84 lines
2.1 KiB
C
84 lines
2.1 KiB
C
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#pragma once
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#include <list>
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#include <vector>
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#include "slam6d/scan.h"
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#include "veloslam/tracker.h"
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//#define NO_SLIDING_WINDOW
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using namespace std;
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extern float constant_static_or_moving;
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struct ClusterStatus
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{
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bool FilterRet;
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bool Matched;
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};
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int GetScanID_in_SlidingWindow(int absNO, int current_pos, int window_size);
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class TrackerManager
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{
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public:
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TrackerManager(void);
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~TrackerManager(void);
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int Init(void);
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int getNumberofTracker(void);
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int HandleScan(VeloScan& scanRef,int trackingAlgo);
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int ClassifiyTrackersObjects(vector <Scan *> allScans, int currentNO ,int windowsize);
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static bool TrackerFilter(clusterFeature &glu, cluster &gluData);
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void TrackerManagerReset(); //added by yuanjun
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void GetTwoScanRoll(Scan *CurrentScan, Scan *preScan);//added by yuanjun
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/////////////////////////////////////////////////////////////////
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int DrawEgoTrajectory();
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int DrawTrackersMovtion_Long_Number_All(vector <Scan *> allScans, int n);
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int DrawTrackersContrailAfterFilted(vector <Scan *> allScans);
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//////////////////////////////////////////////////////////////////
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public:
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int ListTrackers();
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int UpdateTrackers(VeloScan& scanRef);
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int UpdateClustersPoistioninTrackers();
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int AddTrackers(VeloScan& scanRef);
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int MatchTrackers(VeloScan& scanRef,Tracker& tracker,float kg);
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int CalculateTrackersFeature(vector <Scan *> allScans, int currentNO ,int windowsize);
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int MarkClassifiyTrackersResult(vector <Scan *> allScans, int currentNO ,int windowsize);
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int RemoveNoUsedTracker(VeloScan& scanRef);
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int FilterObject(VeloScan& scanRef);
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CMatrix ConstructCostMatrix(VeloScan &scanRef,int *clusterIndex);
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int MatchTracksWithClusters(VeloScan &scanRef);
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list<Tracker> tracks;
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//log the new trackerNo should begin
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int trackerStartID;
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//only for draw the color
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int colorIdx;
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//log the cluster status such as bool FilterRet; bool Matched;
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vector<ClusterStatus> clusterStatus; //should move in cluster struct
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double delta_Theta[3], delta_Pos[3], rollAngle;//added by yuanjun
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//VeloScan *preScan; //added by yuanjun
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};
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