videoStreamInfer/src/nodes/track/trackNode.cpp

#include "nodes/track/trackNode.hpp"

namespace GNode
{

void TrackNode::work()
{
    PLOGI.printf("TrackNode : [%s] start", name_.c_str());
    for (const auto& input_buffer : input_buffers_)
    {
        track_map_[input_buffer.first] = std::make_shared<BYTETracker>(frame_rate_, track_buffer_);
    }
    while (running_)
    {
        bool has_data = false;
        for (auto& input_buffer : input_buffers_)
        {
            std::shared_ptr<meta::MetaData> metaData;
            if (!input_buffer.second->try_pop(metaData))
            {
                continue;
            }
            has_data = true;
            // printf("Node %s get data from %s\n", name_.c_str(), input_buffer.first.c_str());

            // auto res = model_->forward(tensor::cvimg(image), image.cols, image.rows, 0.0f, 0.0f);
            if (!track_map_[input_buffer.first] )
            {
                PLOGE.printf("TrackNode : [%s] track is nullptr", name_.c_str());
                continue;
            }
            std::vector<Object> objects;
            for (const auto& box : metaData->boxes) 
            {
                // 只处理需要的 label
                if (box.label == track_label_) { 
                    Object obj;
                    obj.rect.x = box.left;
                    obj.rect.y = box.top;
                    obj.rect.width = box.right - box.left;
                    obj.rect.height = box.bottom - box.top;
                    obj.label = box.class_id; // 假设 Object::label 存的是 int 类型的 class_id
                    obj.prob = box.score;

                    if (obj.rect.width > 0 && obj.rect.height > 0 && obj.prob > 0) { // 至少prob > 0
                         objects.push_back(obj); // 只添加有效的对象
                    }
                }
            }
            std::vector<STrack> output_stracks = track_map_[input_buffer.first] ->update(objects);

            for (const auto& track : output_stracks) {
                const std::vector<float>& tlwh = track.tlwh;
                metaData->track_boxes.emplace_back(tlwh[0], tlwh[1], tlwh[0] + tlwh[2], tlwh[1] + tlwh[3], track.score, track.track_id, track_label_);
            }

            for (auto& output_buffer : output_buffers_)
            {
                // printf("Node %s push data to %s\n", name_.c_str(), output_buffer.first.c_str());
                output_buffer.second->push(metaData);
            }    
        }
        if (!has_data)
        {
            std::unique_lock<std::mutex> lock(mutex_);
            cond_var_->wait_for(lock, std::chrono::milliseconds(100), [this] {
                return !running_;  // 等待时检查退出条件
            });
        }
    }
};

}   // namespace Node