sort_cpp/KalmanTracker.h at main · JerryFreeman215/sort_cpp · GitHub

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#ifndef KALMAN_H
#define KALMAN_H 2

#include "opencv2/video/tracking.hpp"
#include "opencv2/highgui/highgui.hpp"

using namespace std;
using namespace cv;

using StateType = cv::Rect_<float>;

// This class represents the internel state of individual tracked objects observed as bounding box.
class KalmanTracker
{
public:
        KalmanTracker()
        {
                init_kf(StateType());
                m_time_since_update = 0;
                m_hits = 0;
                m_hit_streak = 0;
                m_age = 0;
                m_id = kf_count;
                //kf_count++;
        }
        KalmanTracker(StateType initRect)
        {
                init_kf(initRect);
                m_time_since_update = 0;
                m_hits = 0;
                m_hit_streak = 0;
                m_age = 0;
                m_id = kf_count;
                kf_count++;
        }

        ~KalmanTracker()
        {
                m_history.clear();
        }

        StateType predict();
        void update(StateType stateMat);

        StateType get_state();
         StateType get_rect_xysr(float cx, float cy, float s, float r);

        static int kf_count;

        int m_time_since_update;
        int m_hits;
        int m_hit_streak;
        int m_age;
        int m_id;

protected:
        void init_kf(StateType stateMat);

        cv::KalmanFilter kf;
        cv::Mat measurement;

        std::vector<StateType> m_history;
};


#endif