videoStreamInfer/src/nodes/track/trackNode.cpp

#include "nodes/track/trackNode.hpp"

namespace GNode
{

void TrackNode::handle_data(std::shared_ptr<meta::MetaData>& meta_data)
{
    if (!track_map_[meta_data->from] )
    {
        track_map_[meta_data->from] = std::make_shared<BYTETracker>(frame_rate_, track_buffer_);
    }
    std::vector<Object> objects;
    for (const auto& box : meta_data->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;
        meta_data->track_boxes.emplace_back(tlwh[0], tlwh[1], tlwh[0] + tlwh[2], tlwh[1] + tlwh[3], track.score, track.track_id, track_label_);
    }

};

}   // namespace Node