbgAssignment.size(), CV_8UC1, cv::Scalar(0, 0, 100));
        for (const auto& track : m_tracks)
        {
#if (CV_VERSION_MAJOR < 4)
            cv::ellipse(foreground, track->GetLastRect(), cv::Scalar(255, 255, 255), CV_FILLED);
#else
            cv::ellipse(foreground, track->GetLastRect(), cv::Scalar(255, 255, 255), cv::FILLED);
#endif
        }

        const int chans = dbgAssignment.channels();
        const int height = dbgAssignment.rows;
#pragma omp parallel for
        for (int y = 0; y < height; ++y)
        {
            uchar* imgPtr = dbgAssignment.ptr(y);
            const uchar* frgrndPtr = foreground.ptr(y);
            for (int x = 0; x < dbgAssignment.cols; ++x)
            {
                for (int ci = chans - 1; ci < chans; ++ci)
                {