///////////////////////////////////////////////////////////////////////////////
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// KalmanTracker.h: KalmanTracker Class Declaration
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#ifndef KALMAN_H
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#define KALMAN_H 2
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#include "opencv2/video/tracking.hpp"
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#include "opencv2/highgui/highgui.hpp"
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using namespace std;
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using namespace cv;
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#define StateType Rect_<float>
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// This class represents the internel state of individual tracked objects observed as bounding box.
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class KalmanTracker
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{
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public:
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KalmanTracker()
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{
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init_kf(StateType());
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m_time_since_update = 0;
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m_hits = 0;
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m_hit_streak = 0;
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m_age = 0;
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m_id = kf_count;
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//kf_count++;
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}
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KalmanTracker(StateType initRect)
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{
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init_kf(initRect);
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m_time_since_update = 0;
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m_hits = 0;
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m_hit_streak = 0;
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m_age = 0;
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m_id = kf_count;
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kf_count++;
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}
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~KalmanTracker()
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{
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m_history.clear();
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}
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StateType predict();
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void update(StateType stateMat);
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StateType get_state();
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StateType get_rect_xysr(float cx, float cy, float s, float r);
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static int kf_count;
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int m_time_since_update;
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int m_hits;
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int m_hit_streak;
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int m_age;
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int m_id;
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private:
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void init_kf(StateType stateMat);
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cv::KalmanFilter kf;
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cv::Mat measurement;
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std::vector<StateType> m_history;
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};
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#endif
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