/*
 * @Author: turboLIU
 * @Date: 2023-03-08 16:53:50
 * @LastEditTime: 2024-07-08 13:46:55
 * @Description: Do not edit
 * @FilePath: /Cudayolo_track/objTracker.h
 */
#ifndef OBJTRACKER
#define OBJTRACKER

#include <vector>
#include "detection_type_api.h"
#include "AI_API.h"
#include "opencv2/opencv.hpp"
#include "environment.h"

using namespace AIGO;

#define IMGABUFFER_LEN 256 * 256 * 3



class OBJTRACK
{
private:
    /* data */
public:
    OBJTRACK(/* args */);
    OBJTRACK(float x1, float y1, float x2, float y2, int cls, float score, int clsNum = 5, int length = 10, float fAZ=0, float fPT=0, ImgMat imgbuffer = { 0 });
    OBJTRACK(objinfo det, int clsNum = 5, int length = 10, ImgMat imgbuffer = {0});
    ~OBJTRACK();

private:
    int m_missCount = 0;
    

    int m_MaxLength = 0;
    std::vector<std::pair<float, float>> traces;
    
public:
    float _x1 = 0;
    float _y1 = 0;
    float _x2 = 0;
    float _y2 = 0;
    float _score = 0;
    int _cls = 2;
    int _length = 0;
    int _nExistCnt = 0;
    int _clsNum = 0;
    float last_x1 = 0;
    float last_y1 = 0;
    float last_x2 = 0;
    float last_y2 = 0;
    int _trackID = -1;
    float m_vx=0;
    float m_vy=0;
    std::vector<int> clsCount;
    std::vector<float> scores;
    int m_delable = 0;
    float _ymean = 0;
    char* m_imgBuffer = NULL;
    cv::Mat m_imgBufferCV;// = cv::Mat(256, 256, CV_8UC3);
    std::vector<std::pair<float, float>> m_org_fAZ_PTs;
    //double m_fAZ = 0;
    //double m_fPT = 0;


public:
    bool isFull();
    void update();
    void add(objinfo det, ImgMat pImgBuff = { 0});
    void add(float x1, float x2, float y1, float y2, float score, int cls = -1,float fAZ=0, float fPT=0, ImgMat pImgBuff = { 0});
    // objinfo toObjInfo(int &ret);
    int toObjInfo(objinfo &det);
    int toObjInfo_predict(objinfo &det);
    void update_mean();
    float calc_delta(double delta, double dResolution);

};

// std::vector<OBJTRACK> update_objtracker(std::vector<objinfo> dets, std::vector<OBJTRACK> objtrackers, float matchThr=0.2);
int update_objtracker(std::vector<objinfo> dets, std::vector<std::shared_ptr<OBJTRACK>> objold, std::vector<std::shared_ptr<OBJTRACK>>& objnew, float matchThr = 3.6, ImgMat copyimg = {0});
//int update_objtracker(std::vector<objinfo> dets, std::vector<OBJTRACK>& objtrackers, float matchThr = 0.2, ImgMat copyimg={0});
//int filter_objtrackers(std::vector<OBJTRACK> src_obj, std::vector<OBJTRACK> &dst_obj, float sigma=3);
#endif