#pragma once
#include <nvdstracker.h>
#include "KalmanFilter.h"

using namespace std;

enum TrackState {
    New = 0, Tracked, Lost, Removed
};

class STrack {
public:
    STrack(vector<float> tlwh_, float score, int label, NvMOTObjToTrack *associatedObjectIn);

    ~STrack();

    vector<float> static tlbr_to_tlwh(vector<float> &tlbr);

    void static multi_predict(vector<STrack *> &stracks, byte_kalman::KalmanFilter &kalman_filter);

    void static_tlwh();

    void static_tlbr();

    vector<float> tlwh_to_xyah(vector<float> tlwh_tmp);

    vector<float> to_xyah();

    void mark_lost();

    void mark_removed();

    int next_id();

    int end_frame();

    void activate(byte_kalman::KalmanFilter &kalman_filter, int frame_id);

    void re_activate(STrack &new_track, int frame_id, bool new_id = false);

    void update(STrack &new_track, int frame_id);

public:
    bool is_activated;
    int  track_id;
    int  state;

    vector<float> original_tlwh;
    vector<float> _tlwh;
    vector<float> tlwh;
    vector<float> tlbr;
    int           frame_id;
    int           tracklet_len;
    int           start_frame;
    int           label;
    KAL_MEAN        mean;
    KAL_COVA        covariance;
    float           score;
    NvMOTObjToTrack *associatedObjectIn;

private:
    byte_kalman::KalmanFilter kalman_filter;
};