#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 "../MSheader.h" 


using namespace std;


#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 <VPT_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 update(int width, int height, bool isUseDet, vector< vector<float> > &dets, VPT_ObjInfo *result, vector<int> &deleteObjectID);
	void Release();
	void ReSet();
	void Pause();
	bool GetState();
	int addTracker(cv::Mat *img);
public:
	vector<KalmanBoxTracker> trackers;
	int max_age = 0;
	int min_hits = 0;
	int frame_count =0;
	int trackcount = 0;
	int max_track_length = 0;

private:
	int linecount = 0;
	bool istraffic = 0;	//by zl 是否统计交通量
	//vector <mylist> tracker;
	bool WORK = false;

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, VPT_ObjInfo * result);	//防止坐标越界 by zl
bool intersect(cv::Point aa, cv::Point bb, cv::Point cc, cv::Point dd);		//判断两个线条是否相交 暂时未用到
bool line_rect_intersection(cv::Point start_p, cv::Point end_p, int left, int top, int right, int bottom);		//判断矩形框与线条是否相交
#endif