First Commit

2026-07-01 13:38:05 +07:00
1 parent 267107ff05
commit 37fe4eee3a
@@ -0,0 +1,52 @@
+# Edge RK3588 production counter — copy to .env on device
+# cp .env.example .env && nano .env
+
+OUTPUT_DIR=/opt/bytetrack-counter-cpp
+DB_PATH=/opt/bytetrack-counter-cpp/bytetrack_counter.db
+STATE_FILE=/tmp/bytetrack_current_batch.json
+
+# Direct LAN camera RTSP (low latency)
+SOURCE=rtsp://frigate:zenai@192.168.192.16:8554/camera_stream_640
+#SOURCE=rtsp://192.168.192.53:8554/my_stream
+OPENCV_FFMPEG_CAPTURE_OPTIONS=rtsp_transport;tcp|fflags;nobuffer|flags;low_delay
+
+# RKNN model — export'd from YOLO with imgsz=320
+MODEL_PATH=/opt/models/zenai_apc_cicalengka_20260609.rknn
+IMGSZ=320
+HALF=false
+CONF=0.3
+
+# RKNN NPU core mask: 1=core0, 2=core1, 3=core0+core1, 7=all three
+CORE_MASK=7
+
+# YOLO decoder params (must match model export)
+NUM_CLASSES=2
+SCORE_SIGMOID=false
+
+CAMERA_NAME=CC1
+OBJECT_LABEL=ayam-potong
+CLASS_AYAM=ayam
+CLASS_TALENAN=talenan
+
+# Line crossing: rtl (default) | ltr | both
+CROSS_DIRECTION=ltr
+LINE_X=
+LINE_X_FRAC=0.5
+
+DAILY_CUTOFF_TIME=17:00
+BATCH_TIMEOUT_SECONDS=300
+IGNORE_BATCH_LABEL_TIMEOUT_SECONDS=30
+MIN_OBJECT_PER_BATCH=60
+MIN_DURATION_PER_BATCH=60
+
+EXPORT_CSV=true
+RECORD_VIDEO=false
+
+LIVE_STREAM_ENABLED=true
+LIVE_STREAM_FRAME_PATH=/dev/shm/bytetrack-counter/live_frame.jpg
+LIVE_STREAM_QUALITY=75
+LIVE_STREAM_EVERY_N=2
+
+LOG_LEVEL=info
+
+DASHBOARD_PORT=5001
@@ -0,0 +1,50 @@
+# Edge RK3588 production counter — copy to .env on device
+# cp .env.example .env && nano .env
+
+OUTPUT_DIR=/opt/bytetrack-counter-go
+DB_PATH=/opt/bytetrack-counter-go/bytetrack_counter.db
+STATE_FILE=/tmp/bytetrack_current_batch.json
+
+# Direct LAN camera RTSP (low latency)
+SOURCE=rtsp://frigate:zenai@127.0.0.1:8554/camera_stream_640
+#SOURCE=rtsp://192.168.192.53:8554/my_stream
+OPENCV_FFMPEG_CAPTURE_OPTIONS=rtsp_transport;tcp|fflags;nobuffer|flags;low_delay
+
+# RKNN model — export'd from YOLO with imgsz=320
+MODEL_PATH=/opt/models/zenai_apc_cicalengka_20260609.rknn
+IMGSZ=320
+HALF=false
+CONF=0.3
+
+# RKNN NPU core mask: 1=core0, 2=core1, 3=core0+core1, 7=all three
+CORE_MASK=7
+
+# YOLO decoder params (must match model export)
+NUM_CLASSES=2
+SCORE_SIGMOID=false
+
+CAMERA_NAME=CC1
+OBJECT_LABEL=ayam-potong
+CLASS_AYAM=ayam
+CLASS_TALENAN=talenan
+
+# Line crossing: rtl (default) | ltr | both
+CROSS_DIRECTION=ltr
+LINE_X=
+LINE_X_FRAC=0.5
+
+DAILY_CUTOFF_TIME=17:00
+BATCH_TIMEOUT_SECONDS=300
+IGNORE_BATCH_LABEL_TIMEOUT_SECONDS=30
+MIN_OBJECT_PER_BATCH=60
+MIN_DURATION_PER_BATCH=60
+
+EXPORT_CSV=true
+RECORD_VIDEO=false
+
+LIVE_STREAM_ENABLED=true
+LIVE_STREAM_FRAME_PATH=/dev/shm/bytetrack-counter/live_frame.jpg
+LIVE_STREAM_QUALITY=75
+LIVE_STREAM_EVERY_N=2
+
+LOG_LEVEL=info
@@ -0,0 +1,35 @@
+# AGENTS.md — ByteTrack Counter C++
+
+## RKNN Dynamic Shape Requirement
+
+The RKNN model (`zenai_apc_cicalengka_20260609.rknn`) is exported with **dynamic input shapes** (`model inference type: dynamic_shape`). The C API **requires** calling `rknn_set_input_shapes()` before `rknn_inputs_set()`. Without it, `librknnrt.so` crashes with:
+
+```
+std::out_of_range: vector::_M_range_check: __n (which is 18446744073709551615) >= this->size() (which is 1)
+```
+
+This is called in the constructor of `RKNNYOLO` at `src/rknn_yolo.cpp:60`, right after querying input attributes:
+
+```cpp
+in_attr.dims[0] = 1;
+in_attr.dims[1] = imgsz_;
+in_attr.dims[2] = imgsz_;
+in_attr.dims[3] = 3;
+in_attr.n_dims = 4;
+ret = rknn_set_input_shapes(rknn_ctx_, io_num.n_input, &in_attr);
+```
+
+## Build
+
+```bash
+cd /opt/bytetrack-counter-cpp/build
+cmake .. -DHAS_RKNN=ON
+make -j$(nproc)
+```
+
+## Service
+
+```bash
+systemctl restart bytetrack-counter
+journalctl -u bytetrack-counter -f
+```
@@ -0,0 +1,37 @@
+# ByteTrack Counter C++ — Build Instructions
+
+## Install Dependencies
+
+```bash
+apt install -y build-essential cmake libopencv-dev libeigen3-dev libsqlite3-dev
+```
+
+| Package | Provides |
+|---------|---------|
+| `build-essential` | g++, make, libc-dev |
+| `cmake` | CMake |
+| `libopencv-dev` | OpenCV (core, imgproc, videoio, highgui, imgcodecs) |
+| `libeigen3-dev` | Eigen3 linear algebra |
+| `libsqlite3-dev` | SQLite3 |
+
+For RKNN NPU support, also install `librknnrt` from your board's SDK.
+
+## Compile
+
+```bash
+mkdir -p build && cd build
+
+# Without NPU
+cmake .. && make -j$(nproc)
+
+# With RKNN NPU support
+cmake .. -DHAS_RKNN=ON && make -j$(nproc)
+```
+
+The binary will be generated at `build/bytetrack-counter`.
+
+## Install
+
+```bash
+cmake --install . --prefix /opt/bytetrack-counter-cpp/build/install
+```
@@ -0,0 +1,55 @@
+cmake_minimum_required(VERSION 3.16)
+project(bytetrack-counter LANGUAGES CXX)
+
+set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+set(CMAKE_CXX_EXTENSIONS OFF)
+
+find_package(OpenCV REQUIRED COMPONENTS core imgproc videoio highgui imgcodecs)
+set(Eigen3_DIR /usr/share/eigen3/cmake)
+find_package(Eigen3 REQUIRED NO_MODULE)
+find_package(SQLite3 REQUIRED)
+
+option(HAS_RKNN "Build with RKNN NPU support" OFF)
+
+if(HAS_RKNN)
+    add_definitions(-DHAS_RKNN)
+    include_directories(/usr/local/include/rknn)
+endif()
+
+set(SOURCES
+    src/main.cpp
+    src/kalman_filter.cpp
+    src/bytetrack.cpp
+    src/batch_store.cpp
+    src/csv_logger.cpp
+    src/rknn_yolo.cpp
+    src/config.cpp
+    src/drawing.cpp
+)
+
+add_executable(bytetrack-counter ${SOURCES})
+
+target_include_directories(bytetrack-counter PRIVATE
+    ${OpenCV_INCLUDE_DIRS}
+    ${EIGEN3_INCLUDE_DIR}
+    ${SQLite3_INCLUDE_DIRS}
+    src
+)
+
+target_link_libraries(bytetrack-counter
+    ${OpenCV_LIBS}
+    ${SQLite3_LIBRARIES}
+    pthread
+)
+
+if(HAS_RKNN)
+    find_library(RKNN_LIB rknnrt PATHS /usr/lib /usr/local/lib)
+    if(RKNN_LIB)
+        target_link_libraries(bytetrack-counter ${RKNN_LIB})
+    else()
+        message(WARNING "librknnrt not found — RKNN support disabled")
+    endif()
+endif()
+
+install(TARGETS bytetrack-counter DESTINATION /opt/bytetrack-counter-cpp/bin)
@@ -1,2 +0,0 @@
-# bytetrack-counter-cpp
-
@@ -0,0 +1 @@
+batch,frame,timestamp,chicken_id
@@ -0,0 +1,379 @@
+"""
+Production batch persistence for edge Jetson counter.
+Mirrors frigate-counter SQLite schema + current_batch.json contract.
+"""
+import json
+import sqlite3
+import threading
+import time
+from datetime import datetime, timedelta
+from pathlib import Path
+
+
+class BatchStore:
+    def __init__(
+        self,
+        db_path,
+        state_file,
+        camera_name,
+        object_label='ayam-potong',
+        cutoff_time='20:00',
+        batch_timeout=300.0,
+        ignore_batch_label_timeout=30.0,
+        min_object_per_batch=60,
+        min_duration_per_batch=60,
+        carry_ids=50,
+        logger=print,
+    ):
+        self.db_path = db_path
+        self.state_file = Path(state_file)
+        self.camera_name = camera_name
+        self.object_label = object_label
+        self.cutoff_time_str = cutoff_time
+        datetime.strptime(cutoff_time, '%H:%M')
+
+        self.batch_timeout = float(batch_timeout)
+        self.ignore_batch_label_timeout = float(ignore_batch_label_timeout)
+        self.min_object_per_batch = int(min_object_per_batch)
+        self.min_duration_per_batch = int(min_duration_per_batch)
+        self.carry_ids = int(carry_ids)
+        self.log = logger
+
+        self.state_lock = threading.Lock()
+        self.batch_timer = None
+        self.ignore_batch_label = False
+        self.ignore_batch_label_timer = None
+        self.previous_state = None
+        self.shutdown_event = threading.Event()
+
+        Path(db_path).parent.mkdir(parents=True, exist_ok=True)
+        self.state_file.parent.mkdir(parents=True, exist_ok=True)
+
+        self.db = sqlite3.connect(db_path, check_same_thread=False)
+        self._init_db()
+        self.current_state = self._load_state()
+        self.previous_state = self.current_state
+
+    def _init_db(self):
+        cur = self.db.cursor()
+        cur.execute(
+            """
+            CREATE TABLE IF NOT EXISTS batches (
+                id INTEGER PRIMARY KEY AUTOINCREMENT,
+                counting_date TEXT NOT NULL,
+                batch_number INTEGER NOT NULL,
+                camera_name TEXT NOT NULL,
+                object_label TEXT NOT NULL,
+                count INTEGER NOT NULL,
+                start_time TEXT NOT NULL,
+                end_time TEXT NOT NULL,
+                created_at TIMESTAMP DEFAULT CURRENT_TIMESTAMP,
+                UNIQUE(counting_date, batch_number, camera_name, object_label)
+            )
+            """
+        )
+        cur.execute(
+            """
+            CREATE TABLE IF NOT EXISTS daily_summaries (
+                id INTEGER PRIMARY KEY AUTOINCREMENT,
+                counting_date TEXT NOT NULL,
+                camera_name TEXT NOT NULL,
+                object_label TEXT NOT NULL,
+                total_count INTEGER NOT NULL DEFAULT 0,
+                total_batches INTEGER NOT NULL DEFAULT 0,
+                updated_at TIMESTAMP DEFAULT CURRENT_TIMESTAMP,
+                UNIQUE(counting_date, camera_name, object_label)
+            )
+            """
+        )
+        self.db.commit()
+
+    def get_counting_date(self, dt=None):
+        if dt is None:
+            dt = datetime.now()
+        cutoff = datetime.strptime(self.cutoff_time_str, '%H:%M').time()
+        if dt.time() < cutoff:
+            return dt.date().isoformat()
+        return (dt.date() + timedelta(days=1)).isoformat()
+
+    def _load_state(self):
+        if not self.state_file.exists():
+            return None
+        try:
+            with open(self.state_file, 'r', encoding='utf-8') as f:
+                state = json.load(f)
+            current_date = self.get_counting_date()
+            if state.get('counting_date') != current_date:
+                self.log(
+                    f"State file belongs to previous counting day ({state.get('counting_date')}). "
+                    'Finalizing before fresh start.'
+                )
+                self._insert_batch(
+                    state['counting_date'],
+                    state['batch_number'],
+                    state['count'],
+                    state['start_time'],
+                    datetime.now().isoformat(),
+                )
+                self.state_file.unlink(missing_ok=True)
+                return None
+            self.log(
+                f"Resumed batch #{state['batch_number']} from {state['start_time']} "
+                f"with count={state['count']}"
+            )
+            self._reset_batch_timer()
+            return state
+        except Exception as exc:
+            self.log(f'Failed to load state file: {exc}')
+            return None
+
+    def save_state(self):
+        if self.current_state is None:
+            self.state_file.unlink(missing_ok=True)
+            return
+        with open(self.state_file, 'w', encoding='utf-8') as f:
+            json.dump(self.current_state, f, indent=2, ensure_ascii=False)
+
+    def get_next_batch_number(self, counting_date):
+        cur = self.db.cursor()
+        cur.execute(
+            """
+            SELECT COALESCE(MAX(batch_number), 0)
+            FROM batches
+            WHERE counting_date = ? AND camera_name = ? AND object_label = ?
+            """,
+            (counting_date, self.camera_name, self.object_label),
+        )
+        return cur.fetchone()[0] + 1
+
+    def start_new_batch(self, counting_date):
+        batch_number = self.get_next_batch_number(counting_date)
+        now = datetime.now().isoformat()
+        counted_ids = []
+        if self.previous_state is not None:
+            try:
+                counted_ids = self.previous_state['counted_event_ids'][-self.carry_ids:]
+            except (KeyError, TypeError):
+                counted_ids = []
+        self.current_state = {
+            'counting_date': counting_date,
+            'batch_number': batch_number,
+            'count': 0,
+            'start_time': now,
+            'last_detection_time': now,
+            'counted_event_ids': counted_ids,
+        }
+        self.save_state()
+        self.log(f'Started batch #{batch_number} for {counting_date} ({self.object_label})')
+
+    def _reset_batch_timer(self):
+        if self.batch_timer:
+            self.batch_timer.cancel()
+        self.batch_timer = threading.Timer(self.batch_timeout, self._on_batch_timeout)
+        self.batch_timer.daemon = True
+        self.batch_timer.start()
+
+    def _on_batch_timeout(self):
+        self.log(f'Batch inactivity timeout ({self.batch_timeout}s) reached')
+        self.end_batch(closed_by='timeout')
+
+    def _ignore_batch_label(self):
+        if not self.ignore_batch_label_timer:
+            self.ignore_batch_label = True
+            self.ignore_batch_label_timer = threading.Timer(
+                self.ignore_batch_label_timeout, self._on_ignore_batch_label_timeout
+            )
+            self.ignore_batch_label_timer.daemon = True
+            self.ignore_batch_label_timer.start()
+            self.log(
+                f'Ignore batch label for {self.ignore_batch_label_timeout}s'
+            )
+
+    def _on_ignore_batch_label_timeout(self):
+        self.ignore_batch_label_timer = None
+        self.ignore_batch_label = False
+        self.log('Ignore batch label cooldown finished')
+
+    def record_ayam_crossing(self, track_id):
+        """Line-cross equivalent of production ayam-potong MQTT event."""
+        with self.state_lock:
+            counting_date = self.get_counting_date()
+            started_new = False
+            if self.current_state is None:
+                self.start_new_batch(counting_date)
+                started_new = True
+            elif self.current_state['counting_date'] != counting_date:
+                self._end_batch_locked(closed_by='cutoff')
+                self.start_new_batch(counting_date)
+                started_new = True
+
+            event_key = str(track_id)
+            if event_key not in self.current_state['counted_event_ids']:
+                self.current_state['count'] += 1
+                self.current_state['counted_event_ids'].append(event_key)
+                self.log(
+                    f'Counted ayam (track {track_id}) | batch #{self.current_state["batch_number"]} '
+                    f'total: {self.current_state["count"]}'
+                )
+
+            self.current_state['last_detection_time'] = datetime.now().isoformat()
+            self.save_state()
+            self._reset_batch_timer()
+            return self.current_state['count'], started_new
+
+    def record_talenan_crossing(self, track_id):
+        """Line-cross equivalent of production telenan MQTT batch close."""
+        if self.ignore_batch_label:
+            return False
+        with self.state_lock:
+            self._ignore_batch_label()
+            self._end_batch_locked(closed_by='talenan')
+            self.log(f'Batch closed by talenan (track {track_id})')
+            if self.batch_timer:
+                self.batch_timer.cancel()
+                self.batch_timer = None
+            return True
+
+    def end_batch(self, closed_by='manual'):
+        with self.state_lock:
+            self._end_batch_locked(closed_by=closed_by)
+
+    def _end_batch_locked(self, closed_by='manual'):
+        if self.current_state is None:
+            return False
+
+        self.previous_state = self.current_state
+        state = self.current_state
+
+        start_time_obj = datetime.fromisoformat(state['start_time'])
+        end_time_obj = datetime.now()
+        duration_seconds = (end_time_obj - start_time_obj).total_seconds()
+
+        if (state['count'] < self.min_object_per_batch
+                or duration_seconds < self.min_duration_per_batch):
+            self.current_state = None
+            self.save_state()
+            if self.batch_timer:
+                self.batch_timer.cancel()
+                self.batch_timer = None
+            self.log(
+                f'Batch #{state["batch_number"]} discarded '
+                f'(count={state["count"]}, duration={duration_seconds:.0f}s)'
+            )
+            return False
+
+        end_time = end_time_obj.isoformat()
+        try:
+            self._insert_batch(
+                state['counting_date'],
+                state['batch_number'],
+                state['count'],
+                state['start_time'],
+                end_time,
+            )
+            cps = state['count'] / duration_seconds if duration_seconds > 0 else 0
+            self.log(
+                f'Batch #{state["batch_number"]} ended | count={state["count"]} | '
+                f'duration={duration_seconds:.0f}s | cps={cps:.3f} | closed_by={closed_by}'
+            )
+        except Exception as exc:
+            self.log(f'Failed to persist batch: {exc}')
+            return False
+
+        self.current_state = None
+        self.save_state()
+        if self.batch_timer:
+            self.batch_timer.cancel()
+            self.batch_timer = None
+        return True
+
+    def _insert_batch(self, counting_date, batch_number, count, start_time, end_time):
+        cur = self.db.cursor()
+        cur.execute(
+            """
+            INSERT INTO batches
+                (counting_date, batch_number, camera_name, object_label, count, start_time, end_time)
+            VALUES (?, ?, ?, ?, ?, ?, ?)
+            """,
+            (counting_date, batch_number, self.camera_name, self.object_label, count, start_time, end_time),
+        )
+        cur.execute(
+            """
+            INSERT INTO daily_summaries
+                (counting_date, camera_name, object_label, total_count, total_batches)
+            VALUES (?, ?, ?, ?, 1)
+            ON CONFLICT(counting_date, camera_name, object_label)
+            DO UPDATE SET
+                total_count = total_count + excluded.total_count,
+                total_batches = total_batches + excluded.total_batches,
+                updated_at = CURRENT_TIMESTAMP
+            """,
+            (counting_date, self.camera_name, self.object_label, count),
+        )
+        self.db.commit()
+
+        cur.execute(
+            """
+            SELECT total_count, total_batches
+            FROM daily_summaries
+            WHERE counting_date = ? AND camera_name = ? AND object_label = ?
+            """,
+            (counting_date, self.camera_name, self.object_label),
+        )
+        row = cur.fetchone()
+        if row:
+            self.log(
+                f'Daily totals for {counting_date}: {row[0]} objects across {row[1]} batch(es)'
+            )
+
+    def cutoff_watcher_loop(self):
+        while not self.shutdown_event.is_set():
+            time.sleep(60)
+            with self.state_lock:
+                if self.current_state is None:
+                    continue
+                if self.current_state['counting_date'] != self.get_counting_date():
+                    self.log('Daily cutoff reached – finalizing batch')
+                    self._end_batch_locked(closed_by='cutoff')
+
+    def start_cutoff_watcher(self):
+        t = threading.Thread(target=self.cutoff_watcher_loop, daemon=True)
+        t.start()
+        return t
+
+    @property
+    def current_batch_number(self):
+        if self.current_state is None:
+            return 0
+        return self.current_state['batch_number']
+
+    @property
+    def current_batch_count(self):
+        if self.current_state is None:
+            return 0
+        return self.current_state['count']
+
+    def get_closed_total_for_day(self, counting_date=None):
+        if counting_date is None:
+            counting_date = self.get_counting_date()
+        cur = self.db.cursor()
+        cur.execute(
+            """
+            SELECT COALESCE(total_count, 0)
+            FROM daily_summaries
+            WHERE counting_date = ? AND camera_name = ? AND object_label = ?
+            """,
+            (counting_date, self.camera_name, self.object_label),
+        )
+        row = cur.fetchone()
+        return row[0] if row else 0
+
+    def display_total(self):
+        return self.get_closed_total_for_day() + self.current_batch_count
+
+    def shutdown(self):
+        self.shutdown_event.set()
+        self.end_batch(closed_by='shutdown')
+        if self.batch_timer:
+            self.batch_timer.cancel()
+        self.db.close()
@@ -0,0 +1,366 @@
+# This is the CMakeCache file.
+# For build in directory: /opt/bytetrack-counter-cpp/build
+# It was generated by CMake: /usr/bin/cmake
+# You can edit this file to change values found and used by cmake.
+# If you do not want to change any of the values, simply exit the editor.
+# If you do want to change a value, simply edit, save, and exit the editor.
+# The syntax for the file is as follows:
+# KEY:TYPE=VALUE
+# KEY is the name of a variable in the cache.
+# TYPE is a hint to GUIs for the type of VALUE, DO NOT EDIT TYPE!.
+# VALUE is the current value for the KEY.
+
+########################
+# EXTERNAL cache entries
+########################
+
+//Path to a program.
+CMAKE_ADDR2LINE:FILEPATH=/usr/bin/addr2line
+
+//Path to a program.
+CMAKE_AR:FILEPATH=/usr/bin/ar
+
+//Choose the type of build, options are: None Debug Release RelWithDebInfo
+// MinSizeRel ...
+CMAKE_BUILD_TYPE:STRING=
+
+//Enable/Disable color output during build.
+CMAKE_COLOR_MAKEFILE:BOOL=ON
+
+//CXX compiler
+CMAKE_CXX_COMPILER:FILEPATH=/usr/bin/c++
+
+//A wrapper around 'ar' adding the appropriate '--plugin' option
+// for the GCC compiler
+CMAKE_CXX_COMPILER_AR:FILEPATH=/usr/bin/gcc-ar-13
+
+//A wrapper around 'ranlib' adding the appropriate '--plugin' option
+// for the GCC compiler
+CMAKE_CXX_COMPILER_RANLIB:FILEPATH=/usr/bin/gcc-ranlib-13
+
+//Flags used by the CXX compiler during all build types.
+CMAKE_CXX_FLAGS:STRING=
+
+//Flags used by the CXX compiler during DEBUG builds.
+CMAKE_CXX_FLAGS_DEBUG:STRING=-g
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+     except that a few beta releases use the old format with V=2021.  */
+# if __INTEL_COMPILER < 2021 || __INTEL_COMPILER == 202110 || __INTEL_COMPILER == 202111
+#  define COMPILER_VERSION_MAJOR DEC(__INTEL_COMPILER/100)
+#  define COMPILER_VERSION_MINOR DEC(__INTEL_COMPILER/10 % 10)
+#  if defined(__INTEL_COMPILER_UPDATE)
+#   define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER_UPDATE)
+#  else
+#   define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER   % 10)
+#  endif
+# else
+#  define COMPILER_VERSION_MAJOR DEC(__INTEL_COMPILER)
+#  define COMPILER_VERSION_MINOR DEC(__INTEL_COMPILER_UPDATE)
+   /* The third version component from --version is an update index,
+      but no macro is provided for it.  */
+#  define COMPILER_VERSION_PATCH DEC(0)
+# endif
+# if defined(__INTEL_COMPILER_BUILD_DATE)
+   /* __INTEL_COMPILER_BUILD_DATE = YYYYMMDD */
+#  define COMPILER_VERSION_TWEAK DEC(__INTEL_COMPILER_BUILD_DATE)
+# endif
+# if defined(_MSC_VER)
+   /* _MSC_VER = VVRR */
+#  define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+#  define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+# if defined(__GNUC__)
+#  define SIMULATE_VERSION_MAJOR DEC(__GNUC__)
+# elif defined(__GNUG__)
+#  define SIMULATE_VERSION_MAJOR DEC(__GNUG__)
+# endif
+# if defined(__GNUC_MINOR__)
+#  define SIMULATE_VERSION_MINOR DEC(__GNUC_MINOR__)
+# endif
+# if defined(__GNUC_PATCHLEVEL__)
+#  define SIMULATE_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
+# endif
+
+#elif (defined(__clang__) && defined(__INTEL_CLANG_COMPILER)) || defined(__INTEL_LLVM_COMPILER)
+# define COMPILER_ID "IntelLLVM"
+#if defined(_MSC_VER)
+# define SIMULATE_ID "MSVC"
+#endif
+#if defined(__GNUC__)
+# define SIMULATE_ID "GNU"
+#endif
+/* __INTEL_LLVM_COMPILER = VVVVRP prior to 2021.2.0, VVVVRRPP for 2021.2.0 and
+ * later.  Look for 6 digit vs. 8 digit version number to decide encoding.
+ * VVVV is no smaller than the current year when a version is released.
+ */
+#if __INTEL_LLVM_COMPILER < 1000000L
+# define COMPILER_VERSION_MAJOR DEC(__INTEL_LLVM_COMPILER/100)
+# define COMPILER_VERSION_MINOR DEC(__INTEL_LLVM_COMPILER/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__INTEL_LLVM_COMPILER    % 10)
+#else
+# define COMPILER_VERSION_MAJOR DEC(__INTEL_LLVM_COMPILER/10000)
+# define COMPILER_VERSION_MINOR DEC(__INTEL_LLVM_COMPILER/100 % 100)
+# define COMPILER_VERSION_PATCH DEC(__INTEL_LLVM_COMPILER     % 100)
+#endif
+#if defined(_MSC_VER)
+  /* _MSC_VER = VVRR */
+# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+#endif
+#if defined(__GNUC__)
+# define SIMULATE_VERSION_MAJOR DEC(__GNUC__)
+#elif defined(__GNUG__)
+# define SIMULATE_VERSION_MAJOR DEC(__GNUG__)
+#endif
+#if defined(__GNUC_MINOR__)
+# define SIMULATE_VERSION_MINOR DEC(__GNUC_MINOR__)
+#endif
+#if defined(__GNUC_PATCHLEVEL__)
+# define SIMULATE_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
+#endif
+
+#elif defined(__PATHCC__)
+# define COMPILER_ID "PathScale"
+# define COMPILER_VERSION_MAJOR DEC(__PATHCC__)
+# define COMPILER_VERSION_MINOR DEC(__PATHCC_MINOR__)
+# if defined(__PATHCC_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__PATHCC_PATCHLEVEL__)
+# endif
+
+#elif defined(__BORLANDC__) && defined(__CODEGEARC_VERSION__)
+# define COMPILER_ID "Embarcadero"
+# define COMPILER_VERSION_MAJOR HEX(__CODEGEARC_VERSION__>>24 & 0x00FF)
+# define COMPILER_VERSION_MINOR HEX(__CODEGEARC_VERSION__>>16 & 0x00FF)
+# define COMPILER_VERSION_PATCH DEC(__CODEGEARC_VERSION__     & 0xFFFF)
+
+#elif defined(__BORLANDC__)
+# define COMPILER_ID "Borland"
+  /* __BORLANDC__ = 0xVRR */
+# define COMPILER_VERSION_MAJOR HEX(__BORLANDC__>>8)
+# define COMPILER_VERSION_MINOR HEX(__BORLANDC__ & 0xFF)
+
+#elif defined(__WATCOMC__) && __WATCOMC__ < 1200
+# define COMPILER_ID "Watcom"
+   /* __WATCOMC__ = VVRR */
+# define COMPILER_VERSION_MAJOR DEC(__WATCOMC__ / 100)
+# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10)
+# if (__WATCOMC__ % 10) > 0
+#  define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10)
+# endif
+
+#elif defined(__WATCOMC__)
+# define COMPILER_ID "OpenWatcom"
+   /* __WATCOMC__ = VVRP + 1100 */
+# define COMPILER_VERSION_MAJOR DEC((__WATCOMC__ - 1100) / 100)
+# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10)
+# if (__WATCOMC__ % 10) > 0
+#  define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10)
+# endif
+
+#elif defined(__SUNPRO_CC)
+# define COMPILER_ID "SunPro"
+# if __SUNPRO_CC >= 0x5100
+   /* __SUNPRO_CC = 0xVRRP */
+#  define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>12)
+#  define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xFF)
+#  define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC    & 0xF)
+# else
+   /* __SUNPRO_CC = 0xVRP */
+#  define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>8)
+#  define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xF)
+#  define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC    & 0xF)
+# endif
+
+#elif defined(__HP_aCC)
+# define COMPILER_ID "HP"
+  /* __HP_aCC = VVRRPP */
+# define COMPILER_VERSION_MAJOR DEC(__HP_aCC/10000)
+# define COMPILER_VERSION_MINOR DEC(__HP_aCC/100 % 100)
+# define COMPILER_VERSION_PATCH DEC(__HP_aCC     % 100)
+
+#elif defined(__DECCXX)
+# define COMPILER_ID "Compaq"
+  /* __DECCXX_VER = VVRRTPPPP */
+# define COMPILER_VERSION_MAJOR DEC(__DECCXX_VER/10000000)
+# define COMPILER_VERSION_MINOR DEC(__DECCXX_VER/100000  % 100)
+# define COMPILER_VERSION_PATCH DEC(__DECCXX_VER         % 10000)
+
+#elif defined(__IBMCPP__) && defined(__COMPILER_VER__)
+# define COMPILER_ID "zOS"
+  /* __IBMCPP__ = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100)
+# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__IBMCPP__    % 10)
+
+#elif defined(__open_xl__) && defined(__clang__)
+# define COMPILER_ID "IBMClang"
+# define COMPILER_VERSION_MAJOR DEC(__open_xl_version__)
+# define COMPILER_VERSION_MINOR DEC(__open_xl_release__)
+# define COMPILER_VERSION_PATCH DEC(__open_xl_modification__)
+# define COMPILER_VERSION_TWEAK DEC(__open_xl_ptf_fix_level__)
+
+
+#elif defined(__ibmxl__) && defined(__clang__)
+# define COMPILER_ID "XLClang"
+# define COMPILER_VERSION_MAJOR DEC(__ibmxl_version__)
+# define COMPILER_VERSION_MINOR DEC(__ibmxl_release__)
+# define COMPILER_VERSION_PATCH DEC(__ibmxl_modification__)
+# define COMPILER_VERSION_TWEAK DEC(__ibmxl_ptf_fix_level__)
+
+
+#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ >= 800
+# define COMPILER_ID "XL"
+  /* __IBMCPP__ = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100)
+# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__IBMCPP__    % 10)
+
+#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ < 800
+# define COMPILER_ID "VisualAge"
+  /* __IBMCPP__ = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100)
+# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__IBMCPP__    % 10)
+
+#elif defined(__NVCOMPILER)
+# define COMPILER_ID "NVHPC"
+# define COMPILER_VERSION_MAJOR DEC(__NVCOMPILER_MAJOR__)
+# define COMPILER_VERSION_MINOR DEC(__NVCOMPILER_MINOR__)
+# if defined(__NVCOMPILER_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__NVCOMPILER_PATCHLEVEL__)
+# endif
+
+#elif defined(__PGI)
+# define COMPILER_ID "PGI"
+# define COMPILER_VERSION_MAJOR DEC(__PGIC__)
+# define COMPILER_VERSION_MINOR DEC(__PGIC_MINOR__)
+# if defined(__PGIC_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__PGIC_PATCHLEVEL__)
+# endif
+
+#elif defined(__clang__) && defined(__cray__)
+# define COMPILER_ID "CrayClang"
+# define COMPILER_VERSION_MAJOR DEC(__cray_major__)
+# define COMPILER_VERSION_MINOR DEC(__cray_minor__)
+# define COMPILER_VERSION_PATCH DEC(__cray_patchlevel__)
+# define COMPILER_VERSION_INTERNAL_STR __clang_version__
+
+
+#elif defined(_CRAYC)
+# define COMPILER_ID "Cray"
+# define COMPILER_VERSION_MAJOR DEC(_RELEASE_MAJOR)
+# define COMPILER_VERSION_MINOR DEC(_RELEASE_MINOR)
+
+#elif defined(__TI_COMPILER_VERSION__)
+# define COMPILER_ID "TI"
+  /* __TI_COMPILER_VERSION__ = VVVRRRPPP */
+# define COMPILER_VERSION_MAJOR DEC(__TI_COMPILER_VERSION__/1000000)
+# define COMPILER_VERSION_MINOR DEC(__TI_COMPILER_VERSION__/1000   % 1000)
+# define COMPILER_VERSION_PATCH DEC(__TI_COMPILER_VERSION__        % 1000)
+
+#elif defined(__CLANG_FUJITSU)
+# define COMPILER_ID "FujitsuClang"
+# define COMPILER_VERSION_MAJOR DEC(__FCC_major__)
+# define COMPILER_VERSION_MINOR DEC(__FCC_minor__)
+# define COMPILER_VERSION_PATCH DEC(__FCC_patchlevel__)
+# define COMPILER_VERSION_INTERNAL_STR __clang_version__
+
+
+#elif defined(__FUJITSU)
+# define COMPILER_ID "Fujitsu"
+# if defined(__FCC_version__)
+#   define COMPILER_VERSION __FCC_version__
+# elif defined(__FCC_major__)
+#   define COMPILER_VERSION_MAJOR DEC(__FCC_major__)
+#   define COMPILER_VERSION_MINOR DEC(__FCC_minor__)
+#   define COMPILER_VERSION_PATCH DEC(__FCC_patchlevel__)
+# endif
+# if defined(__fcc_version)
+#   define COMPILER_VERSION_INTERNAL DEC(__fcc_version)
+# elif defined(__FCC_VERSION)
+#   define COMPILER_VERSION_INTERNAL DEC(__FCC_VERSION)
+# endif
+
+
+#elif defined(__ghs__)
+# define COMPILER_ID "GHS"
+/* __GHS_VERSION_NUMBER = VVVVRP */
+# ifdef __GHS_VERSION_NUMBER
+# define COMPILER_VERSION_MAJOR DEC(__GHS_VERSION_NUMBER / 100)
+# define COMPILER_VERSION_MINOR DEC(__GHS_VERSION_NUMBER / 10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__GHS_VERSION_NUMBER      % 10)
+# endif
+
+#elif defined(__TASKING__)
+# define COMPILER_ID "Tasking"
+  # define COMPILER_VERSION_MAJOR DEC(__VERSION__/1000)
+  # define COMPILER_VERSION_MINOR DEC(__VERSION__ % 100)
+# define COMPILER_VERSION_INTERNAL DEC(__VERSION__)
+
+#elif defined(__ORANGEC__)
+# define COMPILER_ID "OrangeC"
+# define COMPILER_VERSION_MAJOR DEC(__ORANGEC_MAJOR__)
+# define COMPILER_VERSION_MINOR DEC(__ORANGEC_MINOR__)
+# define COMPILER_VERSION_PATCH DEC(__ORANGEC_PATCHLEVEL__)
+
+#elif defined(__SCO_VERSION__)
+# define COMPILER_ID "SCO"
+
+#elif defined(__ARMCC_VERSION) && !defined(__clang__)
+# define COMPILER_ID "ARMCC"
+#if __ARMCC_VERSION >= 1000000
+  /* __ARMCC_VERSION = VRRPPPP */
+  # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/1000000)
+  # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 100)
+  # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION     % 10000)
+#else
+  /* __ARMCC_VERSION = VRPPPP */
+  # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/100000)
+  # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 10)
+  # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION    % 10000)
+#endif
+
+
+#elif defined(__clang__) && defined(__apple_build_version__)
+# define COMPILER_ID "AppleClang"
+# if defined(_MSC_VER)
+#  define SIMULATE_ID "MSVC"
+# endif
+# define COMPILER_VERSION_MAJOR DEC(__clang_major__)
+# define COMPILER_VERSION_MINOR DEC(__clang_minor__)
+# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__)
+# if defined(_MSC_VER)
+   /* _MSC_VER = VVRR */
+#  define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+#  define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+# define COMPILER_VERSION_TWEAK DEC(__apple_build_version__)
+
+#elif defined(__clang__) && defined(__ARMCOMPILER_VERSION)
+# define COMPILER_ID "ARMClang"
+  # define COMPILER_VERSION_MAJOR DEC(__ARMCOMPILER_VERSION/1000000)
+  # define COMPILER_VERSION_MINOR DEC(__ARMCOMPILER_VERSION/10000 % 100)
+  # define COMPILER_VERSION_PATCH DEC(__ARMCOMPILER_VERSION/100   % 100)
+# define COMPILER_VERSION_INTERNAL DEC(__ARMCOMPILER_VERSION)
+
+#elif defined(__clang__)
+# define COMPILER_ID "Clang"
+# if defined(_MSC_VER)
+#  define SIMULATE_ID "MSVC"
+# endif
+# define COMPILER_VERSION_MAJOR DEC(__clang_major__)
+# define COMPILER_VERSION_MINOR DEC(__clang_minor__)
+# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__)
+# if defined(_MSC_VER)
+   /* _MSC_VER = VVRR */
+#  define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+#  define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+
+#elif defined(__LCC__) && (defined(__GNUC__) || defined(__GNUG__) || defined(__MCST__))
+# define COMPILER_ID "LCC"
+# define COMPILER_VERSION_MAJOR DEC(__LCC__ / 100)
+# define COMPILER_VERSION_MINOR DEC(__LCC__ % 100)
+# if defined(__LCC_MINOR__)
+#  define COMPILER_VERSION_PATCH DEC(__LCC_MINOR__)
+# endif
+# if defined(__GNUC__) && defined(__GNUC_MINOR__)
+#  define SIMULATE_ID "GNU"
+#  define SIMULATE_VERSION_MAJOR DEC(__GNUC__)
+#  define SIMULATE_VERSION_MINOR DEC(__GNUC_MINOR__)
+#  if defined(__GNUC_PATCHLEVEL__)
+#   define SIMULATE_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
+#  endif
+# endif
+
+#elif defined(__GNUC__) || defined(__GNUG__)
+# define COMPILER_ID "GNU"
+# if defined(__GNUC__)
+#  define COMPILER_VERSION_MAJOR DEC(__GNUC__)
+# else
+#  define COMPILER_VERSION_MAJOR DEC(__GNUG__)
+# endif
+# if defined(__GNUC_MINOR__)
+#  define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__)
+# endif
+# if defined(__GNUC_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
+# endif
+
+#elif defined(_MSC_VER)
+# define COMPILER_ID "MSVC"
+  /* _MSC_VER = VVRR */
+# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100)
+# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100)
+# if defined(_MSC_FULL_VER)
+#  if _MSC_VER >= 1400
+    /* _MSC_FULL_VER = VVRRPPPPP */
+#   define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000)
+#  else
+    /* _MSC_FULL_VER = VVRRPPPP */
+#   define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000)
+#  endif
+# endif
+# if defined(_MSC_BUILD)
+#  define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD)
+# endif
+
+#elif defined(_ADI_COMPILER)
+# define COMPILER_ID "ADSP"
+#if defined(__VERSIONNUM__)
+  /* __VERSIONNUM__ = 0xVVRRPPTT */
+#  define COMPILER_VERSION_MAJOR DEC(__VERSIONNUM__ >> 24 & 0xFF)
+#  define COMPILER_VERSION_MINOR DEC(__VERSIONNUM__ >> 16 & 0xFF)
+#  define COMPILER_VERSION_PATCH DEC(__VERSIONNUM__ >> 8 & 0xFF)
+#  define COMPILER_VERSION_TWEAK DEC(__VERSIONNUM__ & 0xFF)
+#endif
+
+#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC)
+# define COMPILER_ID "IAR"
+# if defined(__VER__) && defined(__ICCARM__)
+#  define COMPILER_VERSION_MAJOR DEC((__VER__) / 1000000)
+#  define COMPILER_VERSION_MINOR DEC(((__VER__) / 1000) % 1000)
+#  define COMPILER_VERSION_PATCH DEC((__VER__) % 1000)
+#  define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__)
+# elif defined(__VER__) && (defined(__ICCAVR__) || defined(__ICCRX__) || defined(__ICCRH850__) || defined(__ICCRL78__) || defined(__ICC430__) || defined(__ICCRISCV__) || defined(__ICCV850__) || defined(__ICC8051__) || defined(__ICCSTM8__))
+#  define COMPILER_VERSION_MAJOR DEC((__VER__) / 100)
+#  define COMPILER_VERSION_MINOR DEC((__VER__) - (((__VER__) / 100)*100))
+#  define COMPILER_VERSION_PATCH DEC(__SUBVERSION__)
+#  define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__)
+# endif
+
+
+/* These compilers are either not known or too old to define an
+  identification macro.  Try to identify the platform and guess that
+  it is the native compiler.  */
+#elif defined(__hpux) || defined(__hpua)
+# define COMPILER_ID "HP"
+
+#else /* unknown compiler */
+# define COMPILER_ID ""
+#endif
+
+/* Construct the string literal in pieces to prevent the source from
+   getting matched.  Store it in a pointer rather than an array
+   because some compilers will just produce instructions to fill the
+   array rather than assigning a pointer to a static array.  */
+char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]";
+#ifdef SIMULATE_ID
+char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]";
+#endif
+
+#ifdef __QNXNTO__
+char const* qnxnto = "INFO" ":" "qnxnto[]";
+#endif
+
+#if defined(__CRAYXT_COMPUTE_LINUX_TARGET)
+char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]";
+#endif
+
+#define STRINGIFY_HELPER(X) #X
+#define STRINGIFY(X) STRINGIFY_HELPER(X)
+
+/* Identify known platforms by name.  */
+#if defined(__linux) || defined(__linux__) || defined(linux)
+# define PLATFORM_ID "Linux"
+
+#elif defined(__MSYS__)
+# define PLATFORM_ID "MSYS"
+
+#elif defined(__CYGWIN__)
+# define PLATFORM_ID "Cygwin"
+
+#elif defined(__MINGW32__)
+# define PLATFORM_ID "MinGW"
+
+#elif defined(__APPLE__)
+# define PLATFORM_ID "Darwin"
+
+#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32)
+# define PLATFORM_ID "Windows"
+
+#elif defined(__FreeBSD__) || defined(__FreeBSD)
+# define PLATFORM_ID "FreeBSD"
+
+#elif defined(__NetBSD__) || defined(__NetBSD)
+# define PLATFORM_ID "NetBSD"
+
+#elif defined(__OpenBSD__) || defined(__OPENBSD)
+# define PLATFORM_ID "OpenBSD"
+
+#elif defined(__sun) || defined(sun)
+# define PLATFORM_ID "SunOS"
+
+#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__)
+# define PLATFORM_ID "AIX"
+
+#elif defined(__hpux) || defined(__hpux__)
+# define PLATFORM_ID "HP-UX"
+
+#elif defined(__HAIKU__)
+# define PLATFORM_ID "Haiku"
+
+#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS)
+# define PLATFORM_ID "BeOS"
+
+#elif defined(__QNX__) || defined(__QNXNTO__)
+# define PLATFORM_ID "QNX"
+
+#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__)
+# define PLATFORM_ID "Tru64"
+
+#elif defined(__riscos) || defined(__riscos__)
+# define PLATFORM_ID "RISCos"
+
+#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__)
+# define PLATFORM_ID "SINIX"
+
+#elif defined(__UNIX_SV__)
+# define PLATFORM_ID "UNIX_SV"
+
+#elif defined(__bsdos__)
+# define PLATFORM_ID "BSDOS"
+
+#elif defined(_MPRAS) || defined(MPRAS)
+# define PLATFORM_ID "MP-RAS"
+
+#elif defined(__osf) || defined(__osf__)
+# define PLATFORM_ID "OSF1"
+
+#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv)
+# define PLATFORM_ID "SCO_SV"
+
+#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX)
+# define PLATFORM_ID "ULTRIX"
+
+#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX)
+# define PLATFORM_ID "Xenix"
+
+#elif defined(__WATCOMC__)
+# if defined(__LINUX__)
+#  define PLATFORM_ID "Linux"
+
+# elif defined(__DOS__)
+#  define PLATFORM_ID "DOS"
+
+# elif defined(__OS2__)
+#  define PLATFORM_ID "OS2"
+
+# elif defined(__WINDOWS__)
+#  define PLATFORM_ID "Windows3x"
+
+# elif defined(__VXWORKS__)
+#  define PLATFORM_ID "VxWorks"
+
+# else /* unknown platform */
+#  define PLATFORM_ID
+# endif
+
+#elif defined(__INTEGRITY)
+# if defined(INT_178B)
+#  define PLATFORM_ID "Integrity178"
+
+# else /* regular Integrity */
+#  define PLATFORM_ID "Integrity"
+# endif
+
+# elif defined(_ADI_COMPILER)
+#  define PLATFORM_ID "ADSP"
+
+#else /* unknown platform */
+# define PLATFORM_ID
+
+#endif
+
+/* For windows compilers MSVC and Intel we can determine
+   the architecture of the compiler being used.  This is because
+   the compilers do not have flags that can change the architecture,
+   but rather depend on which compiler is being used
+*/
+#if defined(_WIN32) && defined(_MSC_VER)
+# if defined(_M_IA64)
+#  define ARCHITECTURE_ID "IA64"
+
+# elif defined(_M_ARM64EC)
+#  define ARCHITECTURE_ID "ARM64EC"
+
+# elif defined(_M_X64) || defined(_M_AMD64)
+#  define ARCHITECTURE_ID "x64"
+
+# elif defined(_M_IX86)
+#  define ARCHITECTURE_ID "X86"
+
+# elif defined(_M_ARM64)
+#  define ARCHITECTURE_ID "ARM64"
+
+# elif defined(_M_ARM)
+#  if _M_ARM == 4
+#   define ARCHITECTURE_ID "ARMV4I"
+#  elif _M_ARM == 5
+#   define ARCHITECTURE_ID "ARMV5I"
+#  else
+#   define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM)
+#  endif
+
+# elif defined(_M_MIPS)
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+# elif defined(_M_SH)
+#  define ARCHITECTURE_ID "SHx"
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+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__WATCOMC__)
+# if defined(_M_I86)
+#  define ARCHITECTURE_ID "I86"
+
+# elif defined(_M_IX86)
+#  define ARCHITECTURE_ID "X86"
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+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC)
+# if defined(__ICCARM__)
+#  define ARCHITECTURE_ID "ARM"
+
+# elif defined(__ICCRX__)
+#  define ARCHITECTURE_ID "RX"
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+# elif defined(__ICCRH850__)
+#  define ARCHITECTURE_ID "RH850"
+
+# elif defined(__ICCRL78__)
+#  define ARCHITECTURE_ID "RL78"
+
+# elif defined(__ICCRISCV__)
+#  define ARCHITECTURE_ID "RISCV"
+
+# elif defined(__ICCAVR__)
+#  define ARCHITECTURE_ID "AVR"
+
+# elif defined(__ICC430__)
+#  define ARCHITECTURE_ID "MSP430"
+
+# elif defined(__ICCV850__)
+#  define ARCHITECTURE_ID "V850"
+
+# elif defined(__ICC8051__)
+#  define ARCHITECTURE_ID "8051"
+
+# elif defined(__ICCSTM8__)
+#  define ARCHITECTURE_ID "STM8"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__ghs__)
+# if defined(__PPC64__)
+#  define ARCHITECTURE_ID "PPC64"
+
+# elif defined(__ppc__)
+#  define ARCHITECTURE_ID "PPC"
+
+# elif defined(__ARM__)
+#  define ARCHITECTURE_ID "ARM"
+
+# elif defined(__x86_64__)
+#  define ARCHITECTURE_ID "x64"
+
+# elif defined(__i386__)
+#  define ARCHITECTURE_ID "X86"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__TI_COMPILER_VERSION__)
+# if defined(__TI_ARM__)
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+
+# elif defined(__TMS320C6X__) || defined(_TMS320C6X)
+#  define ARCHITECTURE_ID "TMS320C6x"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+# elif defined(__ADSPSHARC__)
+#  define ARCHITECTURE_ID "SHARC"
+
+# elif defined(__ADSPBLACKFIN__)
+#  define ARCHITECTURE_ID "Blackfin"
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+#elif defined(__TASKING__)
+
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+#  define ARCHITECTURE_ID ""
+# endif
+
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+#  define ARCHITECTURE_ID
+#endif
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+  ('0' + (((n) / 10000000)%10)), \
+  ('0' + (((n) / 1000000)%10)),  \
+  ('0' + (((n) / 100000)%10)),   \
+  ('0' + (((n) / 10000)%10)),    \
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+  ('0' + (((n) / 100)%10)),      \
+  ('0' + (((n) / 10)%10)),       \
+  ('0' +  ((n) % 10))
+
+/* Convert integer to hex digit literals.  */
+#define HEX(n)             \
+  ('0' + ((n)>>28 & 0xF)), \
+  ('0' + ((n)>>24 & 0xF)), \
+  ('0' + ((n)>>20 & 0xF)), \
+  ('0' + ((n)>>16 & 0xF)), \
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+  ('0' + ((n)>>8  & 0xF)), \
+  ('0' + ((n)>>4  & 0xF)), \
+  ('0' + ((n)     & 0xF))
+
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+#   endif
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+  'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_',
+  'i','n','t','e','r','n','a','l','[',
+  COMPILER_VERSION_INTERNAL,']','\0'};
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+char const info_simulate_version[] = {
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+  's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[',
+  SIMULATE_VERSION_MAJOR,
+# ifdef SIMULATE_VERSION_MINOR
+  '.', SIMULATE_VERSION_MINOR,
+#  ifdef SIMULATE_VERSION_PATCH
+   '.', SIMULATE_VERSION_PATCH,
+#   ifdef SIMULATE_VERSION_TWEAK
+    '.', SIMULATE_VERSION_TWEAK,
+#   endif
+#  endif
+# endif
+  ']','\0'};
+#endif
+
+/* Construct the string literal in pieces to prevent the source from
+   getting matched.  Store it in a pointer rather than an array
+   because some compilers will just produce instructions to fill the
+   array rather than assigning a pointer to a static array.  */
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+char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]";
+
+
+
+#if defined(__INTEL_COMPILER) && defined(_MSVC_LANG) && _MSVC_LANG < 201403L
+#  if defined(__INTEL_CXX11_MODE__)
+#    if defined(__cpp_aggregate_nsdmi)
+#      define CXX_STD 201402L
+#    else
+#      define CXX_STD 201103L
+#    endif
+#  else
+#    define CXX_STD 199711L
+#  endif
+#elif defined(_MSC_VER) && defined(_MSVC_LANG)
+#  define CXX_STD _MSVC_LANG
+#else
+#  define CXX_STD __cplusplus
+#endif
+
+const char* info_language_standard_default = "INFO" ":" "standard_default["
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+  "23"
+#elif CXX_STD > 201703L
+  "20"
+#elif CXX_STD >= 201703L
+  "17"
+#elif CXX_STD >= 201402L
+  "14"
+#elif CXX_STD >= 201103L
+  "11"
+#else
+  "98"
+#endif
+"]";
+
+const char* info_language_extensions_default = "INFO" ":" "extensions_default["
+#if (defined(__clang__) || defined(__GNUC__) || defined(__xlC__) ||           \
+     defined(__TI_COMPILER_VERSION__)) &&                                     \
+  !defined(__STRICT_ANSI__)
+  "ON"
+#else
+  "OFF"
+#endif
+"]";
+
+/*--------------------------------------------------------------------------*/
+
+int main(int argc, char* argv[])
+{
+  int require = 0;
+  require += info_compiler[argc];
+  require += info_platform[argc];
+  require += info_arch[argc];
+#ifdef COMPILER_VERSION_MAJOR
+  require += info_version[argc];
+#endif
+#ifdef COMPILER_VERSION_INTERNAL
+  require += info_version_internal[argc];
+#endif
+#ifdef SIMULATE_ID
+  require += info_simulate[argc];
+#endif
+#ifdef SIMULATE_VERSION_MAJOR
+  require += info_simulate_version[argc];
+#endif
+#if defined(__CRAYXT_COMPUTE_LINUX_TARGET)
+  require += info_cray[argc];
+#endif
+  require += info_language_standard_default[argc];
+  require += info_language_extensions_default[argc];
+  (void)argv;
+  return require;
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+	@echo "... src/batch_store.i"
+	@echo "... src/batch_store.s"
+	@echo "... src/bytetrack.o"
+	@echo "... src/bytetrack.i"
+	@echo "... src/bytetrack.s"
+	@echo "... src/config.o"
+	@echo "... src/config.i"
+	@echo "... src/config.s"
+	@echo "... src/csv_logger.o"
+	@echo "... src/csv_logger.i"
+	@echo "... src/csv_logger.s"
+	@echo "... src/drawing.o"
+	@echo "... src/drawing.i"
+	@echo "... src/drawing.s"
+	@echo "... src/kalman_filter.o"
+	@echo "... src/kalman_filter.i"
+	@echo "... src/kalman_filter.s"
+	@echo "... src/main.o"
+	@echo "... src/main.i"
+	@echo "... src/main.s"
+	@echo "... src/rknn_yolo.o"
+	@echo "... src/rknn_yolo.i"
+	@echo "... src/rknn_yolo.s"
+.PHONY : help
+
+
+
+#=============================================================================
+# Special targets to cleanup operation of make.
+
+# Special rule to run CMake to check the build system integrity.
+# No rule that depends on this can have commands that come from listfiles
+# because they might be regenerated.
+cmake_check_build_system:
+	$(CMAKE_COMMAND) -S$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0
+.PHONY : cmake_check_build_system
+
@@ -0,0 +1,82 @@
+# Install script for directory: /opt/bytetrack-counter-cpp
+
+# Set the install prefix
+if(NOT DEFINED CMAKE_INSTALL_PREFIX)
+  set(CMAKE_INSTALL_PREFIX "/usr/local")
+endif()
+string(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}")
+
+# Set the install configuration name.
+if(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME)
+  if(BUILD_TYPE)
+    string(REGEX REPLACE "^[^A-Za-z0-9_]+" ""
+           CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}")
+  else()
+    set(CMAKE_INSTALL_CONFIG_NAME "")
+  endif()
+  message(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"")
+endif()
+
+# Set the component getting installed.
+if(NOT CMAKE_INSTALL_COMPONENT)
+  if(COMPONENT)
+    message(STATUS "Install component: \"${COMPONENT}\"")
+    set(CMAKE_INSTALL_COMPONENT "${COMPONENT}")
+  else()
+    set(CMAKE_INSTALL_COMPONENT)
+  endif()
+endif()
+
+# Install shared libraries without execute permission?
+if(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE)
+  set(CMAKE_INSTALL_SO_NO_EXE "1")
+endif()
+
+# Is this installation the result of a crosscompile?
+if(NOT DEFINED CMAKE_CROSSCOMPILING)
+  set(CMAKE_CROSSCOMPILING "FALSE")
+endif()
+
+# Set default install directory permissions.
+if(NOT DEFINED CMAKE_OBJDUMP)
+  set(CMAKE_OBJDUMP "/usr/bin/objdump")
+endif()
+
+if(CMAKE_INSTALL_COMPONENT STREQUAL "Unspecified" OR NOT CMAKE_INSTALL_COMPONENT)
+  if(EXISTS "$ENV{DESTDIR}/opt/bytetrack-counter-cpp/bin/bytetrack-counter" AND
+     NOT IS_SYMLINK "$ENV{DESTDIR}/opt/bytetrack-counter-cpp/bin/bytetrack-counter")
+    file(RPATH_CHECK
+         FILE "$ENV{DESTDIR}/opt/bytetrack-counter-cpp/bin/bytetrack-counter"
+         RPATH "")
+  endif()
+  list(APPEND CMAKE_ABSOLUTE_DESTINATION_FILES
+   "/opt/bytetrack-counter-cpp/bin/bytetrack-counter")
+  if(CMAKE_WARN_ON_ABSOLUTE_INSTALL_DESTINATION)
+    message(WARNING "ABSOLUTE path INSTALL DESTINATION : ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
+  endif()
+  if(CMAKE_ERROR_ON_ABSOLUTE_INSTALL_DESTINATION)
+    message(FATAL_ERROR "ABSOLUTE path INSTALL DESTINATION forbidden (by caller): ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
+  endif()
+  file(INSTALL DESTINATION "/opt/bytetrack-counter-cpp/bin" TYPE EXECUTABLE FILES "/opt/bytetrack-counter-cpp/build/bytetrack-counter")
+  if(EXISTS "$ENV{DESTDIR}/opt/bytetrack-counter-cpp/bin/bytetrack-counter" AND
+     NOT IS_SYMLINK "$ENV{DESTDIR}/opt/bytetrack-counter-cpp/bin/bytetrack-counter")
+    if(CMAKE_INSTALL_DO_STRIP)
+      execute_process(COMMAND "/usr/bin/strip" "$ENV{DESTDIR}/opt/bytetrack-counter-cpp/bin/bytetrack-counter")
+    endif()
+  endif()
+endif()
+
+if(CMAKE_INSTALL_COMPONENT STREQUAL "Unspecified" OR NOT CMAKE_INSTALL_COMPONENT)
+  include("/opt/bytetrack-counter-cpp/build/CMakeFiles/bytetrack-counter.dir/install-cxx-module-bmi-noconfig.cmake" OPTIONAL)
+endif()
+
+if(CMAKE_INSTALL_COMPONENT)
+  set(CMAKE_INSTALL_MANIFEST "install_manifest_${CMAKE_INSTALL_COMPONENT}.txt")
+else()
+  set(CMAKE_INSTALL_MANIFEST "install_manifest.txt")
+endif()
+
+string(REPLACE ";" "\n" CMAKE_INSTALL_MANIFEST_CONTENT
+       "${CMAKE_INSTALL_MANIFEST_FILES}")
+file(WRITE "/opt/bytetrack-counter-cpp/build/${CMAKE_INSTALL_MANIFEST}"
+     "${CMAKE_INSTALL_MANIFEST_CONTENT}")
@@ -0,0 +1,42 @@
+[Unit]
+Description=ByteTrack Object Detection Counter (C++ port)
+Documentation=https://github.com/ifzhang/ByteTrack
+After=network-online.target
+Wants=network-online.target
+RequiresMountsFor=/opt
+
+[Service]
+Type=simple
+User=root
+Group=root
+
+WorkingDirectory=/opt/bytetrack-counter-cpp
+EnvironmentFile=/opt/bytetrack-counter-cpp/.env
+ExecStart=/opt/bytetrack-counter-cpp/build/bytetrack-counter
+
+Restart=always
+RestartSec=5
+RestartPreventExitStatus=0
+
+StandardOutput=journal
+StandardError=journal
+SyslogIdentifier=bytetrack-counter
+
+LimitNOFILE=65536
+LimitNPROC=4096
+
+NoNewPrivileges=no
+
+ProtectSystem=strict
+ProtectHome=yes
+PrivateTmp=yes
+ReadWritePaths=/opt/bytetrack-counter-cpp /tmp /dev/shm/bytetrack-counter /opt/models
+ReadOnlyPaths=/etc
+
+TimeoutStopSec=30
+KillMode=mixed
+KillSignal=SIGTERM
+SendSIGKILL=yes
+
+[Install]
+WantedBy=multi-user.target
@@ -0,0 +1,5 @@
+numpy<2
+rknn-toolkit-lite2
+opencv-python
+flask
+python-dotenv
@@ -0,0 +1,414 @@
+#include "batch_store.hpp"
+#include <filesystem>
+#include <fstream>
+#include <chrono>
+#include <ctime>
+#include <sstream>
+#include <iomanip>
+#include <algorithm>
+
+static std::string now_iso() {
+    auto now = std::chrono::system_clock::now();
+    auto t = std::chrono::system_clock::to_time_t(now);
+    std::ostringstream ss;
+    ss << std::put_time(std::localtime(&t), "%Y-%m-%dT%H:%M:%S");
+    return ss.str();
+}
+
+BatchStore::BatchStore(const std::string& db_path,
+                       const std::string& state_file,
+                       const std::string& camera_name,
+                       const std::string& object_label,
+                       const std::string& cutoff_time,
+                       float batch_timeout,
+                       float ignore_batch_label_timeout,
+                       int min_object_per_batch,
+                       int min_duration_per_batch,
+                       std::function<void(const std::string&)> logger)
+    : db_path_(db_path), state_file_(state_file), camera_name_(camera_name),
+      object_label_(object_label), cutoff_time_str_(cutoff_time),
+      batch_timeout_(batch_timeout),
+      ignore_batch_label_timeout_(ignore_batch_label_timeout),
+      min_object_per_batch_(min_object_per_batch),
+      min_duration_per_batch_(min_duration_per_batch),
+      logger_(logger) {
+
+    std::filesystem::path dbp(db_path_);
+    if (dbp.has_parent_path())
+        std::filesystem::create_directories(dbp.parent_path());
+
+    std::filesystem::path sfp(state_file_);
+    if (sfp.has_parent_path())
+        std::filesystem::create_directories(sfp.parent_path());
+
+    int rc = sqlite3_open(db_path_.c_str(), &db_);
+    if (rc != SQLITE_OK) throw std::runtime_error("Failed to open database: " + std::string(sqlite3_errmsg(db_)));
+
+    init_db();
+    current_state_ = load_state();
+    previous_state_ = current_state_;
+}
+
+BatchStore::~BatchStore() {
+    if (db_) sqlite3_close(db_);
+}
+
+void BatchStore::init_db() {
+    const char* sql1 = R"(
+        CREATE TABLE IF NOT EXISTS batches (
+            id INTEGER PRIMARY KEY AUTOINCREMENT,
+            counting_date TEXT NOT NULL,
+            batch_number INTEGER NOT NULL,
+            camera_name TEXT NOT NULL,
+            object_label TEXT NOT NULL,
+            count INTEGER NOT NULL,
+            start_time TEXT NOT NULL,
+            end_time TEXT NOT NULL,
+            created_at TIMESTAMP DEFAULT CURRENT_TIMESTAMP,
+            UNIQUE(counting_date, batch_number, camera_name, object_label)
+        )
+    )";
+    const char* sql2 = R"(
+        CREATE TABLE IF NOT EXISTS daily_summaries (
+            id INTEGER PRIMARY KEY AUTOINCREMENT,
+            counting_date TEXT NOT NULL,
+            camera_name TEXT NOT NULL,
+            object_label TEXT NOT NULL,
+            total_count INTEGER NOT NULL DEFAULT 0,
+            total_batches INTEGER NOT NULL DEFAULT 0,
+            updated_at TIMESTAMP DEFAULT CURRENT_TIMESTAMP,
+            UNIQUE(counting_date, camera_name, object_label)
+        )
+    )";
+    char* err = nullptr;
+    sqlite3_exec(db_, sql1, nullptr, nullptr, &err);
+    if (err) { logger_("DB init error: " + std::string(err)); sqlite3_free(err); }
+    err = nullptr;
+    sqlite3_exec(db_, sql2, nullptr, nullptr, &err);
+    if (err) { logger_("DB init error: " + std::string(err)); sqlite3_free(err); }
+}
+
+std::string BatchStore::get_counting_date() const {
+    auto now = std::chrono::system_clock::now();
+    auto t = std::chrono::system_clock::to_time_t(now);
+    auto* tm = std::localtime(&t);
+
+    int h, m;
+    sscanf(cutoff_time_str_.c_str(), "%d:%d", &h, &m);
+
+    if (tm->tm_hour < h || (tm->tm_hour == h && tm->tm_min < m)) {
+        std::ostringstream ss;
+        ss << std::put_time(tm, "%Y-%m-%d");
+        return ss.str();
+    } else {
+        auto tomorrow = now + std::chrono::hours(24);
+        t = std::chrono::system_clock::to_time_t(tomorrow);
+        tm = std::localtime(&t);
+        std::ostringstream ss;
+        ss << std::put_time(tm, "%Y-%m-%d");
+        return ss.str();
+    }
+}
+
+json BatchStore::load_state() {
+    std::ifstream f(state_file_);
+    if (!f.good()) return nullptr;
+
+    try {
+        json state = json::parse(f);
+        std::string current_date = get_counting_date();
+        if (state.value("counting_date", "") != current_date) {
+            logger_("State file belongs to previous counting day. Finalizing.");
+            insert_batch(state["counting_date"], state["batch_number"],
+                        state["count"], state["start_time"], now_iso());
+            std::filesystem::remove(state_file_);
+            return nullptr;
+        }
+        std::ostringstream ss;
+        ss << "Resumed batch #" << state["batch_number"] << " with count=" << state["count"];
+        logger_(ss.str());
+        reset_batch_timer();
+        return state;
+    } catch (const std::exception& e) {
+        logger_("Failed to load state: " + std::string(e.what()));
+        return nullptr;
+    }
+}
+
+void BatchStore::save_state() {
+    std::lock_guard<std::mutex> lock(state_mutex_);
+    if (current_state_.is_null()) {
+        std::filesystem::remove(state_file_);
+        return;
+    }
+    std::ofstream f(state_file_);
+    f << current_state_.dump(2);
+}
+
+int BatchStore::get_next_batch_number(const std::string& counting_date) {
+    const char* sql = R"(
+        SELECT COALESCE(MAX(batch_number), 0)
+        FROM batches
+        WHERE counting_date = ? AND camera_name = ? AND object_label = ?
+    )";
+    sqlite3_stmt* stmt;
+    sqlite3_prepare_v2(db_, sql, -1, &stmt, nullptr);
+    sqlite3_bind_text(stmt, 1, counting_date.c_str(), -1, SQLITE_TRANSIENT);
+    sqlite3_bind_text(stmt, 2, camera_name_.c_str(), -1, SQLITE_TRANSIENT);
+    sqlite3_bind_text(stmt, 3, object_label_.c_str(), -1, SQLITE_TRANSIENT);
+    int result = 0;
+    if (sqlite3_step(stmt) == SQLITE_ROW)
+        result = sqlite3_column_int(stmt, 0) + 1;
+    sqlite3_finalize(stmt);
+    return result;
+}
+
+void BatchStore::start_new_batch(const std::string& counting_date) {
+    int batch_number = get_next_batch_number(counting_date);
+    std::string now = now_iso();
+
+    json counted_ids = json::array();
+    if (!previous_state_.is_null() && previous_state_.contains("counted_event_ids")) {
+        auto& ids = previous_state_["counted_event_ids"];
+        int start = std::max(0, static_cast<int>(ids.size()) - carry_ids_);
+        for (int i = start; i < (int)ids.size(); ++i)
+            counted_ids.push_back(ids[i]);
+    }
+
+    current_state_ = {
+        {"counting_date", counting_date},
+        {"batch_number", batch_number},
+        {"count", 0},
+        {"start_time", now},
+        {"last_detection_time", now},
+        {"counted_event_ids", counted_ids}
+    };
+    save_state();
+
+    std::ostringstream ss;
+    ss << "Started batch #" << batch_number << " for " << counting_date;
+    logger_(ss.str());
+}
+
+void BatchStore::reset_batch_timer() {
+    batch_timer_running_ = true;
+    if (batch_timer_thread_.joinable()) batch_timer_thread_.detach();
+    batch_timer_thread_ = std::thread([this]() {
+        auto start = std::chrono::steady_clock::now();
+        while (batch_timer_running_) {
+            auto elapsed = std::chrono::duration_cast<std::chrono::seconds>(
+                std::chrono::steady_clock::now() - start).count();
+            if (elapsed >= batch_timeout_) {
+                on_batch_timeout();
+                break;
+            }
+            std::this_thread::sleep_for(std::chrono::seconds(1));
+        }
+    });
+}
+
+void BatchStore::on_batch_timeout() {
+    batch_timer_running_ = false;
+    logger_("Batch inactivity timeout reached");
+    end_batch("timeout");
+}
+
+void BatchStore::ignore_batch_label_fn() {
+    if (!ignore_label_active_) {
+        ignore_label_active_ = true;
+        ignore_batch_label_ = true;
+        if (ignore_label_thread_.joinable()) ignore_label_thread_.detach();
+        ignore_label_thread_ = std::thread([this]() {
+            auto start = std::chrono::steady_clock::now();
+            while (ignore_label_active_) {
+                auto elapsed = std::chrono::duration_cast<std::chrono::seconds>(
+                    std::chrono::steady_clock::now() - start).count();
+                if (elapsed >= ignore_batch_label_timeout_) {
+                    on_ignore_batch_label_timeout();
+                    break;
+                }
+                std::this_thread::sleep_for(std::chrono::seconds(1));
+            }
+        });
+    }
+}
+
+void BatchStore::on_ignore_batch_label_timeout() {
+    ignore_label_active_ = false;
+    ignore_batch_label_ = false;
+}
+
+std::pair<int, bool> BatchStore::record_ayam_crossing(int track_id) {
+    std::lock_guard<std::mutex> lock(state_mutex_);
+    std::string counting_date = get_counting_date();
+    bool started_new = false;
+
+    if (current_state_.is_null()) {
+        start_new_batch(counting_date);
+        started_new = true;
+    } else if (current_state_["counting_date"].get<std::string>() != counting_date) {
+        end_batch_locked("cutoff");
+        start_new_batch(counting_date);
+        started_new = true;
+    }
+
+    std::string event_key = std::to_string(track_id);
+    auto& ids = current_state_["counted_event_ids"];
+    bool found = false;
+    for (const auto& id : ids) {
+        if (id.get<std::string>() == event_key) { found = true; break; }
+    }
+    if (!found) {
+        current_state_["count"] = current_state_["count"].get<int>() + 1;
+        ids.push_back(event_key);
+    }
+
+    current_state_["last_detection_time"] = now_iso();
+    save_state();
+    reset_batch_timer();
+    return {current_state_["count"].get<int>(), started_new};
+}
+
+bool BatchStore::record_talenan_crossing(int track_id) {
+    if (ignore_batch_label_) return false;
+    std::lock_guard<std::mutex> lock(state_mutex_);
+    ignore_batch_label_fn();
+    end_batch_locked("talenan");
+    batch_timer_running_ = false;
+    return true;
+}
+
+void BatchStore::end_batch(const std::string& closed_by) {
+    std::lock_guard<std::mutex> lock(state_mutex_);
+    end_batch_locked(closed_by);
+}
+
+bool BatchStore::end_batch_locked(const std::string& closed_by) {
+    if (current_state_.is_null()) return false;
+
+    previous_state_ = current_state_;
+    auto state = current_state_;
+
+    std::string start_time = state["start_time"];
+    std::string end_time = now_iso();
+
+    // parse duration
+    std::tm tm = {};
+    std::istringstream ss(start_time);
+    ss >> std::get_time(&tm, "%Y-%m-%dT%H:%M:%S");
+    auto start_tp = std::chrono::system_clock::from_time_t(std::mktime(&tm));
+    auto end_tp = std::chrono::system_clock::now();
+    auto duration_sec = std::chrono::duration_cast<std::chrono::seconds>(end_tp - start_tp).count();
+
+    int count = state["count"].get<int>();
+
+    if (count < min_object_per_batch_ || duration_sec < min_duration_per_batch_) {
+        current_state_ = nullptr;
+        save_state();
+        batch_timer_running_ = false;
+        return false;
+    }
+
+    try {
+        insert_batch(state["counting_date"], state["batch_number"],
+                    count, state["start_time"], end_time);
+    } catch (const std::exception& e) {
+        logger_("Failed to persist batch: " + std::string(e.what()));
+        return false;
+    }
+
+    current_state_ = nullptr;
+    save_state();
+    batch_timer_running_ = false;
+    return true;
+}
+
+void BatchStore::insert_batch(const std::string& counting_date, int batch_number,
+                               int count, const std::string& start_time, const std::string& end_time) {
+    const char* sql1 = R"(
+        INSERT INTO batches (counting_date, batch_number, camera_name, object_label, count, start_time, end_time)
+        VALUES (?, ?, ?, ?, ?, ?, ?)
+    )";
+    sqlite3_stmt* stmt;
+    sqlite3_prepare_v2(db_, sql1, -1, &stmt, nullptr);
+    sqlite3_bind_text(stmt, 1, counting_date.c_str(), -1, SQLITE_TRANSIENT);
+    sqlite3_bind_int(stmt, 2, batch_number);
+    sqlite3_bind_text(stmt, 3, camera_name_.c_str(), -1, SQLITE_TRANSIENT);
+    sqlite3_bind_text(stmt, 4, object_label_.c_str(), -1, SQLITE_TRANSIENT);
+    sqlite3_bind_int(stmt, 5, count);
+    sqlite3_bind_text(stmt, 6, start_time.c_str(), -1, SQLITE_TRANSIENT);
+    sqlite3_bind_text(stmt, 7, end_time.c_str(), -1, SQLITE_TRANSIENT);
+    sqlite3_step(stmt);
+    sqlite3_finalize(stmt);
+
+    const char* sql2 = R"(
+        INSERT INTO daily_summaries (counting_date, camera_name, object_label, total_count, total_batches)
+        VALUES (?, ?, ?, ?, 1)
+        ON CONFLICT(counting_date, camera_name, object_label)
+        DO UPDATE SET total_count = total_count + excluded.total_count,
+                      total_batches = total_batches + excluded.total_batches,
+                      updated_at = CURRENT_TIMESTAMP
+    )";
+    sqlite3_prepare_v2(db_, sql2, -1, &stmt, nullptr);
+    sqlite3_bind_text(stmt, 1, counting_date.c_str(), -1, SQLITE_TRANSIENT);
+    sqlite3_bind_text(stmt, 2, camera_name_.c_str(), -1, SQLITE_TRANSIENT);
+    sqlite3_bind_text(stmt, 3, object_label_.c_str(), -1, SQLITE_TRANSIENT);
+    sqlite3_bind_int(stmt, 4, count);
+    sqlite3_step(stmt);
+    sqlite3_finalize(stmt);
+}
+
+int BatchStore::get_closed_total_for_day(const std::string& counting_date) {
+    const char* sql = R"(
+        SELECT COALESCE(total_count, 0)
+        FROM daily_summaries
+        WHERE counting_date = ? AND camera_name = ? AND object_label = ?
+    )";
+    sqlite3_stmt* stmt;
+    sqlite3_prepare_v2(db_, sql, -1, &stmt, nullptr);
+    sqlite3_bind_text(stmt, 1, counting_date.c_str(), -1, SQLITE_TRANSIENT);
+    sqlite3_bind_text(stmt, 2, camera_name_.c_str(), -1, SQLITE_TRANSIENT);
+    sqlite3_bind_text(stmt, 3, object_label_.c_str(), -1, SQLITE_TRANSIENT);
+    int result = 0;
+    if (sqlite3_step(stmt) == SQLITE_ROW)
+        result = sqlite3_column_int(stmt, 0);
+    sqlite3_finalize(stmt);
+    return result;
+}
+
+int BatchStore::display_total() {
+    return get_closed_total_for_day(get_counting_date()) + current_batch_count();
+}
+
+int BatchStore::current_batch_number() const {
+    if (current_state_.is_null()) return 0;
+    return current_state_.value("batch_number", 0);
+}
+
+int BatchStore::current_batch_count() const {
+    if (current_state_.is_null()) return 0;
+    return current_state_.value("count", 0);
+}
+
+void BatchStore::cutoff_watcher_loop() {
+    while (!shutdown_flag_) {
+        std::this_thread::sleep_for(std::chrono::seconds(60));
+        std::lock_guard<std::mutex> lock(state_mutex_);
+        if (current_state_.is_null()) continue;
+        if (current_state_["counting_date"].get<std::string>() != get_counting_date()) {
+            logger_("Daily cutoff reached - finalizing batch");
+            end_batch_locked("cutoff");
+        }
+    }
+}
+
+void BatchStore::start_cutoff_watcher() {
+    std::thread t(&BatchStore::cutoff_watcher_loop, this);
+    t.detach();
+}
+
+void BatchStore::shutdown() {
+    shutdown_flag_ = true;
+    batch_timer_running_ = false;
+    end_batch("shutdown");
+}
@@ -0,0 +1,79 @@
+#pragma once
+#include <sqlite3.h>
+#include <nlohmann/json.hpp>
+#include <string>
+#include <functional>
+#include <thread>
+#include <mutex>
+#include <atomic>
+#include <chrono>
+
+using json = nlohmann::json;
+
+class BatchStore {
+public:
+    BatchStore(const std::string& db_path,
+               const std::string& state_file,
+               const std::string& camera_name,
+               const std::string& object_label,
+               const std::string& cutoff_time,
+               float batch_timeout,
+               float ignore_batch_label_timeout,
+               int min_object_per_batch,
+               int min_duration_per_batch,
+               std::function<void(const std::string&)> logger);
+
+    ~BatchStore();
+
+    void start_cutoff_watcher();
+
+    int current_batch_number() const;
+    int current_batch_count() const;
+    int display_total();
+
+    std::pair<int, bool> record_ayam_crossing(int track_id);
+    bool record_talenan_crossing(int track_id);
+    void end_batch(const std::string& closed_by = "manual");
+    void shutdown();
+
+private:
+    void init_db();
+    std::string get_counting_date() const;
+    json load_state();
+    void save_state();
+    int get_next_batch_number(const std::string& counting_date);
+    void start_new_batch(const std::string& counting_date);
+    void reset_batch_timer();
+    void on_batch_timeout();
+    void ignore_batch_label_fn();
+    void on_ignore_batch_label_timeout();
+    bool end_batch_locked(const std::string& closed_by);
+    void insert_batch(const std::string& counting_date, int batch_number,
+                      int count, const std::string& start_time, const std::string& end_time);
+    int get_closed_total_for_day(const std::string& counting_date);
+    void cutoff_watcher_loop();
+
+    std::string db_path_;
+    std::string state_file_;
+    std::string camera_name_;
+    std::string object_label_;
+    std::string cutoff_time_str_;
+    float batch_timeout_;
+    float ignore_batch_label_timeout_;
+    int min_object_per_batch_;
+    int min_duration_per_batch_;
+    int carry_ids_ = 50;
+    std::function<void(const std::string&)> logger_;
+
+    sqlite3* db_ = nullptr;
+    std::mutex state_mutex_;
+    std::thread batch_timer_thread_;
+    std::thread ignore_label_thread_;
+    std::atomic<bool> batch_timer_running_{false};
+    std::atomic<bool> ignore_label_active_{false};
+    std::atomic<bool> shutdown_flag_{false};
+    std::atomic<bool> ignore_batch_label_{false};
+
+    json current_state_;
+    json previous_state_;
+};
@@ -0,0 +1,198 @@
+#include "bytetrack.hpp"
+
+int KalmanBoxTracker::count = 0;
+
+KalmanBoxTracker::KalmanBoxTracker(const Eigen::Vector4f& bbox_xyxy) : kf() {
+    KalmanBoxTracker::count++;
+    track_id = KalmanBoxTracker::count;
+
+    float x1 = bbox_xyxy(0), y1 = bbox_xyxy(1), x2 = bbox_xyxy(2), y2 = bbox_xyxy(3);
+    float w = x2 - x1, h = y2 - y1;
+    float x = x1 + w / 2.0f, y = y1 + h / 2.0f;
+
+    kf.x(0, 0) = x;
+    kf.x(1, 0) = y;
+    kf.x(2, 0) = w;
+    kf.x(3, 0) = h;
+}
+
+void KalmanBoxTracker::predict() {
+    if (kf.x(6) + kf.x(2) <= 0) {
+        kf.x(6, 0) = 0.0f;
+    }
+    kf.predict();
+    age++;
+    time_since_update++;
+}
+
+void KalmanBoxTracker::update(const Eigen::Vector4f& bbox_xyxy) {
+    time_since_update = 0;
+    hits++;
+    hit_streak++;
+
+    float x1 = bbox_xyxy(0), y1 = bbox_xyxy(1), x2 = bbox_xyxy(2), y2 = bbox_xyxy(3);
+    float w = x2 - x1, h = y2 - y1;
+    float x = x1 + w / 2.0f, y = y1 + h / 2.0f;
+
+    Eigen::Vector4f z;
+    z << x, y, w, h;
+    kf.update(z);
+}
+
+Eigen::Vector4f KalmanBoxTracker::get_state() const {
+    float x = kf.x(0, 0), y = kf.x(1, 0), w = kf.x(2, 0), h = kf.x(3, 0);
+    Eigen::Vector4f xyxy;
+    xyxy << x - w / 2.0f, y - h / 2.0f, x + w / 2.0f, y + h / 2.0f;
+    return xyxy;
+}
+
+float KalmanBoxTracker::get_cx() const {
+    return kf.x(0, 0);
+}
+
+ByteTracker::ByteTracker(float track_high_thresh, float track_low_thresh,
+                         float match_thresh, int track_buffer, int min_hits)
+    : high_thresh_(track_high_thresh), low_thresh_(track_low_thresh),
+      match_thresh_(match_thresh), track_buffer_(track_buffer), min_hits_(min_hits) {}
+
+TrackResult ByteTracker::update(const Eigen::MatrixXf& boxes_xyxy, const Eigen::VectorXf& scores) {
+    frame_id_++;
+
+    int num_dets = static_cast<int>(boxes_xyxy.rows());
+
+    std::vector<int> high_indices, low_indices;
+    std::vector<Eigen::Vector4f> high_dets, low_dets;
+
+    if (num_dets > 0) {
+        for (int i = 0; i < num_dets; ++i) {
+            if (scores(i) > low_thresh_) {
+                if (scores(i) > high_thresh_) {
+                    high_indices.push_back(i);
+                    high_dets.push_back(boxes_xyxy.row(i));
+                } else {
+                    low_indices.push_back(i);
+                    low_dets.push_back(boxes_xyxy.row(i));
+                }
+            }
+        }
+    }
+
+    auto all_tracks = tracked_tracks_;
+    all_tracks.insert(all_tracks.end(), lost_tracks_.begin(), lost_tracks_.end());
+    int num_tracks = static_cast<int>(all_tracks.size());
+
+    for (auto& trk : all_tracks) {
+        trk.predict();
+    }
+
+    Eigen::MatrixXf track_boxes(num_tracks, 4);
+    for (int ti = 0; ti < num_tracks; ++ti) {
+        track_boxes.row(ti) = all_tracks[ti].get_state();
+    }
+
+    std::unordered_set<int> matched_track_idx;
+    std::unordered_map<int, int> det_to_track;
+    std::unordered_map<int, float> tracked_map;
+    std::unordered_map<int, float> lost_map;
+
+    if (num_tracks > 0) {
+        // first association: high-score dets ↔ all tracks
+        int n_high = static_cast<int>(high_dets.size());
+        if (n_high > 0) {
+            Eigen::MatrixXf high_mat(n_high, 4);
+            for (int i = 0; i < n_high; ++i) high_mat.row(i) = high_dets[i];
+
+            auto iou_mat = ious_xyxy(high_mat, track_boxes);
+            auto cost_mat = Eigen::MatrixXf::Constant(n_high, num_tracks, 1.0f) - iou_mat;
+            auto matches = greedy_match(cost_mat, 1.0f - match_thresh_);
+
+            for (auto [di, ti] : matches) {
+                int det_global = high_indices[di];
+                all_tracks[ti].update(boxes_xyxy.row(det_global));
+                all_tracks[ti].hit_streak = std::max(1, all_tracks[ti].hit_streak);
+                matched_track_idx.insert(ti);
+                det_to_track[det_global] = all_tracks[ti].track_id;
+                tracked_map[all_tracks[ti].track_id] = all_tracks[ti].get_cx();
+            }
+        }
+
+        std::vector<int> unmatched_tracks;
+        for (int t = 0; t < num_tracks; ++t)
+            if (matched_track_idx.find(t) == matched_track_idx.end())
+                unmatched_tracks.push_back(t);
+
+        // second association: low-score dets ↔ unmatched tracks
+        int n_low = static_cast<int>(low_dets.size());
+        int n_unmatched = static_cast<int>(unmatched_tracks.size());
+        if (n_low > 0 && n_unmatched > 0) {
+            Eigen::MatrixXf low_mat(n_low, 4);
+            for (int i = 0; i < n_low; ++i) low_mat.row(i) = low_dets[i];
+
+            Eigen::MatrixXf unmatched_boxes(n_unmatched, 4);
+            for (int i = 0; i < n_unmatched; ++i)
+                unmatched_boxes.row(i) = track_boxes.row(unmatched_tracks[i]);
+
+            auto iou_mat = ious_xyxy(low_mat, unmatched_boxes);
+            auto cost_mat = Eigen::MatrixXf::Constant(n_low, n_unmatched, 1.0f) - iou_mat;
+            auto matches2 = greedy_match(cost_mat, 0.5f);
+
+            for (auto [di, uti] : matches2) {
+                int det_global = low_indices[di];
+                int pool_idx = unmatched_tracks[uti];
+                all_tracks[pool_idx].update(boxes_xyxy.row(det_global));
+                all_tracks[pool_idx].hit_streak = std::max(1, all_tracks[pool_idx].hit_streak);
+                matched_track_idx.insert(pool_idx);
+                det_to_track[det_global] = all_tracks[pool_idx].track_id;
+                tracked_map[all_tracks[pool_idx].track_id] = all_tracks[pool_idx].get_cx();
+            }
+        }
+    }
+
+    for (int ti = 0; ti < num_tracks; ++ti) {
+        if (matched_track_idx.find(ti) == matched_track_idx.end())
+            all_tracks[ti].hit_streak = 0;
+    }
+
+    std::vector<KalmanBoxTracker> new_tracked, new_lost;
+    for (auto& trk : all_tracks) {
+        if (trk.time_since_update > track_buffer_) {
+            removed_tracks_.push_back(std::move(trk));
+        } else if (trk.time_since_update > 0) {
+            new_lost.push_back(std::move(trk));
+        } else {
+            new_tracked.push_back(std::move(trk));
+        }
+    }
+    tracked_tracks_ = std::move(new_tracked);
+    lost_tracks_ = std::move(new_lost);
+
+    for (const auto& trk : tracked_tracks_) {
+        if (trk.hit_streak >= min_hits_ || trk.hits >= min_hits_) {
+            if (tracked_map.find(trk.track_id) == tracked_map.end())
+                tracked_map[trk.track_id] = trk.get_cx();
+        }
+    }
+    for (const auto& trk : lost_tracks_) {
+        if (trk.hit_streak >= min_hits_ || trk.hits >= min_hits_) {
+            lost_map[trk.track_id] = trk.get_cx();
+        }
+    }
+
+    for (int dg : high_indices) {
+        if (det_to_track.find(dg) == det_to_track.end()) {
+            Eigen::Vector4f box = boxes_xyxy.row(dg);
+            KalmanBoxTracker trk(box);
+            int tid = trk.track_id;
+            float cx = trk.get_cx();
+            tracked_map[tid] = cx;
+            det_to_track[dg] = tid;
+            tracked_tracks_.push_back(std::move(trk));
+        }
+    }
+
+    TrackResult result;
+    result.tracked_map = tracked_map;
+    result.det_to_track = det_to_track;
+    result.lost_map = lost_map;
+    return result;
+}
@@ -0,0 +1,56 @@
+#pragma once
+#include "kalman_filter.hpp"
+#include "nms.hpp"
+#include <Eigen/Dense>
+#include <vector>
+#include <unordered_map>
+#include <unordered_set>
+#include <cstdint>
+
+class KalmanBoxTracker {
+public:
+    static int count;
+
+    KalmanBoxTracker(const Eigen::Vector4f& bbox_xyxy);
+
+    void predict();
+    void update(const Eigen::Vector4f& bbox_xyxy);
+    Eigen::Vector4f get_state() const;
+    float get_cx() const;
+
+    int track_id;
+    KalmanFilter kf;
+    int time_since_update = 0;
+    int hits = 1;
+    int hit_streak = 1;
+    int age = 1;
+};
+
+struct TrackResult {
+    std::unordered_map<int, float> tracked_map;
+    std::unordered_map<int, int> det_to_track;
+    std::unordered_map<int, float> lost_map;
+};
+
+class ByteTracker {
+public:
+    ByteTracker(float track_high_thresh = 0.5f,
+                float track_low_thresh = 0.1f,
+                float match_thresh = 0.8f,
+                int track_buffer = 30,
+                int min_hits = 3);
+
+    TrackResult update(const Eigen::MatrixXf& boxes_xyxy, const Eigen::VectorXf& scores);
+
+private:
+    float high_thresh_;
+    float low_thresh_;
+    float match_thresh_;
+    int track_buffer_;
+    int min_hits_;
+    int frame_id_ = 0;
+
+    std::vector<KalmanBoxTracker> tracked_tracks_;
+    std::vector<KalmanBoxTracker> lost_tracks_;
+    std::vector<KalmanBoxTracker> removed_tracks_;
+};
@@ -0,0 +1,128 @@
+#include "config.hpp"
+#include <cstdlib>
+#include <fstream>
+#include <sstream>
+#include <iostream>
+
+AppConfig g_config;
+
+static std::string trim(const std::string& s) {
+    auto start = s.find_first_not_of(" \t\r\n");
+    if (start == std::string::npos) return {};
+    auto end = s.find_last_not_of(" \t\r\n");
+    return s.substr(start, end - start + 1);
+}
+
+static std::string get_env(const std::string& key, const std::string& def = "") {
+    const char* val = std::getenv(key.c_str());
+    return val ? std::string(val) : def;
+}
+
+void AppConfig::load_from_env(const char* env_path) {
+    std::string path = ".env";
+    if (env_path) path = env_path;
+
+    // also check env path
+    const char* env_file = std::getenv("ENV_FILE");
+    if (env_file) path = env_file;
+
+    std::ifstream file(path);
+    if (file.is_open()) {
+        std::string line;
+        while (std::getline(file, line)) {
+            line = trim(line);
+            if (line.empty() || line[0] == '#') continue;
+            auto eq = line.find('=');
+            if (eq == std::string::npos) continue;
+            std::string key = trim(line.substr(0, eq));
+            std::string val = trim(line.substr(eq + 1));
+            // strip quotes
+            if (val.size() >= 2 && val.front() == '"' && val.back() == '"')
+                val = val.substr(1, val.size() - 2);
+            setenv(key.c_str(), val.c_str(), 1);
+        }
+    }
+
+    output_dir = get_env("OUTPUT_DIR", output_dir);
+    db_path = get_env("DB_PATH", output_dir + "/bytetrack_counter.db");
+    state_file = get_env("STATE_FILE", output_dir + "/current_batch.json");
+    source = get_env("SOURCE", source);
+    model_path = get_env("MODEL_PATH", model_path);
+    camera_name = get_env("CAMERA_NAME", camera_name);
+    object_label = get_env("OBJECT_LABEL", object_label);
+    class_ayam = get_env("CLASS_AYAM", class_ayam);
+    class_talenan = get_env("CLASS_TALENAN", class_talenan);
+
+    auto lx = get_env("LINE_X");
+    if (!lx.empty()) line_x = std::stoi(lx);
+    auto lxf = get_env("LINE_X_FRAC");
+    if (!lxf.empty()) line_x_frac = std::stof(lxf);
+    cross_direction = get_env("CROSS_DIRECTION", cross_direction);
+
+    auto imgsz_s = get_env("IMGSZ");
+    if (!imgsz_s.empty()) imgsz = std::stoi(imgsz_s);
+    auto half_s = get_env("HALF");
+    half = (half_s == "true");
+    auto conf_s = get_env("CONF");
+    if (!conf_s.empty()) conf = std::stof(conf_s);
+    auto dev_s = get_env("DEVICE");
+    if (!dev_s.empty()) device = std::stoi(dev_s);
+    auto cm_s = get_env("CORE_MASK");
+    if (!cm_s.empty()) core_mask = std::stoi(cm_s);
+    auto nc_s = get_env("NUM_CLASSES");
+    if (!nc_s.empty()) num_classes = std::stoi(nc_s);
+    auto ss_s = get_env("SCORE_SIGMOID");
+    score_sigmoid = (ss_s == "true");
+
+    auto th_s = get_env("TRACK_HIGH_THRESH");
+    if (!th_s.empty()) track_high_thresh = std::stof(th_s);
+    auto tl_s = get_env("TRACK_LOW_THRESH");
+    if (!tl_s.empty()) track_low_thresh = std::stof(tl_s);
+    auto tm_s = get_env("TRACK_MATCH_THRESH");
+    if (!tm_s.empty()) track_match_thresh = std::stof(tm_s);
+    auto tb_s = get_env("TRACK_BUFFER");
+    if (!tb_s.empty()) track_buffer = std::stoi(tb_s);
+    auto tmh_s = get_env("TRACK_MIN_HITS");
+    if (!tmh_s.empty()) track_min_hits = std::stoi(tmh_s);
+
+    daily_cutoff_time = get_env("DAILY_CUTOFF_TIME", daily_cutoff_time);
+    auto bto_s = get_env("BATCH_TIMEOUT_SECONDS");
+    if (!bto_s.empty()) batch_timeout_seconds = std::stof(bto_s);
+    auto ibl_s = get_env("IGNORE_BATCH_LABEL_TIMEOUT_SECONDS");
+    if (!ibl_s.empty()) ignore_batch_label_timeout = std::stof(ibl_s);
+    auto mob_s = get_env("MIN_OBJECT_PER_BATCH");
+    if (!mob_s.empty()) min_object_per_batch = std::stoi(mob_s);
+    auto mdb_s = get_env("MIN_DURATION_PER_BATCH");
+    if (!mdb_s.empty()) min_duration_per_batch = std::stoi(mdb_s);
+
+    auto ecsv = get_env("EXPORT_CSV");
+    if (!ecsv.empty()) export_csv = (ecsv == "true");
+    cross_csv = get_env("CROSS_CSV", output_dir + "/batch_crossings.csv");
+
+    auto wf_s = get_env("WARMUP_FRAMES");
+    if (!wf_s.empty()) warmup_frames = std::stoi(wf_s);
+    auto rd_s = get_env("RECONNECT_DELAY_SEC");
+    if (!rd_s.empty()) reconnect_delay_sec = std::stoi(rd_s);
+    auto mra_s = get_env("MAX_RECONNECT_ATTEMPTS");
+    if (!mra_s.empty()) max_reconnect_attempts = std::stoi(mra_s);
+    auto fl_s = get_env("FLUSH_EVERY_N_FRAMES");
+    if (!fl_s.empty()) flush_every_n_frames = std::stoi(fl_s);
+    auto tp_s = get_env("TRACKED_PRUNE_SEC");
+    if (!tp_s.empty()) tracked_prune_sec = std::stoi(tp_s);
+    auto rv_s = get_env("RECORD_VIDEO");
+    record_video = (rv_s == "true");
+    auto vs_s = get_env("VIDEO_SEGMENT_SEC");
+    if (!vs_s.empty()) video_segment_sec = std::stoi(vs_s);
+    auto ofps_s = get_env("OUTPUT_FPS");
+    if (!ofps_s.empty()) output_fps = std::stoi(ofps_s);
+
+    auto lse_s = get_env("LIVE_STREAM_ENABLED");
+    live_stream_enabled = (lse_s == "true");
+    live_stream_frame_path = get_env("LIVE_STREAM_FRAME_PATH", live_stream_frame_path);
+    auto lsq_s = get_env("LIVE_STREAM_QUALITY");
+    if (!lsq_s.empty()) live_stream_quality = std::stoi(lsq_s);
+    auto lsn_s = get_env("LIVE_STREAM_EVERY_N");
+    if (!lsn_s.empty()) live_stream_every_n = std::stoi(lsn_s);
+
+    rtsp_ffmpeg_options = get_env("OPENCV_FFMPEG_CAPTURE_OPTIONS", rtsp_ffmpeg_options);
+}
@@ -0,0 +1,68 @@
+#pragma once
+#include <string>
+#include <cstdint>
+
+struct AppConfig {
+    std::string output_dir = "/opt/bytetrack-counter-cpp";
+    std::string db_path;
+    std::string state_file;
+    std::string source = "rtsp://user:pass@192.168.0.100:554/stream1";
+    std::string model_path = "/opt/models/yolo.rknn";
+    std::string camera_name = "CC1";
+    std::string object_label = "ayam-potong";
+    std::string class_ayam = "ayam";
+    std::string class_talenan = "talenan";
+
+    int line_x = -1;
+    float line_x_frac = 0.5f;
+    std::string cross_direction = "rtl";
+
+    int imgsz = 320;
+    bool half = false;
+    float conf = 0.3f;
+    int device = 0;
+    int core_mask = 1;
+    int num_classes = 2;
+    bool score_sigmoid = false;
+
+    float track_high_thresh = 0.5f;
+    float track_low_thresh = 0.1f;
+    float track_match_thresh = 0.8f;
+    int track_buffer = 30;
+    int track_min_hits = 3;
+
+    std::string daily_cutoff_time = "20:00";
+    float batch_timeout_seconds = 300.0f;
+    float ignore_batch_label_timeout = 30.0f;
+    int min_object_per_batch = 60;
+    int min_duration_per_batch = 60;
+
+    bool export_csv = true;
+    std::string cross_csv;
+
+    int warmup_frames = 30;
+    int reconnect_delay_sec = 3;
+    int max_reconnect_attempts = 0;
+    int flush_every_n_frames = 100;
+    int tracked_prune_sec = 300;
+    bool record_video = false;
+    int video_segment_sec = 3600;
+    int output_fps = 15;
+
+    bool live_stream_enabled = false;
+    std::string live_stream_frame_path = "/dev/shm/bytetrack-counter/live_frame.jpg";
+    int live_stream_quality = 75;
+    int live_stream_every_n = 2;
+
+    std::string rtsp_ffmpeg_options = "rtsp_transport;tcp|fflags;nobuffer|flags;low_delay";
+
+    int cross_flash_frames = 12;
+    int popup_lifetime = 20;
+    int line_pulse_frames = 12;
+    int count_pulse_frames = 15;
+    int batch_pulse_frames = 20;
+
+    void load_from_env(const char* env_path = nullptr);
+};
+
+extern AppConfig g_config;
@@ -0,0 +1,35 @@
+#include "csv_logger.hpp"
+#include <filesystem>
+#include <iostream>
+
+CsvLogger::CsvLogger(const std::string& path, const std::vector<std::string>& header) {
+    std::filesystem::path p(path);
+    if (p.has_parent_path())
+        std::filesystem::create_directories(p.parent_path());
+
+    bool new_file = !std::filesystem::exists(p) || std::filesystem::file_size(p) == 0;
+    file_.open(path, std::ios::app);
+    file_.exceptions(std::ios::failbit | std::ios::badbit);
+
+    if (new_file) {
+        for (size_t i = 0; i < header.size(); ++i) {
+            if (i > 0) file_ << ",";
+            file_ << header[i];
+        }
+        file_ << "\n";
+        file_.flush();
+    }
+}
+
+CsvLogger::~CsvLogger() {
+    if (file_.is_open()) file_.close();
+}
+
+void CsvLogger::write_row(const std::vector<std::string>& row) {
+    for (size_t i = 0; i < row.size(); ++i) {
+        if (i > 0) file_ << ",";
+        file_ << row[i];
+    }
+    file_ << "\n";
+    file_.flush();
+}
@@ -0,0 +1,15 @@
+#pragma once
+#include <string>
+#include <vector>
+#include <fstream>
+
+class CsvLogger {
+public:
+    explicit CsvLogger(const std::string& path, const std::vector<std::string>& header);
+    ~CsvLogger();
+
+    void write_row(const std::vector<std::string>& row);
+
+private:
+    std::ofstream file_;
+};
@@ -0,0 +1,171 @@
+#include "drawing.hpp"
+#include "config.hpp"
+#include <cmath>
+#include <filesystem>
+#include <fstream>
+
+const std::vector<std::pair<int, int>> SKELETON = {
+    {0, 1}, {4, 3}, {1, 2}, {3, 2}, {2, 6}, {2, 5}, {2, 7}, {7, 8}
+};
+
+const std::vector<cv::Scalar> SK_COLORS = {
+    {255, 255, 0}, {255, 255, 0}, {255, 0, 255}, {255, 0, 255},
+    {0, 255, 0}, {255, 255, 0}, {255, 0, 0}, {0, 200, 200}
+};
+
+int resolve_line_x(int frame_width, int line_x_opt, float line_x_frac) {
+    if (line_x_opt >= 0) return line_x_opt;
+    if (std::abs(line_x_frac - 0.5f) > 1e-6f) return static_cast<int>(frame_width * line_x_frac);
+    return frame_width / 2;
+}
+
+bool crossed_line(float prev_cx, float cx, int line_x, const std::string& direction) {
+    if (direction == "ltr") return prev_cx < line_x && cx >= line_x;
+    if (direction == "both") return (prev_cx > line_x && cx <= line_x) || (prev_cx < line_x && cx >= line_x);
+    return prev_cx > line_x && cx <= line_x;
+}
+
+void overlay_rect(cv::Mat& img, int x1, int y1, int x2, int y2, const cv::Scalar& color, float alpha) {
+    x1 = std::max(0, x1); y1 = std::max(0, y1);
+    x2 = std::min(img.cols, x2); y2 = std::min(img.rows, y2);
+    if (x2 <= x1 || y2 <= y1) return;
+    cv::Mat roi = img(cv::Rect(x1, y1, x2 - x1, y2 - y1));
+    cv::Mat patch(roi.size(), roi.type(), color);
+    cv::addWeighted(patch, alpha, roi, 1.0f - alpha, 0, roi);
+}
+
+void draw_pill(cv::Mat& img, const std::string& text, int x, int y,
+               const cv::Scalar& bg, const cv::Scalar& fg,
+               double font_scale, int pad_x, int pad_y) {
+    int baseline = 0;
+    cv::Size ts = cv::getTextSize(text, cv::FONT_HERSHEY_SIMPLEX, font_scale, 1, &baseline);
+    int x1 = x, y1 = y - ts.height - pad_y;
+    int x2 = x + ts.width + pad_x * 2, y2 = y + baseline + pad_y;
+    cv::rectangle(img, cv::Rect(x1, y1, x2 - x1, y2 - y1), bg, -1);
+    cv::rectangle(img, cv::Rect(x1, y1, x2 - x1, y2 - y1), C_BORDER, 1);
+    cv::putText(img, text, cv::Point(x + pad_x, y), cv::FONT_HERSHEY_SIMPLEX, font_scale, fg, 1, cv::LINE_AA);
+}
+
+void draw_elegant_counting_line(cv::Mat& img, int line_x, int h, int pulse_remaining) {
+    float strength = pulse_remaining / std::max(12.0f, 1.0f);
+    float glow_alpha = 0.12f + 0.18f * strength;
+    for (int offset : {14, 9, 5}) {
+        cv::Scalar color(static_cast<int>(C_LINE_GLOW[0] * glow_alpha),
+                         static_cast<int>(C_LINE_GLOW[1] * glow_alpha),
+                         static_cast<int>(C_LINE_GLOW[2] * glow_alpha));
+        cv::line(img, cv::Point(line_x - offset, 0), cv::Point(line_x - offset, h), color, 1, cv::LINE_AA);
+        cv::line(img, cv::Point(line_x + offset, 0), cv::Point(line_x + offset, h), color, 1, cv::LINE_AA);
+    }
+    int dash_len = 18, gap = 12;
+    for (int y = 0; y < h; y += dash_len + gap) {
+        int ye = std::min(y + dash_len, h);
+        cv::line(img, cv::Point(line_x, y), cv::Point(line_x, ye), C_LINE_CORE, 2, cv::LINE_AA);
+    }
+    cv::putText(img, "COUNT LINE", cv::Point(line_x - 46, 24),
+                cv::FONT_HERSHEY_SIMPLEX, 0.42, C_LINE_CORE, 1, cv::LINE_AA);
+}
+
+void draw_hero_count(cv::Mat& img, int line_x, int h, int count, int pulse_remaining) {
+    std::string text = std::to_string(count);
+    float boost = 0.35f * (pulse_remaining / std::max(15.0f, 1.0f));
+    double font_scale = 1.6 + boost;
+    int thickness = static_cast<int>(3 + boost);
+    int baseline = 0;
+    cv::Size ts = cv::getTextSize(text, cv::FONT_HERSHEY_SIMPLEX, font_scale, thickness, &baseline);
+    int pad = 14;
+    int tx = line_x - ts.width / 2;
+    int ty = h / 2 + ts.height / 2;
+    overlay_rect(img, tx - pad, ty - ts.height - pad, tx + ts.width + pad, ty + pad / 2, C_PANEL, 0.78f);
+    cv::rectangle(img, cv::Rect(tx - pad, ty - ts.height - pad,
+                                ts.width + pad * 2, ts.height + pad + pad / 2),
+                  C_LINE_CORE, 2);
+    cv::putText(img, text, cv::Point(tx, ty), cv::FONT_HERSHEY_SIMPLEX, font_scale, C_GREEN, thickness, cv::LINE_AA);
+}
+
+void draw_hud(cv::Mat& img, int w, int batch_num, int batch_count, int total_ayam,
+              double elapsed_sec, double rate, const std::string& camera_id, const std::string& clock) {
+    int bar_h = 52;
+    overlay_rect(img, 0, 0, w, bar_h, C_PANEL, 0.72f);
+    cv::line(img, cv::Point(0, bar_h), cv::Point(w, bar_h), C_BORDER, 1);
+
+    cv::putText(img, "BATCH", cv::Point(16, 20), cv::FONT_HERSHEY_SIMPLEX, 0.45, C_MUTED, 1, cv::LINE_AA);
+    std::string batch_label = batch_num ? std::to_string(batch_num) : "\xe2\x80\x94";
+    cv::putText(img, batch_label, cv::Point(16, 44), cv::FONT_HERSHEY_SIMPLEX, 0.9, C_ACCENT, 2, cv::LINE_AA);
+
+    cv::putText(img, "COUNT", cv::Point(100, 20), cv::FONT_HERSHEY_SIMPLEX, 0.45, C_MUTED, 1, cv::LINE_AA);
+    cv::putText(img, std::to_string(batch_count), cv::Point(100, 44), cv::FONT_HERSHEY_SIMPLEX, 0.9, C_GREEN, 2, cv::LINE_AA);
+
+    cv::putText(img, "TOTAL", cv::Point(190, 20), cv::FONT_HERSHEY_SIMPLEX, 0.45, C_MUTED, 1, cv::LINE_AA);
+    cv::putText(img, std::to_string(total_ayam), cv::Point(190, 44), cv::FONT_HERSHEY_SIMPLEX, 0.7, C_TEXT, 1, cv::LINE_AA);
+
+    cv::putText(img, "UPTIME", cv::Point(280, 20), cv::FONT_HERSHEY_SIMPLEX, 0.45, C_MUTED, 1, cv::LINE_AA);
+    char buf[32];
+    snprintf(buf, sizeof(buf), "%.1fh", elapsed_sec / 3600.0);
+    cv::putText(img, buf, cv::Point(280, 44), cv::FONT_HERSHEY_SIMPLEX, 0.7, C_TEXT, 1, cv::LINE_AA);
+
+    cv::putText(img, "RATE", cv::Point(380, 20), cv::FONT_HERSHEY_SIMPLEX, 0.45, C_MUTED, 1, cv::LINE_AA);
+    snprintf(buf, sizeof(buf), "%.1f/min", rate);
+    cv::putText(img, buf, cv::Point(380, 44), cv::FONT_HERSHEY_SIMPLEX, 0.7, C_ACCENT, 1, cv::LINE_AA);
+
+    std::string cam_label = "CAM " + camera_id;
+    cv::putText(img, cam_label, cv::Point(w - 180, 20), cv::FONT_HERSHEY_SIMPLEX, 0.45, C_MUTED, 1, cv::LINE_AA);
+}
+
+void draw_footer(cv::Mat& img, int w, int h, int frame_idx, const std::string& live_tag) {
+    int bar_h = 28;
+    overlay_rect(img, 0, h - bar_h, w, h, C_PANEL, 0.55f);
+    char buf[64];
+    snprintf(buf, sizeof(buf), "%s | Frame %d", live_tag.c_str(), frame_idx);
+    cv::putText(img, buf, cv::Point(12, h - 9), cv::FONT_HERSHEY_SIMPLEX, 0.45, C_MUTED, 1, cv::LINE_AA);
+}
+
+void draw_skeleton_bold(cv::Mat& img, const std::vector<std::vector<cv::Point2f>>& kpts) {
+    for (size_t i = 0; i < SKELETON.size(); ++i) {
+        int a = SKELETON[i].first, b = SKELETON[i].second;
+        if (a < (int)kpts.size() && b < (int)kpts.size()) {
+            int xa = static_cast<int>(kpts[a][0].x), ya = static_cast<int>(kpts[a][0].y);
+            int xb = static_cast<int>(kpts[b][0].x), yb = static_cast<int>(kpts[b][0].y);
+            if (xa > 0 && ya > 0 && xb > 0 && yb > 0)
+                cv::line(img, cv::Point(xa, ya), cv::Point(xb, yb), SK_COLORS[i], 3, cv::LINE_AA);
+        }
+    }
+    for (const auto& kp : kpts) {
+        if (!kp.empty()) {
+            int x = static_cast<int>(kp[0].x), y = static_cast<int>(kp[0].y);
+            if (x > 0 && y > 0) {
+                cv::circle(img, cv::Point(x, y), 6, cv::Scalar(255, 255, 255), -1, cv::LINE_AA);
+                cv::circle(img, cv::Point(x, y), 6, cv::Scalar(40, 40, 40), 2, cv::LINE_AA);
+            }
+        }
+    }
+}
+
+std::vector<Popup> draw_popups(cv::Mat& img, const std::vector<Popup>& popups, int frame_idx) {
+    std::vector<Popup> alive;
+    for (const auto& pop : popups) {
+        int age = frame_idx - pop.born;
+        if (age > g_config.popup_lifetime) continue;
+        alive.push_back(pop);
+        float fade = 1.0f - static_cast<float>(age) / g_config.popup_lifetime;
+        cv::Scalar color(static_cast<int>(C_GREEN[0] * fade),
+                        static_cast<int>(C_GREEN[1] * fade),
+                        static_cast<int>(C_GREEN[2] * fade));
+        int y = pop.y - static_cast<int>(age * 1.8f);
+        cv::putText(img, pop.text, cv::Point(pop.x, y),
+                    cv::FONT_HERSHEY_SIMPLEX, 0.7, color, 2, cv::LINE_AA);
+    }
+    return alive;
+}
+
+void draw_batch_banner(cv::Mat& img, int w, int batch_num, int pulse_remaining) {
+    if (pulse_remaining <= 0) return;
+    std::string text = "NEW BATCH " + std::to_string(batch_num);
+    int baseline = 0;
+    cv::Size ts = cv::getTextSize(text, cv::FONT_HERSHEY_SIMPLEX, 0.8, 2, &baseline);
+    int x1 = w / 2 - ts.width / 2 - 16, y1 = 62;
+    int x2 = w / 2 + ts.width / 2 + 16, y2 = 62 + ts.height + 20;
+    overlay_rect(img, x1, y1, x2, y2, C_PANEL, 0.7f);
+    cv::rectangle(img, cv::Rect(x1, y1, x2 - x1, y2 - y1), C_ACCENT, 2);
+    cv::putText(img, text, cv::Point(w / 2 - ts.width / 2, 62 + ts.height + 4),
+                cv::FONT_HERSHEY_SIMPLEX, 0.8, C_ACCENT, 2, cv::LINE_AA);
+}
@@ -0,0 +1,44 @@
+#pragma once
+#include <opencv2/opencv.hpp>
+#include <string>
+#include <vector>
+#include <tuple>
+#include <cstdint>
+
+inline const cv::Scalar C_PANEL(18, 24, 28);
+inline const cv::Scalar C_BORDER(75, 85, 90);
+inline const cv::Scalar C_ACCENT(60, 200, 255);
+inline const cv::Scalar C_GREEN(100, 220, 80);
+inline const cv::Scalar C_TEXT(235, 235, 235);
+inline const cv::Scalar C_MUTED(150, 150, 150);
+inline const cv::Scalar C_AYAM_BOX(255, 165, 0);
+inline const cv::Scalar C_TALENAN_BOX(60, 120, 220);
+inline const cv::Scalar C_LINE_CORE(255, 220, 180);
+inline const cv::Scalar C_LINE_GLOW(220, 160, 100);
+
+extern const std::vector<std::pair<int, int>> SKELETON;
+extern const std::vector<cv::Scalar> SK_COLORS;
+
+int resolve_line_x(int frame_width, int line_x_opt, float line_x_frac);
+bool crossed_line(float prev_cx, float cx, int line_x, const std::string& direction);
+
+void overlay_rect(cv::Mat& img, int x1, int y1, int x2, int y2, const cv::Scalar& color, float alpha = 0.65f);
+void draw_pill(cv::Mat& img, const std::string& text, int x, int y,
+               const cv::Scalar& bg, const cv::Scalar& fg = C_TEXT,
+               double font_scale = 0.45, int pad_x = 6, int pad_y = 4);
+
+void draw_elegant_counting_line(cv::Mat& img, int line_x, int h, int pulse_remaining = 0);
+void draw_hero_count(cv::Mat& img, int line_x, int h, int count, int pulse_remaining = 0);
+void draw_hud(cv::Mat& img, int w, int batch_num, int batch_count, int total_ayam,
+              double elapsed_sec, double rate, const std::string& camera_id, const std::string& clock);
+void draw_footer(cv::Mat& img, int w, int h, int frame_idx, const std::string& live_tag);
+void draw_skeleton_bold(cv::Mat& img, const std::vector<std::vector<cv::Point2f>>& kpts);
+
+struct Popup {
+    int x, y;
+    int born;
+    std::string text;
+};
+std::vector<Popup> draw_popups(cv::Mat& img, const std::vector<Popup>& popups, int frame_idx);
+
+void draw_batch_banner(cv::Mat& img, int w, int batch_num, int pulse_remaining);
@@ -0,0 +1,59 @@
+#include "kalman_filter.hpp"
+
+KalmanFilter::KalmanFilter() {
+    constexpr int ndim = kStateDim;
+
+    motion_mat_ = Eigen::Matrix<float, kTotalDim, kTotalDim>::Identity();
+    for (int i = 0; i < ndim; ++i) {
+        motion_mat_(i, ndim + i) = 1.0f;
+    }
+
+    update_mat_ = Eigen::Matrix<float, kStateDim, kTotalDim>::Zero();
+    for (int i = 0; i < ndim; ++i) {
+        update_mat_(i, i) = 1.0f;
+    }
+
+    x = Eigen::Matrix<float, kTotalDim, 1>::Zero();
+    P = Eigen::Matrix<float, kTotalDim, kTotalDim>::Identity() * 10.0f;
+}
+
+void KalmanFilter::predict() {
+    Eigen::Matrix<float, kTotalDim, 1> std_vec;
+    std_vec <<
+        std_weight_position_ * x(2),
+        std_weight_position_ * x(3),
+        std_weight_position_ * x(2),
+        std_weight_position_ * x(3),
+        std_weight_velocity_ * x(2),
+        std_weight_velocity_ * x(3),
+        std_weight_velocity_ * x(2),
+        std_weight_velocity_ * x(3);
+
+    Eigen::Matrix<float, kTotalDim, kTotalDim> Q = std_vec.array().square().matrix().asDiagonal();
+
+    x = motion_mat_ * x;
+    P = motion_mat_ * P * motion_mat_.transpose() + Q;
+}
+
+void KalmanFilter::update(const Eigen::Vector4f& z) {
+    Eigen::Matrix<float, kTotalDim, 1> std_vec;
+    std_vec <<
+        std_weight_position_ * z(2),
+        std_weight_position_ * z(3),
+        std_weight_position_ * z(2),
+        std_weight_position_ * z(3),
+        0, 0, 0, 0;
+
+    Eigen::Matrix<float, kStateDim, kStateDim> R = std_vec.head<kStateDim>().array().square().matrix().asDiagonal();
+
+    auto H = update_mat_;
+    Eigen::Matrix<float, kStateDim, kStateDim> S = H * P * H.transpose() + R;
+    Eigen::Matrix<float, kTotalDim, kStateDim> K = P * H.transpose() * S.inverse();
+
+    Eigen::Matrix<float, kStateDim, 1> y = z - H * x;
+    x = x + K * y;
+
+    Eigen::Matrix<float, kTotalDim, kTotalDim> I_KH =
+        Eigen::Matrix<float, kTotalDim, kTotalDim>::Identity() - K * H;
+    P = I_KH * P * I_KH.transpose() + K * R * K.transpose();
+}
@@ -0,0 +1,24 @@
+#pragma once
+#include <Eigen/Dense>
+#include <cmath>
+#include <cstdint>
+
+class KalmanFilter {
+public:
+    static constexpr int kStateDim = 4;
+    static constexpr int kTotalDim = 2 * kStateDim;
+
+    KalmanFilter();
+
+    void predict();
+    void update(const Eigen::Vector4f& z);
+
+    Eigen::Matrix<float, kTotalDim, 1> x;
+    Eigen::Matrix<float, kTotalDim, kTotalDim> P;
+
+private:
+    Eigen::Matrix<float, kTotalDim, kTotalDim> motion_mat_;
+    Eigen::Matrix<float, kStateDim, kTotalDim> update_mat_;
+    float std_weight_position_ = 1.0f / 20.0f;
+    float std_weight_velocity_ = 1.0f / 160.0f;
+};
@@ -0,0 +1,391 @@
+#include "config.hpp"
+#include "bytetrack.hpp"
+#include "batch_store.hpp"
+#include "csv_logger.hpp"
+#include "rknn_yolo.hpp"
+#include "drawing.hpp"
+#include "nms.hpp"
+
+#include <opencv2/opencv.hpp>
+#include <Eigen/Dense>
+#include <csignal>
+#include <iostream>
+#include <chrono>
+#include <thread>
+#include <unordered_map>
+#include <unordered_set>
+#include <deque>
+#include <ctime>
+#include <filesystem>
+
+static std::atomic<bool> shutdown_requested{false};
+
+static void signal_handler(int) {
+    shutdown_requested = true;
+    std::cout << "\nShutdown requested — finishing current frame..." << std::endl;
+}
+
+static std::string now_str() {
+    auto now = std::chrono::system_clock::now();
+    auto t = std::chrono::system_clock::to_time_t(now);
+    std::ostringstream ss;
+    ss << std::put_time(std::localtime(&t), "%Y-%m-%d %H:%M:%S");
+    return ss.str();
+}
+
+static cv::VideoCapture open_capture(const std::string& source) {
+    bool is_live = source.substr(0, 7) == "rtsp://" || source.substr(0, 7) == "http://";
+    if (is_live) {
+        setenv("OPENCV_FFMPEG_CAPTURE_OPTIONS", g_config.rtsp_ffmpeg_options.c_str(), 1);
+    }
+    cv::VideoCapture cap(source, cv::CAP_FFMPEG);
+    cap.set(cv::CAP_PROP_BUFFERSIZE, 1);
+    return cap;
+}
+
+static void warmup_stream(cv::VideoCapture& cap, int n) {
+    std::cout << "Warming up stream..." << std::endl;
+    cv::Mat frame;
+    for (int i = 0; i < n; ++i) cap.read(frame);
+    std::cout << "Stream ready!" << std::endl;
+}
+
+struct TrackedInfo {
+    float cx;
+    std::chrono::steady_clock::time_point ts;
+};
+
+static void prune_stale_tracks(std::unordered_map<int, TrackedInfo>& tracked, double prune_sec) {
+    auto now = std::chrono::steady_clock::now();
+    std::vector<int> stale;
+    for (auto& [tid, info] : tracked) {
+        auto age = std::chrono::duration_cast<std::chrono::seconds>(now - info.ts).count();
+        if (age > prune_sec) stale.push_back(tid);
+    }
+    for (int tid : stale) tracked.erase(tid);
+}
+
+int main(int argc, char* argv[]) {
+    signal(SIGINT, signal_handler);
+    signal(SIGTERM, signal_handler);
+
+    const char* env_path = argc > 1 ? argv[1] : nullptr;
+    g_config.load_from_env(env_path);
+
+    std::cout << "Starting ByteTrack Counter (C++)" << std::endl;
+    std::cout << "Camera: " << g_config.camera_name << std::endl;
+    std::cout << "Source: " << g_config.source << std::endl;
+    std::cout << "Model: " << g_config.model_path << std::endl;
+    std::cout << "DB: " << g_config.db_path << std::endl;
+
+    int class_ayam = 0;
+    int class_talenan = 1;
+
+    auto logger = [](const std::string& msg) {
+        std::cout << "[" << now_str() << "] " << msg << std::endl;
+    };
+
+    BatchStore store(g_config.db_path, g_config.state_file,
+                     g_config.camera_name, g_config.object_label,
+                     g_config.daily_cutoff_time,
+                     g_config.batch_timeout_seconds,
+                     g_config.ignore_batch_label_timeout,
+                     g_config.min_object_per_batch,
+                     g_config.min_duration_per_batch,
+                     logger);
+    store.start_cutoff_watcher();
+
+    std::unique_ptr<CsvLogger> cross_logger;
+    if (g_config.export_csv) {
+        cross_logger = std::make_unique<CsvLogger>(g_config.cross_csv,
+            std::vector<std::string>{"batch", "frame", "timestamp", "chicken_id"});
+    }
+
+    RKNNYOLO model(g_config.model_path, g_config.core_mask,
+                   g_config.imgsz, g_config.conf, 0.45f,
+                   g_config.num_classes, 0, g_config.score_sigmoid);
+
+    ByteTracker ayam_tracker(g_config.track_high_thresh, g_config.track_low_thresh,
+                              g_config.track_match_thresh, g_config.track_buffer,
+                              g_config.track_min_hits);
+    ByteTracker talenan_tracker(g_config.track_high_thresh, g_config.track_low_thresh,
+                                 g_config.track_match_thresh, g_config.track_buffer,
+                                 g_config.track_min_hits);
+
+    std::unordered_set<int> ayam_line_crossed;
+    std::unordered_set<int> talenan_line_crossed;
+
+    std::unordered_map<int, int> ayam_cross_flash;
+    std::unordered_map<int, int> talenan_cross_flash;
+    int line_pulse = 0, count_pulse = 0, batch_pulse = 0;
+    std::vector<Popup> popups;
+
+    auto session_start = std::chrono::steady_clock::now();
+    int frame_idx = 0;
+
+    cv::VideoCapture cap = open_capture(g_config.source);
+    bool is_live = g_config.source.substr(0, 7) == "rtsp://" ||
+                   g_config.source.substr(0, 7) == "http://";
+
+    if (!cap.isOpened()) {
+        std::cerr << "Cannot open source: " << g_config.source << std::endl;
+        store.shutdown();
+        return 1;
+    }
+    if (is_live && g_config.warmup_frames > 0)
+        warmup_stream(cap, g_config.warmup_frames);
+
+    int w = static_cast<int>(cap.get(cv::CAP_PROP_FRAME_WIDTH));
+    int h = static_cast<int>(cap.get(cv::CAP_PROP_FRAME_HEIGHT));
+    double fps_prop = cap.get(cv::CAP_PROP_FPS);
+    if (fps_prop <= 1) fps_prop = g_config.output_fps;
+
+    int line_x = resolve_line_x(w, g_config.line_x, g_config.line_x_frac);
+
+    std::cout << "RKNN+ByteTrack counter | " << w << "x" << h << " @ "
+              << fps_prop << "fps | line x=" << line_x
+              << " | cross=" << g_config.cross_direction << std::endl;
+
+    int reconnect_count = 0;
+
+    std::unordered_map<int, TrackedInfo> ayam_tracked;
+    std::unordered_map<int, TrackedInfo> talenan_tracked;
+
+    while (!shutdown_requested) {
+        cv::Mat frame;
+        cap >> frame;
+        if (frame.empty()) {
+            if (!is_live) break;
+            reconnect_count++;
+            std::cout << "Stream dropped (attempt " << reconnect_count
+                      << "), reconnecting..." << std::endl;
+            cap.release();
+            std::this_thread::sleep_for(std::chrono::seconds(g_config.reconnect_delay_sec));
+            cap = open_capture(g_config.source);
+            if (!cap.isOpened()) break;
+            w = static_cast<int>(cap.get(cv::CAP_PROP_FRAME_WIDTH));
+            h = static_cast<int>(cap.get(cv::CAP_PROP_FRAME_HEIGHT));
+            line_x = resolve_line_x(w, g_config.line_x, g_config.line_x_frac);
+            continue;
+        }
+
+        auto elapsed_sec = std::chrono::duration_cast<std::chrono::seconds>(
+            std::chrono::steady_clock::now() - session_start).count();
+        auto mono = std::chrono::steady_clock::now();
+
+        bool ayam_crossed_frame = false, batch_closed_frame = false, batch_started_frame = false;
+
+        std::vector<Detection> detections = model(frame);
+
+        if (!detections.empty()) {
+            std::vector<Eigen::Vector4f> ayam_boxes, talenan_boxes;
+            std::vector<float> ayam_scores, talenan_scores;
+            std::vector<float> ayam_cx_list, talenan_cx_list;
+            std::vector<std::vector<std::vector<cv::Point2f>>> ayam_kpts_list;
+
+            for (const auto& det : detections) {
+                const auto& bbox = det.bbox;
+                float cx = (bbox(0) + bbox(2)) / 2.0f;
+
+                if (det.cls == class_talenan) {
+                    talenan_boxes.push_back(bbox);
+                    talenan_scores.push_back(det.score);
+                    talenan_cx_list.push_back(cx);
+                } else if (det.cls == class_ayam) {
+                    ayam_boxes.push_back(bbox);
+                    ayam_scores.push_back(det.score);
+                    ayam_cx_list.push_back(cx);
+                    ayam_kpts_list.push_back(det.keypoints);
+                }
+            }
+
+            int na = static_cast<int>(ayam_boxes.size());
+            int nt = static_cast<int>(talenan_boxes.size());
+
+            Eigen::MatrixXf ayam_mat(na, 4), talenan_mat(nt, 4);
+            Eigen::VectorXf ayam_scores_vec(na), talenan_scores_vec(nt);
+
+            for (int i = 0; i < na; ++i) {
+                ayam_mat.row(i) = ayam_boxes[i];
+                ayam_scores_vec(i) = ayam_scores[i];
+            }
+            for (int i = 0; i < nt; ++i) {
+                talenan_mat.row(i) = talenan_boxes[i];
+                talenan_scores_vec(i) = talenan_scores[i];
+            }
+
+            TrackResult ayam_tr = ayam_tracker.update(ayam_mat, ayam_scores_vec);
+            TrackResult talenan_tr = talenan_tracker.update(talenan_mat, talenan_scores_vec);
+
+            // Process talenan crossings
+            for (int di = 0; di < nt; ++di) {
+                auto it = talenan_tr.det_to_track.find(di);
+                if (it == talenan_tr.det_to_track.end()) continue;
+                int tid = it->second;
+                float cx = talenan_cx_list[di];
+
+                auto tit = talenan_tracked.find(tid);
+                if (tit != talenan_tracked.end()) {
+                    float prev_cx = tit->second.cx;
+                    if (crossed_line(prev_cx, cx, line_x, g_config.cross_direction) &&
+                        talenan_line_crossed.find(tid) == talenan_line_crossed.end()) {
+                        talenan_line_crossed.insert(tid);
+                        if (store.record_talenan_crossing(tid)) {
+                            batch_closed_frame = true;
+                            talenan_cross_flash[tid] = g_config.cross_flash_frames;
+                            popups.push_back({
+                                static_cast<int>(cx) - 20,
+                                static_cast<int>((talenan_boxes[di](1) + talenan_boxes[di](3)) / 2),
+                                frame_idx, "BATCH CLOSED"
+                            });
+                        }
+                    }
+                }
+                talenan_tracked[tid] = {cx, mono};
+            }
+
+            // Process ayam crossings
+            for (int di = 0; di < na; ++di) {
+                auto it = ayam_tr.det_to_track.find(di);
+                if (it == ayam_tr.det_to_track.end()) continue;
+                int tid = it->second;
+                float cx = ayam_cx_list[di];
+
+                auto tit = ayam_tracked.find(tid);
+                if (tit != ayam_tracked.end()) {
+                    float prev_cx = tit->second.cx;
+                    if (crossed_line(prev_cx, cx, line_x, g_config.cross_direction) &&
+                        ayam_line_crossed.find(tid) == ayam_line_crossed.end()) {
+                        ayam_line_crossed.insert(tid);
+                        auto [count, started_new] = store.record_ayam_crossing(tid);
+                        if (cross_logger) {
+                            std::ostringstream frame_str, tid_str;
+                            frame_str << frame_idx;
+                            tid_str << tid;
+                            cross_logger->write_row({
+                                std::to_string(store.current_batch_number()),
+                                frame_str.str(),
+                                now_str(),
+                                tid_str.str()
+                            });
+                        }
+                        ayam_crossed_frame = true;
+                        if (started_new) batch_started_frame = true;
+                        ayam_cross_flash[tid] = g_config.cross_flash_frames;
+                        popups.push_back({
+                            static_cast<int>(cx) - 12,
+                            static_cast<int>((ayam_boxes[di](1) + ayam_boxes[di](3)) / 2),
+                            frame_idx, "+1"
+                        });
+                    }
+                }
+                ayam_tracked[tid] = {cx, mono};
+            }
+
+            // Track lost tracks for continuity
+            for (auto& [tid, cx] : ayam_tr.lost_map) {
+                if (ayam_tracked.find(tid) == ayam_tracked.end())
+                    ayam_tracked[tid] = {cx, mono};
+            }
+
+            // Draw talenan
+            for (int di = 0; di < nt; ++di) {
+                auto it = talenan_tr.det_to_track.find(di);
+                if (it == talenan_tr.det_to_track.end()) continue;
+                int tid = it->second;
+                const auto& bbox = talenan_boxes[di];
+                int x1 = static_cast<int>(bbox(0)), y1 = static_cast<int>(bbox(1));
+                int x2 = static_cast<int>(bbox(2)), y2 = static_cast<int>(bbox(3));
+                int flash = talenan_cross_flash.count(tid) ? talenan_cross_flash[tid] : 0;
+                cv::Scalar color = flash > 0 ? C_GREEN : C_TALENAN_BOX;
+                cv::rectangle(frame, cv::Point(x1, y1), cv::Point(x2, y2), color, flash > 0 ? 3 : 2);
+                draw_pill(frame, "TALENAN " + std::to_string(tid), x1, y1 - 4, color);
+            }
+
+            // Draw ayam
+            for (int di = 0; di < na; ++di) {
+                auto it = ayam_tr.det_to_track.find(di);
+                if (it == ayam_tr.det_to_track.end()) continue;
+                int tid = it->second;
+                const auto& bbox = ayam_boxes[di];
+                int x1 = static_cast<int>(bbox(0)), y1 = static_cast<int>(bbox(1));
+                int x2 = static_cast<int>(bbox(2)), y2 = static_cast<int>(bbox(3));
+                int flash = ayam_cross_flash.count(tid) ? ayam_cross_flash[tid] : 0;
+                cv::Scalar color = flash > 0 ? C_GREEN : C_AYAM_BOX;
+                cv::rectangle(frame, cv::Point(x1, y1), cv::Point(x2, y2), color, flash > 0 ? 3 : 2);
+                draw_pill(frame, "ID " + std::to_string(tid), x1, y1 - 4, color);
+                if (di < (int)ayam_kpts_list.size() && !ayam_kpts_list[di].empty())
+                    draw_skeleton_bold(frame, ayam_kpts_list[di]);
+            }
+        }
+
+        if (ayam_crossed_frame) {
+            line_pulse = g_config.line_pulse_frames;
+            count_pulse = g_config.count_pulse_frames;
+        }
+        if (batch_closed_frame) {
+            line_pulse = g_config.line_pulse_frames;
+        }
+        if (batch_started_frame) {
+            batch_pulse = g_config.batch_pulse_frames;
+        }
+
+        int batch_num = store.current_batch_number();
+        int batch_count = store.current_batch_count();
+        int display_total = store.display_total();
+        double elapsed = static_cast<double>(elapsed_sec);
+        double rate = elapsed > 0 ? (display_total / elapsed * 60.0) : 0.0;
+
+        draw_elegant_counting_line(frame, line_x, h, line_pulse);
+        draw_hero_count(frame, line_x, h, batch_count, count_pulse);
+        draw_hud(frame, w, batch_num, batch_count, display_total,
+                 elapsed, rate, g_config.camera_name, now_str());
+        draw_batch_banner(frame, w, batch_num, batch_pulse);
+        draw_footer(frame, w, h, frame_idx, is_live ? "LIVE-RKNN-BT" : "FILE-RKNN-BT");
+        popups = draw_popups(frame, popups, frame_idx);
+
+        // Flash decay
+        for (auto& flash_map : {&ayam_cross_flash, &talenan_cross_flash}) {
+            for (auto it = flash_map->begin(); it != flash_map->end(); ) {
+                it->second--;
+                if (it->second <= 0) it = flash_map->erase(it);
+                else ++it;
+            }
+        }
+        line_pulse = std::max(0, line_pulse - 1);
+        count_pulse = std::max(0, count_pulse - 1);
+        batch_pulse = std::max(0, batch_pulse - 1);
+
+        if (g_config.live_stream_enabled && frame_idx % g_config.live_stream_every_n == 0) {
+            try {
+                std::filesystem::path p(g_config.live_stream_frame_path);
+                if (p.has_parent_path())
+                    std::filesystem::create_directories(p.parent_path());
+                std::vector<uint8_t> jpeg;
+                cv::imencode(".jpg", frame, jpeg,
+                    {cv::IMWRITE_JPEG_QUALITY, g_config.live_stream_quality});
+                std::ofstream f(g_config.live_stream_frame_path, std::ios::binary);
+                f.write(reinterpret_cast<const char*>(jpeg.data()), jpeg.size());
+            } catch (...) {}
+        }
+
+        frame_idx++;
+        if (frame_idx % g_config.flush_every_n_frames == 0) {
+            std::cout << "[" << now_str() << "] Frame " << frame_idx
+                      << " | Batch " << batch_num << ": " << batch_count
+                      << " | Total: " << display_total
+                      << " | Uptime " << (elapsed / 3600.0) << "h" << std::endl;
+        }
+
+        prune_stale_tracks(ayam_tracked, g_config.tracked_prune_sec);
+        prune_stale_tracks(talenan_tracked, g_config.tracked_prune_sec);
+    }
+
+    cap.release();
+    store.shutdown();
+
+    std::cout << "\n=== Batch Summary (SQLite) ===" << std::endl;
+    std::cout << "Database: " << g_config.db_path << std::endl;
+
+    return 0;
+}
@@ -0,0 +1,86 @@
+#pragma once
+#include <Eigen/Dense>
+#include <vector>
+#include <algorithm>
+#include <numeric>
+
+inline std::vector<int> nms(const Eigen::MatrixXf& boxes, const Eigen::VectorXf& scores, float iou_thr = 0.45f) {
+    std::vector<int> order(scores.size());
+    std::iota(order.begin(), order.end(), 0);
+    std::sort(order.begin(), order.end(), [&](int a, int b) { return scores(a) > scores(b); });
+
+    std::vector<int> keep;
+    while (!order.empty()) {
+        int idx = order[0];
+        keep.push_back(idx);
+        if (order.size() == 1) break;
+
+        std::vector<int> remain;
+        for (size_t i = 1; i < order.size(); ++i) {
+            int j = order[i];
+            float xx1 = std::max(boxes(idx, 0), boxes(j, 0));
+            float yy1 = std::max(boxes(idx, 1), boxes(j, 1));
+            float xx2 = std::min(boxes(idx, 2), boxes(j, 2));
+            float yy2 = std::min(boxes(idx, 3), boxes(j, 3));
+            float w = std::max(0.0f, xx2 - xx1);
+            float h = std::max(0.0f, yy2 - yy1);
+            float inter = w * h;
+            float area_i = (boxes(idx, 2) - boxes(idx, 0)) * (boxes(idx, 3) - boxes(idx, 1));
+            float area_j = (boxes(j, 2) - boxes(j, 0)) * (boxes(j, 3) - boxes(j, 1));
+            float iou = inter / (area_i + area_j - inter + 1e-16f);
+            if (iou < iou_thr) remain.push_back(j);
+        }
+        order = remain;
+    }
+    return keep;
+}
+
+inline Eigen::MatrixXf ious_xyxy(const Eigen::MatrixXf& boxes_a, const Eigen::MatrixXf& boxes_b) {
+    int n = static_cast<int>(boxes_a.rows());
+    int m = static_cast<int>(boxes_b.rows());
+    if (n == 0 || m == 0) return Eigen::MatrixXf::Zero(n, m);
+
+    Eigen::MatrixXf iou_mat(n, m);
+    for (int i = 0; i < n; ++i) {
+        for (int j = 0; j < m; ++j) {
+            float xx1 = std::max(boxes_a(i, 0), boxes_b(j, 0));
+            float yy1 = std::max(boxes_a(i, 1), boxes_b(j, 1));
+            float xx2 = std::min(boxes_a(i, 2), boxes_b(j, 2));
+            float yy2 = std::min(boxes_a(i, 3), boxes_b(j, 3));
+            float iw = std::max(0.0f, xx2 - xx1);
+            float ih = std::max(0.0f, yy2 - yy1);
+            float inter = iw * ih;
+            float area_a = (boxes_a(i, 2) - boxes_a(i, 0)) * (boxes_a(i, 3) - boxes_a(i, 1));
+            float area_b = (boxes_b(j, 2) - boxes_b(j, 0)) * (boxes_b(j, 3) - boxes_b(j, 1));
+            iou_mat(i, j) = inter / (area_a + area_b - inter + 1e-16f);
+        }
+    }
+    return iou_mat;
+}
+
+inline std::vector<std::pair<int, int>> greedy_match(const Eigen::MatrixXf& cost_matrix, float threshold = 0.3f) {
+    if (cost_matrix.size() == 0) return {};
+
+    int n = static_cast<int>(cost_matrix.rows());
+    int m = static_cast<int>(cost_matrix.cols());
+
+    std::vector<std::tuple<float, int, int>> flat;
+    flat.reserve(n * m);
+    for (int i = 0; i < n; ++i)
+        for (int j = 0; j < m; ++j)
+            flat.emplace_back(cost_matrix(i, j), i, j);
+    std::sort(flat.begin(), flat.end());
+
+    std::vector<bool> row_used(n, false);
+    std::vector<bool> col_used(m, false);
+    std::vector<std::pair<int, int>> pairs;
+
+    for (const auto& [cost, i, j] : flat) {
+        if (cost >= threshold) break;
+        if (row_used[i] || col_used[j]) continue;
+        row_used[i] = true;
+        col_used[j] = true;
+        pairs.emplace_back(i, j);
+    }
+    return pairs;
+}
@@ -0,0 +1,230 @@
+#include "rknn_yolo.hpp"
+#include "nms.hpp"
+#include <iostream>
+
+#ifdef HAS_RKNN
+#include "rknn_api.h"
+
+RKNNYOLO::RKNNYOLO(const std::string& model_path, int core_mask, int imgsz,
+                   float conf, float iou, int num_classes, int num_keypoints, bool score_sigmoid)
+    : imgsz_(imgsz), conf_(conf), iou_(iou), num_classes_(num_classes),
+      num_keypoints_(num_keypoints), score_sigmoid_(score_sigmoid) {
+
+    FILE* fp = fopen(model_path.c_str(), "rb");
+    if (!fp) {
+        std::cerr << "Failed to open RKNN model: " << model_path << std::endl;
+        return;
+    }
+    fseek(fp, 0, SEEK_END);
+    size_t model_size = ftell(fp);
+    fseek(fp, 0, SEEK_SET);
+    std::vector<uint8_t> model_data(model_size);
+    fread(model_data.data(), 1, model_size, fp);
+    fclose(fp);
+
+    int ret = rknn_init(&rknn_ctx_, model_data.data(), model_size,
+                        0, nullptr);
+    if (ret != 0) {
+        std::cerr << "Failed to init RKNN (ret=" << ret << ")" << std::endl;
+        return;
+    }
+
+    rknn_set_core_mask(rknn_ctx_, static_cast<rknn_core_mask>(core_mask));
+
+    rknn_input_output_num io_num;
+    ret = rknn_query(rknn_ctx_, RKNN_QUERY_IN_OUT_NUM, &io_num, sizeof(io_num));
+    if (ret != 0) {
+        std::cerr << "Failed to query RKNN IO" << std::endl;
+        return;
+    }
+    std::cout << "IO nums: inputs=" << io_num.n_input << " outputs=" << io_num.n_output << std::endl;
+
+    rknn_tensor_attr in_attr;
+    memset(&in_attr, 0, sizeof(in_attr));
+
+    if (io_num.n_input > 0) {
+        in_attr.index = 0;
+        ret = rknn_query(rknn_ctx_, RKNN_QUERY_INPUT_ATTR, &in_attr, sizeof(in_attr));
+        if (ret == 0) {
+            std::cout << "Input attr: fmt=" << in_attr.fmt << " type=" << in_attr.type
+                      << " n_dims=" << in_attr.n_dims << " dims=[";
+            for (uint32_t d = 0; d < in_attr.n_dims; ++d) {
+                if (d > 0) std::cout << ",";
+                std::cout << in_attr.dims[d];
+            }
+            std::cout << "]" << std::endl;
+        }
+
+        in_attr.dims[0] = 1;
+        in_attr.dims[1] = imgsz_;
+        in_attr.dims[2] = imgsz_;
+        in_attr.dims[3] = 3;
+        in_attr.n_dims = 4;
+        ret = rknn_set_input_shapes(rknn_ctx_, io_num.n_input, &in_attr);
+        if (ret != 0) {
+            std::cerr << "Failed to set input shapes (ret=" << ret << ")" << std::endl;
+        } else {
+            std::cout << "Input shapes set: [1," << imgsz_ << "," << imgsz_ << ",3]" << std::endl;
+        }
+    }
+
+    if (io_num.n_output > 0) {
+        rknn_tensor_attr out_attr;
+        memset(&out_attr, 0, sizeof(out_attr));
+        out_attr.index = 0;
+        ret = rknn_query(rknn_ctx_, RKNN_QUERY_OUTPUT_ATTR, &out_attr, sizeof(out_attr));
+        if (ret == 0 && out_attr.n_dims >= 2) {
+            int first_dim = out_attr.n_dims > 1 ? out_attr.dims[out_attr.n_dims - 2] : 0;
+            int last_dim = out_attr.dims[out_attr.n_dims - 1];
+            if (first_dim == num_classes_ + 4) {
+                output_transposed_ = true;
+                output_n_pred_ = last_dim;
+            } else if (last_dim == num_classes_ + 4) {
+                output_transposed_ = false;
+                output_n_pred_ = first_dim;
+            }
+            std::cout << "Output shape: [";
+            for (uint32_t d = 0; d < out_attr.n_dims; ++d) {
+                if (d > 0) std::cout << ", ";
+                std::cout << out_attr.dims[d];
+            }
+            std::cout << "] transposed=" << (output_transposed_ ? "true" : "false")
+                      << " n_pred=" << output_n_pred_ << std::endl;
+        }
+    }
+
+    loaded_ = true;
+    std::cout << "RKNN model loaded: " << model_path << " imgsz=" << imgsz_
+              << " core_mask=" << core_mask << std::endl;
+}
+
+RKNNYOLO::~RKNNYOLO() {
+    if (loaded_ && rknn_ctx_) {
+        rknn_destroy(rknn_ctx_);
+    }
+}
+
+cv::Mat RKNNYOLO::preprocess(const cv::Mat& frame, Eigen::Vector4f& gains) {
+    int h0 = frame.rows, w0 = frame.cols;
+    float scale = std::min((float)imgsz_ / h0, (float)imgsz_ / w0);
+    int nh = static_cast<int>(h0 * scale), nw = static_cast<int>(w0 * scale);
+    cv::Mat resized;
+    cv::resize(frame, resized, cv::Size(nw, nh), 0, 0, cv::INTER_LINEAR);
+
+    cv::Mat letterbox(imgsz_, imgsz_, CV_8UC3, cv::Scalar(114, 114, 114));
+    int dy = (imgsz_ - nh) / 2, dx = (imgsz_ - nw) / 2;
+    resized.copyTo(letterbox(cv::Rect(dx, dy, nw, nh)));
+
+    cv::Mat rgb;
+    cv::cvtColor(letterbox, rgb, cv::COLOR_BGR2RGB);
+    gains << scale, scale, (float)dy, (float)dx;
+    return rgb;
+}
+
+std::vector<Detection> RKNNYOLO::operator()(const cv::Mat& frame) {
+    std::vector<Detection> detections;
+    if (!loaded_) return detections;
+
+    int h0 = frame.rows, w0 = frame.cols;
+    Eigen::Vector4f gains;
+    cv::Mat rgb = preprocess(frame, gains);
+    float scale = gains(0);
+    int pad_y = static_cast<int>(gains(2)), pad_x = static_cast<int>(gains(3));
+
+    rknn_input inputs[1];
+    memset(inputs, 0, sizeof(inputs));
+    inputs[0].index = 0;
+    inputs[0].type = RKNN_TENSOR_UINT8;
+    inputs[0].fmt = RKNN_TENSOR_NHWC;
+    inputs[0].buf = rgb.data;
+    inputs[0].size = imgsz_ * imgsz_ * 3;
+
+    rknn_inputs_set(rknn_ctx_, 1, inputs);
+
+    rknn_output outputs[1];
+    memset(outputs, 0, sizeof(outputs));
+    outputs[0].want_float = 1;
+    rknn_run(rknn_ctx_, nullptr);
+    rknn_outputs_get(rknn_ctx_, 1, outputs, nullptr);
+
+    float* out_data = (float*)outputs[0].buf;
+    int n_pred = output_n_pred_;
+    if (n_pred <= 0) n_pred = (int)(outputs[0].size / sizeof(float)) / (4 + num_classes_);
+
+    int stride = 4 + num_classes_;
+    for (int i = 0; i < n_pred; ++i) {
+        float cx, cy, w, h;
+        float cls_scores[15];
+        if (output_transposed_) {
+            cx = out_data[i];
+            cy = out_data[i + n_pred];
+            w  = out_data[i + n_pred * 2];
+            h  = out_data[i + n_pred * 3];
+            for (int c = 0; c < num_classes_; ++c)
+                cls_scores[c] = out_data[i + n_pred * (4 + c)];
+        } else {
+            float* pred = out_data + i * stride;
+            cx = pred[0]; cy = pred[1]; w = pred[2]; h = pred[3];
+            for (int c = 0; c < num_classes_; ++c)
+                cls_scores[c] = pred[4 + c];
+        }
+        float x1 = cx - w / 2, y1 = cy - h / 2, x2 = cx + w / 2, y2 = cy + h / 2;
+
+        float max_score = 0;
+        int best_cls = 0;
+        for (int c = 0; c < num_classes_; ++c) {
+            float s = score_sigmoid_ ? (1.0f / (1.0f + std::exp(-cls_scores[c]))) : cls_scores[c];
+            if (s > max_score) { max_score = s; best_cls = c; }
+        }
+
+        if (max_score > conf_) {
+            x1 = (x1 - pad_x) / scale; y1 = (y1 - pad_y) / scale;
+            x2 = (x2 - pad_x) / scale; y2 = (y2 - pad_y) / scale;
+            x1 = std::clamp(x1, 0.0f, (float)w0);
+            y1 = std::clamp(y1, 0.0f, (float)h0);
+            x2 = std::clamp(x2, 0.0f, (float)w0);
+            y2 = std::clamp(y2, 0.0f, (float)h0);
+
+            Detection det;
+            det.bbox << x1, y1, x2, y2;
+            det.score = max_score;
+            det.cls = best_cls;
+            detections.push_back(det);
+        }
+    }
+
+    rknn_outputs_release(rknn_ctx_, 1, outputs);
+    return detections;
+}
+#else
+// Stub implementation when RKNN is not available
+RKNNYOLO::RKNNYOLO(const std::string& model_path, int core_mask, int imgsz,
+                   float conf, float iou, int num_classes, int num_keypoints, bool score_sigmoid)
+    : imgsz_(imgsz), conf_(conf), iou_(iou), num_classes_(num_classes),
+      num_keypoints_(num_keypoints), score_sigmoid_(score_sigmoid) {
+    std::cerr << "WARNING: Built without RKNN support. Model path: " << model_path << std::endl;
+}
+
+RKNNYOLO::~RKNNYOLO() {}
+
+cv::Mat RKNNYOLO::preprocess(const cv::Mat& frame, Eigen::Vector4f& gains) {
+    int h0 = frame.rows, w0 = frame.cols;
+    float scale = std::min((float)imgsz_ / h0, (float)imgsz_ / w0);
+    int nh = static_cast<int>(h0 * scale), nw = static_cast<int>(w0 * scale);
+    cv::Mat resized;
+    cv::resize(frame, resized, cv::Size(nw, nh), 0, 0, cv::INTER_LINEAR);
+
+    cv::Mat letterbox(imgsz_, imgsz_, CV_8UC3, cv::Scalar(114, 114, 114));
+    int dy = (imgsz_ - nh) / 2, dx = (imgsz_ - nw) / 2;
+    resized.copyTo(letterbox(cv::Rect(dx, dy, nw, nh)));
+
+    cv::Mat rgb;
+    cv::cvtColor(letterbox, rgb, cv::COLOR_BGR2RGB);
+    gains << scale, scale, (float)dy, (float)dx;
+    return rgb;
+}
+
+std::vector<Detection> RKNNYOLO::operator()(const cv::Mat& frame) {
+    return {};
+}
+#endif
@@ -0,0 +1,51 @@
+#pragma once
+#include <opencv2/opencv.hpp>
+#include <Eigen/Dense>
+#include <vector>
+#include <string>
+
+#ifdef HAS_RKNN
+#include "rknn_api.h"
+#endif
+
+struct Detection {
+    Eigen::Vector4f bbox;
+    float score;
+    int cls;
+    std::vector<std::vector<cv::Point2f>> keypoints;
+};
+
+class RKNNYOLO {
+public:
+    RKNNYOLO(const std::string& model_path,
+             int core_mask = 1,
+             int imgsz = 320,
+             float conf = 0.3f,
+             float iou = 0.45f,
+             int num_classes = 2,
+             int num_keypoints = 0,
+             bool score_sigmoid = false);
+
+    ~RKNNYOLO();
+
+    std::vector<Detection> operator()(const cv::Mat& frame);
+
+    bool is_loaded() const { return loaded_; }
+
+private:
+    cv::Mat preprocess(const cv::Mat& frame, Eigen::Vector4f& gains);
+
+    int imgsz_;
+    float conf_;
+    float iou_;
+    int num_classes_;
+    int num_keypoints_;
+    bool score_sigmoid_;
+    bool loaded_ = false;
+    bool output_transposed_ = false;
+    int output_n_pred_ = 0;
+
+#ifdef HAS_RKNN
+    rknn_context rknn_ctx_ = 0;
+#endif
+};
				`@@ -0,0 +1 @@`
				/usr/bin/c++ "CMakeFiles/bytetrack-counter.dir/src/main.cpp.o" "CMakeFiles/bytetrack-counter.dir/src/kalman_filter.cpp.o" "CMakeFiles/bytetrack-counter.dir/src/bytetrack.cpp.o" "CMakeFiles/bytetrack-counter.dir/src/batch_store.cpp.o" "CMakeFiles/bytetrack-counter.dir/src/csv_logger.cpp.o" "CMakeFiles/bytetrack-counter.dir/src/rknn_yolo.cpp.o" "CMakeFiles/bytetrack-counter.dir/src/config.cpp.o" "CMakeFiles/bytetrack-counter.dir/src/drawing.cpp.o" -o bytetrack-counter /usr/lib/aarch64-linux-gnu/libopencv_highgui.so.4.6.0 /usr/lib/aarch64-linux-gnu/libsqlite3.so -lpthread /usr/lib/librknnrt.so /usr/lib/aarch64-linux-gnu/libopencv_videoio.so.4.6.0 /usr/lib/aarch64-linux-gnu/libopencv_imgcodecs.so.4.6.0 /usr/lib/aarch64-linux-gnu/libopencv_imgproc.so.4.6.0 /usr/lib/aarch64-linux-gnu/libopencv_core.so.4.6.0
				`@@ -0,0 +1 @@`
				`# This file is generated by cmake for dependency checking of the CMakeCache.txt file`