Struct Blob

Struct Documentation

struct Blob

Public Functions

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

Constructor.

Parameters

  • x – x coordinate of the top left corner of the bounding box.

  • y – y coordinate of the top left corner of the bounding box.

  • width – Width of the bounding box.

  • height – Height of the bounding box.

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

This function is deprecated.

Parameters

  • rect0 –

  • rectv0 –

cv::Rect GetRectPrediction()

This function is deprecated.

Returns

cv::Rect UpdateAUKF(bool dataCorrect)

This function is deprecated.

Parameters

dataCorrect –

Returns

void predictNextPosition()

This function predicts the center position of the bounding box of the track for the next frame. Prediction is based on the most recent five frames information from the centerPositions vector. Predicted information is stored in predictedNextPositionf and predictedNextPosition.

void predictWidthHeight()

This function predicts the width and height of the bounding box of the track for the next frame. Prediction is based on the most recent five frames information from the boundingRects vector. Predicted information is stored in predictedWidth and predictedHeight.

Public Members

unsigned long counter
double diameter

Holds the current frame width of the track in meters (3D absolute coordinates).

double height

Holds the current frame height of the track in meters (3D absolute coordinates).

double probability

Holds the current frame detection confidence of the track.

cv::Ptr<cv::tracking::UnscentedKalmanFilter> uncsentedKF
bool t_initialized
std::deque<cv::Rect> t_initialRects
cv::Rect_<float> t_lastRectResult
cv::Rect preditcRect

Holds the predicted bounding box for the next frame of the track.

std::vector<cv::Point2f> centerPositions

Vector containing whole history of the center points of the bounding boxes of the track.

std::vector<cv::Rect> boundingRects

Vector containing whole history of the bounding boxes of the track.

cv::Vec3d position_3d

Holds the current frame X, Y, Z of the center of the track in meters (3D absolute coordinates) with respect to the local frame left camera center point.

std::string category

Holds the object category of the track.

int disparity

Holds the current frame disparity value of the center of the object bounding box of the track.

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

Vector containing the three most relevant concatenated appearance histograms of the track.

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

Vector containing the occlusion information for hist (appearance histograms) of the track.

std::vector<float> overallOcclusion

Vector containing the values indicating the level of occlusion for each concatenated histograms in hist (appearance histograms). Value is between 0-1.

cv::Mat lpbHist

Holds the most relevant linear binary pattern histogram of the track.

cv::Point predictedNextPosition

Holds the predicted center position (as integers) of the next frame for the track.

cv::Point2f predictedNextPositionf

Holds the predicted center position (as floats) of the next frame for the track.

float predictedWidth

Holds the predicted width of the bounding box of the track in the next frame.

float predictedHeight

Holds the predicted height of the bounding box of the track in the next frame.

int dblCurrentDiagonalSize

Holds the diagonal of the bounding box of the track in the current frame.

double dblCurrentAspectRatio

Holds the aspect ratio of the bounding box of the track in the current frame.

bool blnCurrentMatchFoundOrNewBlob

Flag indicating either this detection is new or match found in the current frame.

bool blnStillBeingTracked

Flag indicating whether the track is considered for track detection matching process.

bool blnAlreadyTrackedInThisFrame

Deprecated. Flag indicating whether the detection is already matched in the current frame.

bool trackedInCurrentFrame

Flag indicating whether the detection is already matched in the current frame.

int intNumOfConsecutiveFramesWithoutAMatch

Flag indicating number of consecutive frames that the track has not being assigned any detection.

int numOfConsecutiveFramesWithoutDetAsso

Flag indicating number of consecutive frames that the track has not being assigned a Yolo detection.

Public Static Attributes

static const size_t MIN_INIT_VALS = 4