Ctracker.h

#pragma once
#include "Kalman.h"
#include "HungarianAlg.h"
#include "opencv2/opencv.hpp"
#include <iostream>
#include <vector>
using namespace cv;
using namespace std;

class CTrack
{
public:
	vector<Point2d> trace;
	static size_t NextTrackID;
	size_t track_id;
	size_t skipped_frames; 
	Point2d prediction;
	TKalmanFilter* KF;
	CTrack(Point2f p, float dt, float Accel_noise_mag);
	~CTrack();
};


class CTracker
{
public:
	
	// Øàã âðåìåíè îïðîñà ôèëüòðà
	float dt; 

	float Accel_noise_mag;

	// Ïîðîã ðàññòîÿíèÿ. Åñëè òî÷êè íàõîäÿòñÿ äóã îò äðóãà íà ðàññòîÿíèè,
	// ïðåâûøàþùåì ýòîò ïîðîã, òî ýòà ïàðà íå ðàññìàòðèâàåòñÿ â çàäà÷å î íàçíà÷åíèÿõ.
	double dist_thres;
	// Ìàêñèìàëüíîå êîëè÷åñòâî êàäðîâ êîòîðîå òðåê ñîõðàíÿåòñÿ íå ïîëó÷àÿ äàííûõ î èçìåðåíèé.
	int maximum_allowed_skipped_frames;
	// Ìàêñèìàëüíàÿ äëèíà ñëåäà
	int max_trace_length;

	vector<CTrack*> tracks;
	void Update(vector<Point2d>& detections, int& counter_in, int & counter_out);
	CTracker(float _dt, float _Accel_noise_mag, double _dist_thres=60, int _maximum_allowed_skipped_frames=10,int _max_trace_length=10);
	~CTracker(void);
};