45 lines
980 B
C
45 lines
980 B
C
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#pragma once
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#include "veloslam/veloscan.h"
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#include "veloslam/kalmanfilter.h"
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#include <deque>
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using namespace std;
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struct MoveState
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{
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ObjectState targetState;
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int frameNo;
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};
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class Tracker
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{
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public:
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Tracker(void);
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Tracker(clusterFeature &glu,double rollAngle);//added by yuanjun
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Tracker(const Tracker ©Tracker);//added by yuanjun
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~Tracker(void);
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void TrackerReset();//added by yuanjun
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// for log all the cluster for tracking
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deque<clusterFeature> statusList;
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deque<cluster> dataList;
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// log the tracker is or not Matched.
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// bool Matched or not;
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bool missMatch;
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//for log Cluster ID in lastScan.
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int matchClusterID;
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//show different color.
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int colorIdx;
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// for log the lift length trackerID
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int trackerID;
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int missedTime;//added by yuanjun
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KalmanFilter kalmanFilter;//added by yuanjun
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vector<MoveState> moveStateList;//added by yuanjun
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//feature for movement
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float moving_distance;
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};
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