28 lines
551 B
C
28 lines
551 B
C
|
#pragma once
|
||
|
|
|
||
|
|
#include <opencv2/core.hpp>
|
||
|
|
#include "kalman_filter.h"
|
||
|
|
|
||
|
|
class Track {
|
||
|
|
public:
|
||
|
|
// Constructor
|
||
|
|
Track();
|
||
|
|
|
||
|
|
// Destructor
|
||
|
|
~Track() = default;
|
||
|
|
|
||
|
|
void Init(const cv::Rect& bbox);
|
||
|
|
void Predict();
|
||
|
|
void Update(const cv::Rect& bbox);
|
||
|
|
cv::Rect GetStateAsBbox() const;
|
||
|
|
float GetNIS() const;
|
||
|
|
|
||
|
|
int coast_cycles_ = 0, hit_streak_ = 0;
|
||
|
|
|
||
|
|
private:
|
||
|
|
Eigen::VectorXd ConvertBboxToObservation(const cv::Rect& bbox) const;
|
||
|
|
cv::Rect ConvertStateToBbox(const Eigen::VectorXd &state) const;
|
||
|
|
|
||
|
|
KalmanFilter kf_;
|
||
|
|
};
|