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#ifndef ARITH_TRACKER_H
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#define ARITH_TRACKER_H
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#pragma once
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#include "Arith_Common.hpp"
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#include "Arith_TrackSAObj.h"
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#include "Arith_SkyTracker.h"
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#include "Arith_GroundTracker.h"
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#include "API_MOT_PipeProc.h"
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#include "Arith_CustomTracker.h"
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// 跟踪器中数据结构使用说明
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/*
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* TARGET_OBJECT -- 单帧跟踪结果
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* OBJECTSTATUS -- 连续跟踪结果，每个跟踪器的主要输出内容
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* PIPE -- 转入跟踪前的目标信息，跟踪完毕后将跟踪信息更新到PIPE，统一管理批号。
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*/
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// 跟踪器参数,按照跟踪器类型分别设置
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typedef struct tagTracker_Param
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{
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Param_SkyTracker skyParam;
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Param_GroundTracker grdParam;
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}Tracker_Param;
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class Tracker
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{
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public:
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// 使用默认参数初创建跟踪器
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Tracker(SINT32 nWidth, SINT32 nHeight, GLB_SCEN_MODE type);
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// 使用指定参数创建跟踪器
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Tracker(SINT32 nWidth, SINT32 nHeight, GLB_SCEN_MODE type, Tracker_Param PARA);
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~Tracker();
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// 跟踪初始化：统一使用管道作为接口
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bool Init(GD_VIDEO_FRAME_S img, PIPE* pLockPipe, GLB_INPUT* p_GLB_Input);
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// 跟踪
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bool Track(GD_VIDEO_FRAME_S img, GLB_INPUT* p_GLB_Input, API_MOT_PIPE* g_GLB_PipeProc, ARIDLL_PARMA* g_stArithPara);
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// 跟踪器解锁
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void Cancle();
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// 输出AI跟踪器的控制决策信息
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AIT_Command GetAIT_Cmd();
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// 获取AI跟踪器结果
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void SetAIT_Info(AIT_OUTPUT* out);
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// 设置跟踪参数
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void SetParam(Tracker_Param PARA);
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// 跟踪器重捕背景管道,用新管道重置tracker模型与运动模型，保留原管道告警信息
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bool ResetByBackPipe(PIPE* pNewPipe, GD_VIDEO_FRAME_S img, GLB_INPUT* p_GLB_Input,BBOOL bReInit);
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// 获取跟踪参数
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Tracker_Param GetParam();
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// 输出跟踪框
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RECT32S getTrackerBox();
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//// 强制记忆跟踪
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//void SetMemTrack(bool bMemFlag);
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//// 跟踪器输出
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bool UpdateTracker2Pipe(GLB_INPUT* p_GLB_Input, GLB_SCEN_MODE type, PIPE* pPipeOut,API_MOT_PIPE* g_GLB_PipeProc);
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API_TLD* GetpTLDTracker();//返回跟踪器中的TLD对象实例指针
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public:
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GLB_SCEN_MODE m_type; //跟踪器类型,这里使用组合而非继承
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SkyTracker* pSkyTracker;
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GroundTracker* pGroundTracker;
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CustomTracker* pCustomTracker;
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OBJECTSTATUS ObjStatus;// 跟踪结果，用于输出
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PIPE* m_LockingPipe;//锁定管道指针，指向PIPE队列锁定目标，初始化赋值
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};
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// 注意：和cv::Tracker冲突，所以这里使用::Tracker表明非namespace符号
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// 以下三种取名方式均可
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//#define Tracker_Ptr Tracker*
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//using Tracker_Ptr = ::Tracker*;
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typedef ::Tracker* Tracker_Ptr;
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#endif
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