Program Listing for File Blob.h

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//
// Created by hd on 1/18/18.
//

#ifndef PROJECT_BLOB_H
#define PROJECT_BLOB_H

#include<opencv2/core/core.hpp>
#include<opencv2/highgui/highgui.hpp>
#include<opencv2/imgproc/imgproc.hpp>
#include<opencv2/video/tracking.hpp>
#include <opencv2/tracking.hpp>
#include <opencv2/tracking/kalman_filters.hpp>
#include <opencv2/opencv.hpp>

#define Mat_t CV_32FC

namespace darknet_ros {

    struct Blob{

        unsigned long counter;

        double diameter;

        double height;

        double probability;
//        cv::KalmanFilter kf;//(stateSize, measSize, contrSize, CV_32F);
//        cv::Mat state;//(stateSize, 1, CV_32F);  // [x,y,v_x,v_y,w,h]
//        cv::Mat meas;//(measSize, 1, CV_32F);    // [z_x,z_y,z_w,z_h]
        cv::Ptr<cv::tracking::UnscentedKalmanFilter> uncsentedKF;
        bool t_initialized;
        std::deque<cv::Rect> t_initialRects;
        cv::Rect_<float> t_lastRectResult;
        static const size_t MIN_INIT_VALS = 4;

        cv::Rect preditcRect;

        std::vector<cv::Point2f> centerPositions; //2D coordinated with respect to the region of interest defined from rectified left image

        std::vector<cv::Rect> boundingRects;

        cv::Vec3d position_3d;

        std::string category;

        int disparity;

        std::vector<std::vector<cv::MatND> > hist;

        std::vector<std::vector<bool> >occluded;

        std::vector<float> overallOcclusion;

        cv::Mat lpbHist;

        cv::Point predictedNextPosition;

        cv::Point2f predictedNextPositionf;

        float predictedWidth;

        float predictedHeight;

        int dblCurrentDiagonalSize;

        double dblCurrentAspectRatio;

        bool blnCurrentMatchFoundOrNewBlob;

        bool blnStillBeingTracked;

        bool blnAlreadyTrackedInThisFrame;

        bool trackedInCurrentFrame;

        int intNumOfConsecutiveFramesWithoutAMatch;

        int numOfConsecutiveFramesWithoutDetAsso;

        Blob(float x, float y, float width, float height);

        void CreateAugmentedUnscentedKF(cv::Rect_<float> rect0, cv::Point_<float> rectv0);

        cv::Rect GetRectPrediction();

        cv::Rect UpdateAUKF(bool dataCorrect);

        void predictNextPosition();

        void predictWidthHeight();

    };

}





#endif //PROJECT_BLOB_H