ObjectTracker.hpp

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#pragma once
 
#include "ByteTrack/Object.h"
#include "EyeAICore/YoloModel.hpp"
#include <ByteTrack/BYTETracker.h>
#include <chrono>
 
using byte_track::BYTETracker, byte_track::Rect, byte_track::Object;
 
class ObjectTracker {
  private:
    using BoundingBox = YoloModel::BoundingBox;
 
  public:
    struct TrackedBoundingBox {
        BoundingBox bounding_box;
        int tracking_id;
 
        TrackedBoundingBox() = delete;
        explicit TrackedBoundingBox(BoundingBox bounding_box, int tracking_id)
            : bounding_box(std::move(bounding_box)), tracking_id(tracking_id) {}
    };
 
    explicit ObjectTracker(std::vector<std::string> labels)
        : labels(std::move(labels)) {}
 
    std::vector<TrackedBoundingBox>
    update(std::span<const BoundingBox> detected_objects);
 
  private:
    const std::vector<std::string> labels;
    constexpr static float MAX_TRACKING_TIME_SECONDS = 10.f;
    constexpr static float EXPECTED_FPS = 10.f;
    constexpr static float MIN_WAITING_PREDICTION_TIME_BEFORE_VALID = 0.5f;
    BYTETracker tracker{MAX_TRACKING_TIME_SECONDS, EXPECTED_FPS};
    std::chrono::high_resolution_clock::time_point last_update =
        std::chrono::high_resolution_clock::now();
    std::unordered_map<int, float> tracked_object_valid_score;
};