X-Git-Url: http://47.100.26.94:8080/?a=blobdiff_plain;f=include%2FTracker.h;h=7bfcfb0c0a06b99edbd65224b6c240f913368c7b;hb=97b147e9106cb549dd7dd62829b9d29b326738c7;hp=490201abcb3ef88f20d0ae3237e63f2a6f7850aa;hpb=79009fa0674d90e03b7a7bd958f7ee1e20d9b194;p=trackerpp.git

diff --git a/include/Tracker.h b/include/Tracker.h
index 490201a..7bfcfb0 100644
--- a/include/Tracker.h
+++ b/include/Tracker.h
@@ -4,11 +4,14 @@
 #include <opencv2/opencv.hpp>
 #include <string>
 #include <vector>
-#include "Metrics.h"
 #include "SharedPtr.h"
+#include "MultiTracker.h"
+#include "Detector.h"
 
 namespace suanzi {
 
+    TK_DECLARE_PTR(Tracker);
+    TK_DECLARE_PTR(Patch);
     typedef enum 
     {
         Fire = -1,
@@ -17,37 +20,27 @@ namespace suanzi {
         Delete
     } TrackerStatus;
 
-    TK_DECLARE_PTR(Tracker);
-//    TK_DECLARE_PTR(KalmanFilter);
     class Tracker
     {
     public:
-        Tracker(int id);
+        Tracker(const cv::Mat& image, const Detection& d, int id = 0);
         virtual ~Tracker();
         void updateState(const cv::Mat& image);
-        void addPatch(Patch* p);
-        TrackerStatus status;
+        void addPatch(PatchPtr p);
+        void correct(const cv::Mat& image, const Detection& d);
+        void predict();
+        std::vector<PatchPtr> patches;
+        Detection detection;
+        TrackerStatus status = TrackerStatus::Fire;
+        static constexpr int MaxPatch = 5;
 
     private:
-        TrackerStatus preStatus;
+        TrackerStatus preStatus = TrackerStatus::Fire;
         int id;
-        int age;
-        int last_active;
-        std::vector<Patch *> patches;
-        cv::KalmanFilter kf = {4,2};
+        int age = 1;
+        int last_active = 1;
+        cv::KalmanFilter KF = {4,2};
     };
-
-//    class KalmanFilter
-//    {
-//    public:
-//        KalmanFilter();
-//        ~KalmanFilter();
-//    private:
-//        cv::KalmanFilter
-//
-//    };
-
-
 }
 
 #endif /* _TRACKER_H_ */