main.cpp

#include <iostream>

#include "inc/hungarian_optimizer.h"

/**
 * @brief Update the costs matrix of hungarian optimizer.
 *
 * @param association_mat The association matrix of tracks and objects, which
 * represents the bipartite graph to be optimized.
 * @param costs The costs matrix of hungarian optimizer.
 */
void UpdateCosts(const std::vector<std::vector<float>>& association_mat,
                 SecureMat<float>* costs) {
  size_t rows_size = association_mat.size();
  size_t cols_size = rows_size > 0 ? association_mat.at(0).size() : 0;

  costs->Resize(rows_size, cols_size);

  for (size_t row_idx = 0; row_idx < rows_size; ++row_idx) {
    for (size_t col_idx = 0; col_idx < cols_size; ++col_idx) {
      (*costs)(row_idx, col_idx) = association_mat.at(row_idx).at(col_idx);
    }
  }
}

/**
 * @brief Print the assignments result.
 *
 * @param assignments Assignments result to be printed.
 */
void PrintAssignments(
    const std::vector<std::pair<size_t, size_t>>& assignments) {
  std::cout << "\nThe assignments result are: \n" << std::endl;

  for (const auto& assignment : assignments) {
    std::cout << "    (" << assignment.first << ", " << assignment.second << ")"
              << std::endl;
  }

  std::cout << std::endl;
}

int main() {
  std::vector<std::vector<float>> association_mat = {{82.0f, 83.0f, 69.0f},
                                                     {77.0f, 37.0f, 49.0f},
                                                     {11.0f, 69.0f, 5.0f},
                                                     {8.0f, 9.0f, 98.0f}};
  HungarianOptimizer<float> optimizer;
  std::vector<std::pair<size_t, size_t>> assignments;

  UpdateCosts(association_mat, optimizer.costs());

  // entry of hungarian optimizer minimum-weighted matching
  optimizer.Minimize(&assignments);

  PrintAssignments(assignments);

  return 0;
}