8805b950
 Liu Meng
物品遗留效果优化
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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>
#include "CycleQueue.h"
using namespace std;
#define FusionInterval 1 //控制算法跳帧
class KalmanBoxTracker
{
public:
//int count = 0;
int time_since_update = 0;
int id = 0;
int cls = 0;
float score = 0.00;
//vector< vector<float> > history;
cycleQueue history; //固定大小的轨迹
//int hits;
int hit_streak = 0;
int age = 0;
int m_trackLength = 0;
public:
KalmanBoxTracker(vector<float> &bbox, int trackLength);
~KalmanBoxTracker();
void update(vector<float> &bbox);
vector<float> predict();
vector<float> get_state();
private:
cv::KalmanFilter KF; //创建卡尔曼滤波器对象KF
cv::Mat measurement;
cv::Mat state;// (7, 1, CV_32F); //state = x
cv::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(cv::Mat &x, vector<float> &bbox);
#endif
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