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nodes/track/sort/KalmanTracker.h

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+///////////////////////////////////////////////////////////////////////////////
+// KalmanTracker.h: KalmanTracker Class Declaration
+
+#ifndef KALMAN_H
+#define KALMAN_H 2
+
+#include "opencv2/video/tracking.hpp"
+#include "opencv2/highgui/highgui.hpp"
+
+using namespace std;
+using namespace cv;
+
+#define StateType 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;
+
+private:
+	void init_kf(StateType stateMat);
+
+	cv::KalmanFilter kf;
+	cv::Mat measurement;
+
+	std::vector<StateType> m_history;
+};
+
+
+
+
+#endif