144cd8c4
 Hu Chunming
v6.0.0 替换模型
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#ifndef KALMANBOXTRACKER_H_
#define KALMANBOXTRACKER_H_
#include <opencv2/video/tracking.hpp>
#include <highgui.h>
#include <iostream>
#include <stdio.h>
#include <math.h>
#include <vector>
using namespace std;
using namespace cv;
#define FusionInterval 1
class KalmanBoxTracker
{
public:
//int count = 0;
int time_since_update;
int id;
int cls;
int counts; //统计类别出现的次数
float score;
//vector< vector<float> > history;
vector<Point> trackLine;
//int hits;
int hit_streak;
int age;
bool istraffic;
int TrackerTimes; //记录该轨迹最近有几帧是跟踪预测算来的，如果跟踪预测多于一定数目，可以删除。
public:
KalmanBoxTracker(vector<float> &bbox);
void update(vector<float> &bbox);
vector<float> predict();
vector<float> get_state();
void updateTrackLine(int center_x, int center_y);
private:
KalmanFilter KF; //创建卡尔曼滤波器对象KF
Mat measurement;
Mat state;// (7, 1, CV_32F); //state = x
Mat processNoise;
};
float IoU(vector<float> &bb_test, vector<float> &bb_gt);
void convert_bbox_to_z(vector<float> &bbox, vector<float> &z);
void convert_x_to_bbox(Mat &x, vector<float> &bbox);
#endif
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