public Tracklet(sl.ObjectData obj, sl.OBJECT_CLASS type, ulong ts = 0)
{
id = obj.id;
positions.Add(new TrackPoint(obj.position, obj.objectTrackingState, ts));
positions_to_draw.Add(new TrackPoint(obj.position, obj.objectTrackingState, ts));
tracking_state = obj.objectTrackingState;
last_detected_timestamp = ts;
recovery_cpt = recovery_length;
is_alive = true;
object_type = type;
}
public TrackPoint(Vector3 pos, sl.OBJECT_TRACKING_STATE state, ulong ts)
{
x = pos.X;
y = pos.Y;
z = pos.Z;
if (state == OBJECT_TRACKING_STATE.OK)
{
tracking_state = TrackPointState.OK;
}
else
{
tracking_state = TrackPointState.OFF;
}
timestamp = ts;
}
public void addDetectedPoint(sl.ObjectData obj, ulong ts, int smoothing_window_size = 0)
{
if (positions.Count > 0)
{
if (positions[positions.Count - 1].tracking_state == TrackPointState.PREDICTED)
{
recovery_cpt = 0;
}
else
{
++recovery_cpt;
}
}
positions.Add(new TrackPoint(obj.position, TrackPointState.OK, ts));
tracking_state = obj.objectTrackingState;
last_detected_timestamp = ts;
positions_to_draw.Add(new TrackPoint(obj.position, TrackPointState.OK, ts));
}
