Berclaz.h

//
// Created by wrede on 02.06.16.
//

#ifndef GBMOT_BERCLAZ_H
#define GBMOT_BERCLAZ_H

#include "../graph/Definitions.h"
#include "../core/DetectionSequence.h"
#include "../core/Tracklet.h"
#include "../util/Grid.h"

namespace algo
{
    class Berclaz
    {
    private:
        const double VIRTUAL_EDGE_WEIGHT = 0.0;
        const double MAX_SCORE_VALUE = 0.999999;
        const double MIN_SCORE_VALUE = 0.000001;

        int h_res_;

        int v_res_;

        int vicinity_size_;

        void CreateGraph(DirectedGraph& graph, Vertex& source, Vertex& sink,
                         util::Grid& grid);

        void ExtractTracks(DirectedGraph& graph,
                           MultiPredecessorMap& map, Vertex origin,
                           std::vector<core::TrackletPtr> & tracks);

        //TODO comment
        void ConnectTracks(std::vector<core::TrackletPtr> & tracks);
    public:
        Berclaz(int h_res, int v_res, int vicinity_size);

        void Run(core::DetectionSequence & sequence, size_t batch_size,
                 size_t max_track_count, std::vector<core::TrackletPtr> & tracks,
                 util::Filter2D & filter);
    };
}


#endif //GBMOT_BERCLAZ_H