KalmanTracker.h

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// © OpenShot Studios, LLC
//
// SPDX-License-Identifier: LGPL-3.0-or-later
 
// KalmanTracker.h: KalmanTracker Class Declaration
 
#ifndef KALMAN_H
#define KALMAN_H 2
 
#include "opencv2/video/tracking.hpp"
#include "opencv2/highgui/highgui.hpp"
 
#include <map>
#include <vector>
 
 
#define StateType cv::Rect_<float>
 
struct ClassScore
{
    int classId = 0;
    float score = 0.0f;
    ClassScore() {}
    ClassScore(int _classId, float _score) : classId(_classId), score(_score) {}
};
 
class KalmanTracker
{
public:
    KalmanTracker()
    {
        init_kf(StateType());
        m_time_since_update = 0;
        m_hits = 0;
        m_hit_streak = 0;
        m_age = 0;
        m_id = 0;
    }
    KalmanTracker(StateType initRect, float confidence, int classId, int objectId, const std::vector<ClassScore>& classScores = {}) : confidence(confidence), classId(classId)
    {
        init_kf(initRect);
        m_time_since_update = 0;
        m_hits = 0;
        m_hit_streak = 0;
        m_age = 0;
        m_id = objectId;
        update_class_scores(classScores, classId, confidence);
    }
 
    ~KalmanTracker()
    {
        m_history.clear();
    }
 
    StateType predict();
    StateType predict2();
    void update(StateType stateMat);
    void update_class_scores(const std::vector<ClassScore>& classScores, int fallbackClassId, float fallbackConfidence);
 
    StateType get_state();
    StateType get_rect_xysr(float cx, float cy, float s, float r);
 
    int m_time_since_update;
    int m_hits;
    int m_hit_streak;
    int m_age;
    int m_id;
    float confidence;
    int classId;
    std::map<int, double> classScoreHistory;
 
private:
    void init_kf(StateType stateMat);
 
    cv::KalmanFilter kf;
    cv::Mat measurement;
 
    std::vector<StateType> m_history;
};
 
#endif