tracker.h

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#pragma once
 
#include "tracking_types.h"
 
namespace tracking
{
class Tracker
{
public:
    explicit Tracker(const TrackerConfig& config = TrackerConfig{});
 
    const TrackState& update(const DetectionResult& detection);
 
    const TrackState& state() const { return state_; }
 
    void reset();
 
private:
    Box gate() const;
    bool measure(const DetectionResult& detection, const Box& gate, Blob& out) const;
    void start_tentative(const Blob& blob);
    void correct(const Blob& measurement);
    void miss();
    void to_idle();
    void refresh_box();
 
    TrackerConfig config_;
    TrackState state_;
    int hits_ = 0;
    uint32_t last_id_ = 0;
    float width_ = 0.0f; 
    float height_ = 0.0f;
};
} // namespace tracking