ObjectTracker.hpp

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#pragma once
 
#include <depthai/pipeline/Node.hpp>
 
#include "depthai/pipeline/datatype/Tracklets.hpp"
 
// standard
#include <fstream>
 
// shared
#include <depthai-shared/properties/ObjectTrackerProperties.hpp>
 
namespace dai {
namespace node {
 
class ObjectTracker : public NodeCRTP<Node, ObjectTracker, ObjectTrackerProperties> {
   public:
    constexpr static const char* NAME = "ObjectTracker";
 
    ObjectTracker(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId);
    ObjectTracker(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId, std::unique_ptr<Properties> props);
 
    Input inputTrackerFrame{*this, "inputTrackerFrame", Input::Type::SReceiver, false, 4, true, {{DatatypeEnum::ImgFrame, false}}};
 
    Input inputDetectionFrame{*this, "inputDetectionFrame", Input::Type::SReceiver, false, 4, true, {{DatatypeEnum::ImgFrame, false}}};
 
    Input inputDetections{*this, "inputDetections", Input::Type::SReceiver, false, 4, true, {{DatatypeEnum::ImgDetections, true}}};
 
    Output out{*this, "out", Output::Type::MSender, {{DatatypeEnum::Tracklets, false}}};
 
    Output passthroughTrackerFrame{*this, "passthroughTrackerFrame", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}};
 
    Output passthroughDetectionFrame{*this, "passthroughDetectionFrame", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}};
 
    Output passthroughDetections{*this, "passthroughDetections", Output::Type::MSender, {{DatatypeEnum::ImgDetections, true}}};
 
    void setTrackerThreshold(float threshold);
 
    void setMaxObjectsToTrack(std::int32_t maxObjectsToTrack);
 
    void setDetectionLabelsToTrack(std::vector<std::uint32_t> labels);
 
    void setTrackerType(TrackerType type);
 
    void setTrackerIdAssignmentPolicy(TrackerIdAssignmentPolicy type);
 
    void setTrackingPerClass(bool trackingPerClass);
};
 
}  // namespace node
}  // namespace dai