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Tracklet

edgefirst_tracker::bytetrack

Struct Tracklet

pub struct Tracklet<T: DetectionBox> {
    pub id: Uuid,
    pub filter: ConstantVelocityXYAHModel2<f32>,
    pub count: i32,
    pub created: u64,
    pub last_updated: u64,
    pub last_box: T,
}

Expand description

Internal state for one tracked object.

Not part of the public API contract; exposed as pub for test and benchmark access only. The canonical public view of a tracklet is TrackInfo (returned by Tracker::update) or ActiveTrackInfo (returned by Tracker::get_active_tracks).

Fields§

§id: Uuid

Globally unique identifier, assigned at tracklet creation and preserved until the tracklet is deleted. Surfaced via TrackInfo::uuid.

§filter: ConstantVelocityXYAHModel2<f32>

Kalman filter modeling the tracklet’s position and velocity in XYAH space ([x_center, y_center, aspect, height] + their derivatives).

§count: i32

Number of frames this tracklet has been matched to a detection. Starts at 1 on the frame of creation. Surfaced via TrackInfo::count.

§created: u64

Timestamp passed to Tracker::update on the frame this tracklet was created. Surfaced via TrackInfo::created.

§last_updated: u64

Timestamp passed to Tracker::update on the most recent frame this tracklet was matched to a detection. Tracklets are deleted when timestamp - last_updated > track_extra_lifespan.

§last_box: T

The raw detection box from the most recent match. Surfaced via ActiveTrackInfo::last_box. Not Kalman-smoothed.

Implementations§

impl<T: DetectionBox> Tracklet<T>

pub fn get_predicted_location(&self) -> [f32; 4]

Return the current Kalman-predicted bounding box in XYXY format.

Projects the filter’s 8-D XYAH mean into 4-D measurement space and converts back to [xmin, ymin, xmax, ymax]. This is the value surfaced in TrackInfo::tracked_location.

Trait Implementations§

impl<T: Clone + DetectionBox> Clone for Tracklet<T>

fn clone(&self) -> Tracklet<T>

Returns a duplicate of the value. Read more

1.0.0 (const: unstable) · Source§

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source. Read more

impl<T: Debug + DetectionBox> Debug for Tracklet<T>

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter. Read more

Auto Trait Implementations§

impl<T> Freeze for Tracklet<T>
where T: Freeze,

impl<T> RefUnwindSafe for Tracklet<T>
where T: RefUnwindSafe,

impl<T> Send for Tracklet<T>
where T: Send,

impl<T> Sync for Tracklet<T>
where T: Sync,

impl<T> Unpin for Tracklet<T>
where T: Unpin,

impl<T> UnsafeUnpin for Tracklet<T>
where T: UnsafeUnpin,

impl<T> UnwindSafe for Tracklet<T>
where T: UnwindSafe,

Blanket Implementations§

impl<T> Any for T
where T: 'static + ?Sized,

fn type_id(&self) -> TypeId

Gets the TypeId of self. Read more

impl<T> Borrow<T> for T
where T: ?Sized,

fn borrow(&self) -> &T

Immutably borrows from an owned value. Read more

impl<T> BorrowMut<T> for T
where T: ?Sized,

fn borrow_mut(&mut self) -> &mut T

Mutably borrows from an owned value. Read more

impl<T> CloneToUninit for T
where T: Clone,

unsafe fn clone_to_uninit(&self, dest: *mut u8)

🔬This is a nightly-only experimental API. (clone_to_uninit)

Performs copy-assignment from self to dest. Read more

impl<T> From<T> for T

fn from(t: T) -> T

Returns the argument unchanged.

impl<T> Instrument for T

fn instrument(self, span: Span) -> Instrumented<Self>

Instruments this type with the provided Span, returning an Instrumented wrapper. Read more

fn in_current_span(self) -> Instrumented<Self>

Instruments this type with the current Span, returning an Instrumented wrapper. Read more

impl<T, U> Into<U> for T
where U: From<T>,

fn into(self) -> U

Calls U::from(self).

That is, this conversion is whatever the implementation of From<T> for U chooses to do.

impl<T> Same for T

type Output = T

Should always be Self

impl<SS, SP> SupersetOf<SS> for SP
where SS: SubsetOf<SP>,

fn to_subset(&self) -> Option<SS>

The inverse inclusion map: attempts to construct self from the equivalent element of its superset. Read more

fn is_in_subset(&self) -> bool

Checks if self is actually part of its subset T (and can be converted to it).

fn to_subset_unchecked(&self) -> SS

Use with care! Same as self.to_subset but without any property checks. Always succeeds.

fn from_subset(element: &SS) -> SP

The inclusion map: converts self to the equivalent element of its superset.

impl<T> ToOwned for T
where T: Clone,

type Owned = T

The resulting type after obtaining ownership.

fn to_owned(&self) -> T

Creates owned data from borrowed data, usually by cloning. Read more

fn clone_into(&self, target: &mut T)

Uses borrowed data to replace owned data, usually by cloning. Read more

impl<T, U> TryFrom<U> for T
where U: Into<T>,

type Error = Infallible

The type returned in the event of a conversion error.

fn try_from(value: U) -> Result<T, <T as TryFrom<U>>::Error>

Performs the conversion.

impl<T, U> TryInto<U> for T
where U: TryFrom<T>,

type Error = <U as TryFrom<T>>::Error

The type returned in the event of a conversion error.

fn try_into(self) -> Result<U, <U as TryFrom<T>>::Error>

Performs the conversion.

impl<T> WithSubscriber for T

fn with_subscriber<S>(self, subscriber: S) -> WithDispatch<Self>
where S: Into<Dispatch>,

Attaches the provided Subscriber to this type, returning a WithDispatch wrapper. Read more

fn with_current_subscriber(self) -> WithDispatch<Self>

Attaches the current default Subscriber to this type, returning a WithDispatch wrapper. Read more