-
Notifications
You must be signed in to change notification settings - Fork 0
/
simple.rs
259 lines (238 loc) · 20.8 KB
/
simple.rs
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
use std::error::Error;
use std::collections::{
HashMap,
HashSet,
BinaryHeap,
};
use uuid::Uuid;
use crate::mot::DistanceBlob;
use crate::mot::SimpleBlob;
/// Naive implementation of Multi-object tracker (MOT)
pub struct SimpleTracker {
// Max no match (max number of frames when object could not be found again). Default is 75
max_no_match: usize,
// Threshold distance (most of time in pixels). Default 30.0
min_dist_threshold: f32,
// Storage
pub objects: HashMap<Uuid, SimpleBlob>
}
impl SimpleTracker {
/// Creates default instance of SimpleTracker
///
/// Basic usage:
///
/// ```
/// use mot_rs::mot::SimpleTracker;
/// let mut tracker = SimpleTracker::default();
/// ```
pub fn default() -> Self {
SimpleTracker{
max_no_match: 75,
min_dist_threshold: 30.0,
objects: HashMap::new(),
}
}
/// Creates news instance of SimpleTracker
///
/// Basic usage:
///
/// ```
/// use mot_rs::mot::SimpleTracker;
/// let max_no_match: usize = 100;
/// let min_dist_threshold: f32 = 15.0;
/// let mut tracker = SimpleTracker::new(max_no_match, min_dist_threshold);
/// ```
pub fn new(_max_no_match: usize, _min_dist_threshold: f32) -> Self {
SimpleTracker{
max_no_match: _max_no_match,
min_dist_threshold: _min_dist_threshold,
objects: HashMap::new(),
}
}
// Matches new objects to existing ones
pub fn match_objects(&mut self, new_objects: &mut Vec<SimpleBlob>) -> Result<(), Box<dyn Error>>{
for (_, object) in self.objects.iter_mut() {
object.deactivate(); // Make sure that object is marked as deactivated
// object.predict_next_position_naive(5);
object.predict_next_position();
}
let mut blobs_to_register: HashMap<Uuid, SimpleBlob> = HashMap::new();
// Add new objects to priority queue
let mut priority_queue: BinaryHeap<DistanceBlob> = BinaryHeap::new();
for new_object in new_objects.iter_mut() {
// Find existing blob with min distance to new one
let mut min_id = Uuid::default();
let mut min_distance = f32::MAX;
for (j, object) in self.objects.iter() {
let dist = new_object.distance_to(object);
let dist_predicted = new_object.distance_to_predicted(object);
let dist_verified = f32::min(dist, dist_predicted);
if dist_verified < min_distance {
min_distance = dist_verified;
min_id = *j;
}
}
let distance_blob = DistanceBlob {
distance_metric_value: min_distance,
min_id: min_id,
blob: new_object,
};
priority_queue.push(distance_blob);
}
// We need to prevent double update of objects
let mut reserved_objects: HashSet<Uuid> = HashSet::new();
while let Some(mut distance_blob) = priority_queue.pop() {
let min_distance = distance_blob.distance_metric_value;
let min_id = distance_blob.min_id;
// Check if object is already reserved
// Since we are using priority queue with min-heap then we garantee that we will update existing objects with min distance only once.
// For other objects with the same min_id we can create new objects
if reserved_objects.contains(&min_id) {
// Register it immediately and continue
blobs_to_register.insert(distance_blob.blob.get_id(), distance_blob.blob.clone());
continue;
}
// Additional check to filter objects
if min_distance < distance_blob.blob.get_diagonal() * 0.5 || min_distance < self.min_dist_threshold {
match self.objects.get_mut(&min_id) {
Some(v) => {
v.update(&distance_blob.blob)?;
// Last but not least:
// We need to update ID of new object to match existing one (that is why we have &mut in function definition)
distance_blob.blob.set_id(min_id);
reserved_objects.insert(min_id);
},
None => {
// continue
panic!("immposible self.objects.get_mut(&min_id). Object ID {:?}. Distance value: {:?}", min_id, min_distance);
}
};
} else {
// Otherwise register object as a new one
blobs_to_register.insert(distance_blob.blob.get_id(), distance_blob.blob.clone());
}
}
self.objects.extend(blobs_to_register);
// Clean up existing data
self.objects.retain(|_, object| {
object.inc_no_match();
// Remove object if it was not found for a long time
let delete = object.get_no_match_times() > self.max_no_match;
!delete // <- if we want to keep object closure should return true
});
Ok(())
}
}
use std::fmt;
impl fmt::Display for SimpleTracker {
fn fmt(&self, f: &mut fmt::Formatter) -> fmt::Result {
write!(f, "Maximum no match: {}\n\tMinimum threshold distance: {}",
self.max_no_match,
self.min_dist_threshold
)
}
}
mod tests {
#[test]
fn test_match_objects_spread() {
let bboxes_iterations: Vec<Vec<crate::utils::Rect>> = vec![
// Each nested vector represents set of bounding boxes on a single frame
vec![crate::utils::Rect::new(378.0,147.0,173.0,243.0)],
vec![crate::utils::Rect::new(374.0,147.0,180.0,253.0)],
vec![crate::utils::Rect::new(375.0,154.0,178.0,256.0)],
vec![crate::utils::Rect::new(376.0,162.0,177.0,267.0)],
vec![crate::utils::Rect::new(375.0,166.0,178.0,268.0)],
vec![crate::utils::Rect::new(375.0,177.0,186.0,266.0)],
vec![crate::utils::Rect::new(370.0,185.0,197.0,273.0)],
vec![crate::utils::Rect::new(363.0,209.0,203.0,264.0)],
vec![crate::utils::Rect::new(70.0,14.0,227.0,254.0), crate::utils::Rect::new(364.0,214.0,200.0,262.0)],
vec![crate::utils::Rect::new(365.0,218.0,205.0,263.0)],
vec![crate::utils::Rect::new(67.0,23.0,236.0,246.0), crate::utils::Rect::new(366.0,231.0,209.0,260.0)],
vec![crate::utils::Rect::new(73.0,18.0,227.0,264.0), crate::utils::Rect::new(610.0,47.0,324.0,355.0), crate::utils::Rect::new(370.0,238.0,199.0,259.0), crate::utils::Rect::new(381.0,-1.0,103.0,60.0)],
vec![crate::utils::Rect::new(67.0,16.0,229.0,271.0), crate::utils::Rect::new(370.0,250.0,195.0,264.0), crate::utils::Rect::new(381.0,-2.0,106.0,58.0)],
vec![crate::utils::Rect::new(62.0,15.0,233.0,268.0), crate::utils::Rect::new(365.0,257.0,205.0,264.0), crate::utils::Rect::new(379.0,-1.0,109.0,59.0)],
vec![crate::utils::Rect::new(60.0,7.0,234.0,279.0), crate::utils::Rect::new(360.0,269.0,212.0,260.0), crate::utils::Rect::new(380.0,-1.0,109.0,60.0)],
vec![crate::utils::Rect::new(50.0,41.0,251.0,295.0), crate::utils::Rect::new(619.0,25.0,308.0,399.0), crate::utils::Rect::new(361.0,276.0,215.0,265.0), crate::utils::Rect::new(380.0,-1.0,110.0,63.0)],
vec![crate::utils::Rect::new(48.0,36.0,242.0,302.0), crate::utils::Rect::new(622.0,21.0,299.0,411.0), crate::utils::Rect::new(357.0,283.0,222.0,255.0), crate::utils::Rect::new(379.0,0.0,113.0,64.0)],
vec![crate::utils::Rect::new(41.0,28.0,245.0,319.0), crate::utils::Rect::new(625.0,31.0,308.0,392.0), crate::utils::Rect::new(350.0,306.0,239.0,231.0), crate::utils::Rect::new(377.0,0.0,116.0,65.0)],
vec![crate::utils::Rect::new(630.0,98.0,294.0,324.0), crate::utils::Rect::new(346.0,310.0,250.0,239.0), crate::utils::Rect::new(378.0,0.0,112.0,65.0)],
vec![crate::utils::Rect::new(636.0,99.0,290.0,323.0), crate::utils::Rect::new(344.0,320.0,254.0,229.0), crate::utils::Rect::new(378.0,2.0,114.0,65.0)],
vec![crate::utils::Rect::new(636.0,103.0,295.0,318.0), crate::utils::Rect::new(347.0,332.0,251.0,211.0)],
vec![crate::utils::Rect::new(362.0,1.0,147.0,90.0), crate::utils::Rect::new(637.0,104.0,292.0,321.0), crate::utils::Rect::new(337.0,344.0,272.0,196.0)],
vec![crate::utils::Rect::new(360.0,-2.0,152.0,97.0), crate::utils::Rect::new(12.0,74.0,237.0,324.0), crate::utils::Rect::new(639.0,104.0,293.0,316.0), crate::utils::Rect::new(347.0,350.0,258.0,185.0)],
vec![crate::utils::Rect::new(361.0,-4.0,149.0,99.0), crate::utils::Rect::new(9.0,112.0,251.0,313.0), crate::utils::Rect::new(627.0,106.0,314.0,321.0)],
vec![crate::utils::Rect::new(360.0,-3.0,151.0,99.0), crate::utils::Rect::new(15.0,115.0,231.0,311.0), crate::utils::Rect::new(633.0,91.0,297.0,346.0)],
vec![crate::utils::Rect::new(362.0,-7.0,148.0,106.0), crate::utils::Rect::new(10.0,109.0,241.0,320.0), crate::utils::Rect::new(639.0,93.0,294.0,347.0)],
vec![crate::utils::Rect::new(362.0,-9.0,146.0,109.0), crate::utils::Rect::new(12.0,109.0,233.0,326.0), crate::utils::Rect::new(639.0,95.0,288.0,347.0)],
// vec![crate::utils::Rect::new(362.0,-9.0,147.0,111.0), crate::utils::Rect::new(3.0,103.0,236.0,346.0), crate::utils::Rect::new(645.0,98.0,281.0,343.0)], // here one of blobs disappears
// vec![crate::utils::Rect::new(365.0,-10.0,143.0,114.0), crate::utils::Rect::new(645.0,99.0,283.0,345.0), crate::utils::Rect::new(9.0,141.0,238.0,323.0)],
];
let mut mot = super::SimpleTracker::new(5, 15.0);
let dt = 1.0/25.00; // emulate 25 fps
for iteration in bboxes_iterations {
let mut blobs: Vec<super::SimpleBlob> = iteration.into_iter().map(|bbox| {
super::SimpleBlob::new_with_dt(bbox, dt)
}).collect();
match mot.match_objects(&mut blobs) {
Ok(_) => {},
Err(err) => {
println!("{:?}", err);
}
};
}
assert_eq!(mot.objects.len(), 4);
// println!("id;track");
// for object in &mot.objects {
// print!("{};", object.0);
// let track = object.1.get_track();
// for (idx, pt) in track.iter().enumerate() {
// if idx == track.len() - 1 {
// print!("{},{}", pt.x, pt.y);
// } else {
// print!("{},{}|", pt.x, pt.y);
// }
// }
// println!();
// }
}
#[test]
fn test_match_objects_naive() {
let bboxes_one: Vec<Vec<i32>> = vec![vec![236, -25, 386, 35], vec![237, -24, 387, 36], vec![238, -22, 388, 38], vec![236, -20, 386, 40], vec![236, -19, 386, 41], vec![237, -18, 387, 42], vec![237, -18, 387, 42], vec![238, -17, 388, 43], vec![237, -14, 387, 46], vec![237, -14, 387, 46], vec![237, -12, 387, 48], vec![237, -12, 387, 48], vec![237, -11, 387, 49], vec![237, -11, 387, 49], vec![237, -10, 387, 50], vec![237, -10, 387, 50], vec![237, -8, 387, 52], vec![237, -8, 387, 52], vec![236, -7, 386, 53], vec![236, -7, 386, 53], vec![236, -6, 386, 54], vec![236, -6, 386, 54], vec![236, -2, 386, 58], vec![235, 0, 385, 60], vec![236, 2, 386, 62], vec![236, 5, 386, 65], vec![236, 9, 386, 69], vec![235, 12, 385, 72], vec![235, 14, 385, 74], vec![233, 16, 383, 76], vec![232, 26, 382, 86], vec![233, 28, 383, 88], vec![233, 40, 383, 100], vec![233, 30, 383, 90], vec![232, 22, 382, 82], vec![232, 34, 382, 94], vec![232, 21, 382, 81], vec![233, 40, 383, 100], vec![232, 40, 382, 100], vec![232, 40, 382, 100], vec![232, 36, 382, 96], vec![232, 53, 382, 113], vec![232, 50, 382, 110], vec![233, 55, 383, 115], vec![232, 50, 382, 110], vec![234, 68, 384, 128], vec![231, 49, 381, 109], vec![232, 68, 382, 128], vec![231, 31, 381, 91], vec![232, 64, 382, 124], vec![233, 71, 383, 131], vec![231, 64, 381, 124], vec![231, 74, 381, 134], vec![231, 64, 381, 124], vec![230, 77, 380, 137], vec![232, 82, 382, 142], vec![232, 78, 382, 138], vec![232, 78, 382, 138], vec![231, 79, 381, 139], vec![231, 79, 381, 139], vec![231, 91, 381, 151], vec![232, 78, 382, 138], vec![232, 78, 382, 138], vec![233, 90, 383, 150], vec![232, 92, 382, 152], vec![232, 92, 382, 152], vec![233, 98, 383, 158], vec![232, 100, 382, 160], vec![231, 92, 381, 152], vec![233, 110, 383, 170], vec![234, 92, 384, 152], vec![234, 92, 384, 152], vec![234, 110, 384, 170], vec![234, 92, 384, 152], vec![233, 104, 383, 164], vec![234, 111, 384, 171], vec![234, 106, 384, 166], vec![234, 106, 384, 166], vec![233, 124, 383, 184], vec![236, 125, 386, 185], vec![236, 125, 386, 185], vec![232, 120, 382, 180], vec![236, 131, 386, 191], vec![232, 132, 382, 192], vec![238, 139, 388, 199], vec![236, 141, 386, 201], vec![232, 151, 382, 211], vec![236, 145, 386, 205], vec![236, 145, 386, 205], vec![231, 133, 381, 193], vec![237, 148, 387, 208], vec![237, 148, 387, 208], vec![237, 148, 387, 208], vec![237, 148, 387, 208], vec![237, 148, 387, 208], vec![237, 148, 387, 208], vec![237, 148, 387, 208], vec![237, 148, 387, 208], vec![237, 148, 387, 208], vec![237, 148, 387, 208], vec![237, 148, 387, 208], vec![237, 148, 387, 208], vec![237, 148, 387, 208], vec![237, 148, 387, 208], vec![237, 148, 387, 208], vec![237, 148, 387, 208], vec![237, 148, 387, 208], vec![237, 148, 387, 208], vec![237, 148, 387, 208], vec![237, 148, 387, 208], vec![237, 148, 387, 208], vec![237, 148, 387, 208]];
let bboxes_two: Vec<Vec<i32>> = vec![vec![321, -25, 471, 35], vec![322, -24, 472, 36], vec![323, -22, 473, 38], vec![321, -20, 471, 40], vec![321, -19, 471, 41], vec![322, -18, 472, 42], vec![322, -18, 472, 42], vec![323, -17, 473, 43], vec![322, -14, 472, 46], vec![322, -14, 472, 46], vec![322, -12, 472, 48], vec![322, -12, 472, 48], vec![322, -11, 472, 49], vec![322, -11, 472, 49], vec![322, -10, 472, 50], vec![322, -10, 472, 50], vec![322, -8, 472, 52], vec![322, -8, 472, 52], vec![321, -7, 471, 53], vec![321, -7, 471, 53], vec![321, -6, 471, 54], vec![321, -6, 471, 54], vec![321, -2, 471, 58], vec![320, 0, 470, 60], vec![321, 2, 471, 62], vec![321, 5, 471, 65], vec![321, 9, 471, 69], vec![320, 12, 470, 72], vec![320, 14, 470, 74], vec![318, 16, 468, 76], vec![317, 26, 467, 86], vec![318, 28, 468, 88], vec![318, 40, 468, 100], vec![318, 30, 468, 90], vec![317, 22, 467, 82], vec![317, 34, 467, 94], vec![317, 21, 467, 81], vec![318, 40, 468, 100], vec![317, 40, 467, 100], vec![317, 40, 467, 100], vec![317, 36, 467, 96], vec![317, 53, 467, 113], vec![317, 50, 467, 110], vec![318, 55, 468, 115], vec![317, 50, 467, 110], vec![319, 68, 469, 128], vec![316, 49, 466, 109], vec![317, 68, 467, 128], vec![316, 31, 466, 91], vec![317, 64, 467, 124], vec![318, 71, 468, 131], vec![316, 64, 466, 124], vec![316, 74, 466, 134], vec![316, 64, 466, 124], vec![315, 77, 465, 137], vec![317, 82, 467, 142], vec![317, 78, 467, 138], vec![317, 78, 467, 138], vec![316, 79, 466, 139], vec![316, 79, 466, 139], vec![316, 91, 466, 151], vec![317, 78, 467, 138], vec![317, 78, 467, 138], vec![318, 90, 468, 150], vec![317, 92, 467, 152], vec![317, 92, 467, 152], vec![318, 98, 468, 158], vec![317, 100, 467, 160], vec![316, 92, 466, 152], vec![318, 110, 468, 170], vec![319, 92, 469, 152], vec![319, 92, 469, 152], vec![319, 110, 469, 170], vec![319, 92, 469, 152], vec![318, 104, 468, 164], vec![319, 111, 469, 171], vec![319, 106, 469, 166], vec![319, 106, 469, 166], vec![318, 124, 468, 184], vec![321, 125, 471, 185], vec![321, 125, 471, 185], vec![317, 120, 467, 180], vec![321, 131, 471, 191], vec![317, 132, 467, 192], vec![323, 139, 473, 199], vec![321, 141, 471, 201], vec![317, 151, 467, 211], vec![321, 145, 471, 205], vec![321, 145, 471, 205], vec![316, 133, 466, 193], vec![322, 148, 472, 208], vec![322, 148, 472, 208], vec![322, 148, 472, 208], vec![322, 148, 472, 208], vec![322, 148, 472, 208], vec![322, 148, 472, 208], vec![322, 148, 472, 208], vec![322, 148, 472, 208], vec![322, 148, 472, 208], vec![322, 148, 472, 208], vec![322, 148, 472, 208], vec![322, 148, 472, 208], vec![322, 148, 472, 208], vec![322, 148, 472, 208], vec![322, 148, 472, 208], vec![322, 148, 472, 208], vec![322, 148, 472, 208], vec![322, 148, 472, 208], vec![322, 148, 472, 208], vec![322, 148, 472, 208], vec![322, 148, 472, 208], vec![322, 148, 472, 208]];
let bboxes_three: Vec<Vec<i32>> = vec![vec![151, -25, 301, 35], vec![152, -24, 302, 36], vec![153, -22, 303, 38], vec![151, -20, 301, 40], vec![151, -19, 301, 41], vec![152, -18, 302, 42], vec![152, -18, 302, 42], vec![153, -17, 303, 43], vec![152, -14, 302, 46], vec![152, -14, 302, 46], vec![152, -12, 302, 48], vec![152, -12, 302, 48], vec![152, -11, 302, 49], vec![152, -11, 302, 49], vec![152, -10, 302, 50], vec![152, -10, 302, 50], vec![152, -8, 302, 52], vec![152, -8, 302, 52], vec![151, -7, 301, 53], vec![151, -7, 301, 53], vec![151, -6, 301, 54], vec![151, -6, 301, 54], vec![151, -2, 301, 58], vec![150, 0, 300, 60], vec![151, 2, 301, 62], vec![151, 5, 301, 65], vec![151, 9, 301, 69], vec![150, 12, 300, 72], vec![150, 14, 300, 74], vec![148, 16, 298, 76], vec![147, 26, 297, 86], vec![148, 28, 298, 88], vec![148, 40, 298, 100], vec![148, 30, 298, 90], vec![147, 22, 297, 82], vec![147, 34, 297, 94], vec![147, 21, 297, 81], vec![148, 40, 298, 100], vec![147, 40, 297, 100], vec![147, 40, 297, 100], vec![147, 36, 297, 96], vec![147, 53, 297, 113], vec![147, 50, 297, 110], vec![148, 55, 298, 115], vec![147, 50, 297, 110], vec![149, 68, 299, 128], vec![146, 49, 296, 109], vec![147, 68, 297, 128], vec![146, 31, 296, 91], vec![147, 64, 297, 124], vec![148, 71, 298, 131], vec![146, 64, 296, 124], vec![146, 74, 296, 134], vec![146, 64, 296, 124], vec![145, 77, 295, 137], vec![147, 82, 297, 142], vec![147, 78, 297, 138], vec![147, 78, 297, 138], vec![146, 79, 296, 139], vec![146, 79, 296, 139], vec![146, 91, 296, 151], vec![147, 78, 297, 138], vec![147, 78, 297, 138], vec![148, 90, 298, 150], vec![147, 92, 297, 152], vec![147, 92, 297, 152], vec![148, 98, 298, 158], vec![147, 100, 297, 160], vec![146, 92, 296, 152], vec![148, 110, 298, 170], vec![149, 92, 299, 152], vec![149, 92, 299, 152], vec![149, 110, 299, 170], vec![149, 92, 299, 152], vec![148, 104, 298, 164], vec![149, 111, 299, 171], vec![149, 106, 299, 166], vec![149, 106, 299, 166], vec![148, 124, 298, 184], vec![151, 125, 301, 185], vec![151, 125, 301, 185], vec![147, 120, 297, 180], vec![151, 131, 301, 191], vec![147, 132, 297, 192], vec![153, 139, 303, 199], vec![151, 141, 301, 201], vec![147, 151, 297, 211], vec![151, 145, 301, 205], vec![151, 145, 301, 205], vec![146, 133, 296, 193], vec![152, 148, 302, 208], vec![152, 148, 302, 208], vec![152, 148, 302, 208], vec![152, 148, 302, 208], vec![152, 148, 302, 208], vec![152, 148, 302, 208], vec![152, 148, 302, 208], vec![152, 148, 302, 208], vec![152, 148, 302, 208], vec![152, 148, 302, 208], vec![152, 148, 302, 208], vec![152, 148, 302, 208], vec![152, 148, 302, 208], vec![152, 148, 302, 208], vec![152, 148, 302, 208], vec![152, 148, 302, 208], vec![152, 148, 302, 208], vec![152, 148, 302, 208], vec![152, 148, 302, 208], vec![152, 148, 302, 208], vec![152, 148, 302, 208], vec![152, 148, 302, 208]];
let mut mot = super::SimpleTracker::new(5, 15.0);
let dt = 1.0/25.00; // emulate 25 fps
for (bbox_one, bbox_two, bbox_three) in itertools::izip!(bboxes_one, bboxes_two, bboxes_three) {
let blob_one = super::SimpleBlob::new_with_dt(crate::utils::Rect::new(bbox_one[0] as f32, bbox_one[1] as f32, (bbox_one[2]-bbox_one[0]) as f32, (bbox_one[3]-bbox_one[1]) as f32), dt);
let blob_two = super::SimpleBlob::new_with_dt(crate::utils::Rect::new(bbox_two[0] as f32,bbox_two[1] as f32,(bbox_two[2] -bbox_two[0]) as f32,(bbox_two[3]- bbox_two[1]) as f32), dt);
let blob_three = super::SimpleBlob::new_with_dt(crate::utils::Rect::new(bbox_three[0] as f32,bbox_three[1] as f32,(bbox_three[2] -bbox_three[0]) as f32,(bbox_three[3]- bbox_three[1]) as f32), dt);
let mut blobs = vec![blob_one, blob_two, blob_three];
// for blob in blobs.iter() {
// println!("id before: {:?}", blob.get_id());
// }
match mot.match_objects(&mut blobs) {
Ok(_) => {},
Err(err) => {
println!("{:?}", err);
}
};
// for blob in blobs.iter() {
// println!("\tid after: {:?}", blob.get_id());
// }
}
assert_eq!(mot.objects.len(), 3);
// println!("id;track");
// for object in &mot.objects {
// print!("{};", object.0);
// let track = object.1.get_track();
// for (idx, pt) in track.iter().enumerate() {
// if idx == track.len() - 1 {
// print!("{},{}", pt.x, pt.y);
// } else {
// print!("{},{}|", pt.x, pt.y);
// }
// }
// println!();
// }
}
}