#ifndef __OBJECTS_TRACKER_H_
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#define __OBJECTS_TRACKER_H_
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#include "stdio.h"
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#include <vector>
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#include "math.h"
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#include "track_link.h"
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class ObjectsTracker {
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public:
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struct Parameters
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{
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int maxTrackLifetime;
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int numLastPositionsToTrack;
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int numDetectedToWaitBeforeFirstShow;
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int numStepsToWaitBeforeFirstShow;
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int numStepsToTrackWithoutDetectingIfObjectHasNotBeenShown;
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int numStepsToShowWithoutDetecting;
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Parameters();
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};
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enum ObjectStatus
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{
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DETECTED_NOT_SHOWN_YET,
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DETECTED,
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DETECTED_TEMPORARY_LOST,
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WRONG_OBJECT
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};
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struct ExtObject
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{
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int id;
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Rect_T location;
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Rect_T predict_loc_when_miss;
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Rect_T smooth_rect;
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ObjectStatus status;
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int detectedNum;
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int noDetectedNum;
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int obj_class;
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float score;
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int miss;
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ExtObject() {}
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ExtObject(int _id, Rect_T _location, Rect_T _predict_loc_when_miss, Rect_T _smooth_rect, ObjectStatus _status,
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int _detectedNum, int _noDetectedNum, int _obj_class, float _score, int _miss)
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:id(_id), location(_location), predict_loc_when_miss(_predict_loc_when_miss), smooth_rect(_smooth_rect), status(_status),
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detectedNum(_detectedNum), noDetectedNum(_noDetectedNum), obj_class(_obj_class), score(_score), miss(_miss)
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{
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}
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};
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ObjectsTracker();
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virtual ~ObjectsTracker();
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/* bool setParameters(const Parameters& params);
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const Parameters& getParameters() const;*/
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virtual void getObjects(std::vector<ExtObject>& result);
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//virtual int addObject(const Rect_T& location); //returns id of the new object
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void updateTrackedObjects(const std::vector<Rect_T>& detectedObjects, const std::vector<int> objects_class, const std::vector<float> objects_score, int maxTrackLifetime, int image_width, int image_height);
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Rect_T calcTrackedObjectPositionToShow(int i, ObjectStatus& status) const;
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Parameters parameters;
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struct TrackedObject
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{
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typedef std::vector<Rect_T> PositionsVector;
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PositionsVector lastPositions;
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Rect_T predict_loc_when_miss;
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Rect_T smooth_Positionn;
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float vx;
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float vy;
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int numDetectedFrames;
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int numFramesDetected;
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int numFramesNotDetected;
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int preNumFramesNotDetected;
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int id;
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int obj_class;
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float score;
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int miss;
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//int flag_unshift;*/
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TrackedObject(const Rect_T& Rect_T):vx(0), vy(0), numDetectedFrames(1), numFramesDetected(1), numFramesNotDetected(0)
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, preNumFramesNotDetected(0), score(0), miss(0)
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{
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lastPositions.push_back(Rect_T);
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id=getNextId();
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};
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static int getNextId()
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{
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static int _id=0;
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return _id++;
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}
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};
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int numTrackedSteps;
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std::vector<TrackedObject> trackedObjects;
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void predict_loctation(TrackedObject& curObject, int image_width,int image_height, float& pre_x, float& pre_y, float& v_x, float& v_y);
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};
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#endif /* end of __OBJECTS_TRACKER_H_ */
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