这是多目标跟踪器TrackM的代码实现, 算法思路参考了deep_sort，AB3DMOT。增加了C++版本，可直接将检测结果作为输入。
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python 实现
- GIOU
- convex 最小最大点实现
- convex 凸包实现(借助第三方库)
- TrackerManager 跟踪器生命周期管理类
- 返回track结果包含类别名(Filter类中加class_id参数)
- 保存txt 分隔符从','改为空格;
- 跟踪结果可视化
- 进行匹配时考虑检测框的类别
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C++ 实现
- C++ giou代码
- convex 最小最大点实现
- C++ 卡尔曼滤波器类
- C++ KF 跟踪器类
- C++ TrackerManager 跟踪器生命周期管理类
- 点云流检测结果测试保存结果到txt
- 可视化跟踪
- 动态链接库
#Values Name Description
----------------------------------------------------------------------------
1 frame Frame within the sequence where the object appearers
1 track id Unique tracking id of this object within this sequence
1 type Describes the type of object: 'Car', 'Van', 'Truck',
'Pedestrian', 'Person_sitting', 'Cyclist', 'Tram',
'Misc' or 'DontCare'
1 truncated Float from 0 (non-truncated) to 1 (truncated), where
truncated refers to the object leaving image boundaries.
Truncation 2 indicates an ignored object (in particular
in the beginning or end of a track) introduced by manual
labeling.
1 occluded Integer (0,1,2,3) indicating occlusion state:
0 = fully visible, 1 = partly occluded
2 = largely occluded, 3 = unknown
1 alpha Observation angle of object, ranging [-pi..pi]
4 bbox 2D bounding box of object in the image (0-based index):
contains left, top, right, bottom pixel coordinates
3 dimensions 3D object dimensions: height, width, length (in meters)
3 location 3D object location x,y,z in camera coordinates (in meters)
1 rotation_y Rotation ry around Y-axis in camera coordinates [-pi..pi]
1 score Only for results: Float, indicating confidence in
detection, needed for p/r curves, higher is better.