91 lines
3.2 KiB
C++
91 lines
3.2 KiB
C++
#pragma once
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#include <iostream>
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#include <map>
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#include <vector>
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#include <stdexcept>
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#include <limits>
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namespace ByteTrackEigen {
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// Enum class for defining the state of a track.
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enum class TrackState {
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New, // Indicates a newly created track.
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Tracked, // Indicates a track that is currently being tracked.
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Lost, // Indicates a track that has been lost.
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Removed // Indicates a track that has been removed.
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};
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/**
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* @brief The BaseTrack class serves as the foundational class for object tracking.
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* It defines the essential attributes and methods for a track, such as ID, state, score, features, and history.
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* The class provides mechanisms to handle the state of a track, including creating, updating, and maintaining its lifecycle.
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* Designed to be extended, it allows for specific tracking functionalities to be implemented in derived classes.
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*/
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class BaseTrack {
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private:
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static int _count; // Static counter used to assign unique IDs to each track.
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protected:
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int track_id; // Unique identifier for the track.
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bool is_activated; // Flag to indicate if the track is active.
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TrackState state; // Current state of the track.
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std::map<int, int> history; // History of track updates, typically storing frame ID and associated data.
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std::vector<int> features; // Features associated with the track.
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int curr_feature; // Current feature of the track.
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float score; // Score associated with the track, indicating the confidence of tracking.
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int start_frame; // Frame at which the track was started.
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int frame_id; // Current frame ID of the track.
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int time_since_update; // Time elapsed since the last update.
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std::pair<double, double> location; // Current location of the track.
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public:
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// Default constructor.
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BaseTrack();
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// Constructor with score initialization.
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BaseTrack(float score);
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// Returns the end frame of the track.
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int end_frame() const;
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// Generates the next unique track ID.
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static int next_id();
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// Activates the track. This method is intended to be overridden in derived classes.
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virtual void activate();
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// Predicts the next state of the track. This method is intended to be overridden in derived classes.
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virtual void predict();
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// Updates the track with new data. This method is intended to be overridden in derived classes.
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virtual void update();
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// Marks the track as lost.
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void mark_lost();
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// Marks the track as removed.
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void mark_removed();
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// Resets the static track ID counter. Useful for unit testing or reinitializing the tracking system.
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static void reset_count();
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// Getter for is_activated.
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bool get_is_activated() const;
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// Getter for state.
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TrackState get_state() const;
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// Getter for score.
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float get_score() const;
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// Getter for start_frame.
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int get_start_frame() const;
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// Getter for frame_id.
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int get_frame_id() const;
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// Getter for track_id.
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int get_track_id() const;
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};
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}
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