#ifndef SORT_H_
#define SORT_H_

#include "KalmanBoxTracker.h"
#include "HungarianAlgorithm.h"
#include <opencv2/video/tracking.hpp>
#include <highgui.h>
#include <iostream>
#include <stdio.h>
#include <math.h>
#include<vector>
#include "../CD.h"
#include "TrafficStatistics.h"

using namespace std;
using namespace cv;


#define LOSTMAXFRAMECCOUNT 5	//by zl
#define SNAPSHOTFRAMECOUNT 24	//下标从0开始 取第十帧为快照帧 

struct TrackerResult
{
	vector< vector<float> > trackers_box;
	vector< vector< vector<float> > > trackers_history;
};


typedef struct mylist
{
	vector <CD_ObjInfo> listinfo;
	int lost;	//丢失的帧数 >LOSTMAXFRAMECCOUNT 则认为彻底丢失目标
	long id;
	bool isupdate;
	bool istraffic;
	int index;//	行人类别
	int num;	//	该ID序列下的第num帧 20170306 从0开始计数
	int startframe;		//轨迹开始帧
	int endframe;	//轨迹结束帧
}mylist;



class Sort
{
public:
	//Sort();
  int updateLastFrame(vector<int> &deleteTrackers);
	Sort(VPT_Line *m_line = NULL, int m_linecount = 0, int m_detectType = 0);
	int update(int width, int height, bool isUseDet, vector< vector<float> > &dets, CD_ObjInfo *result, vector<int> &deleteTrackers, VPT_TrafficResult* traffic = NULL, int detectType = 0);
	void Release();
	void ReSet();
	void Pause();
	bool GetState();
	int addTracker(Mat *img);
public:
	vector<KalmanBoxTracker> trackers;
	int max_age;
	int min_hits;
	int frame_count;
	int trackcount;

	//---------------------添加快照保存策略-----------------------//
	//vector<OBJECT_SNAPSHOT_INFO> snapshots;

private:
	int linecount;
	int detectType;
	TrafficStatistics *mTrafficStatistics;
	vector <VPT_Line> lineArray;
	vector <VPT_TrafficResult> trafficArray;	//统计流量
	bool istraffic;	//by zl 是否统计交通量
	//vector <mylist> tracker;
	bool WORK;
	int detectObjCount;

private:
	void associate_detections_to_trackers(vector< vector<int> > &matched, vector<int> &unmatched_dets, vector<int> &unmatched_trks, vector< vector<float> > &dets, vector< vector<float> > &trks, float iou_threshold = 0.3);
	//int addTracker(VPT_ObjInfo *result, int resultcount);
	int Traffic();
};
//辅助函数
void RectboundCheck(int Width, int Height, CD_ObjInfo * result);	//防止坐标越界 by zl
#endif