BoundingBoxTracking.h

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#ifndef BOUNDING_BOX_TRACKING_H
#define BOUNDING_BOX_TRACKING_H
 
#include <opencv2/opencv.hpp>
#include <opencv2/tracking.hpp>
 
 
 
namespace tracking
{
    // Enum class to define the different types of trackers available in OpenCV.
    enum class TrackerType
    {
        eMIL,    // Multi Instance Learning
        eKCF,    // Kernelized Correlation Filter
        // eGOTURN,    // Generic Object Tracking Using Regression Networks. // FIXME: Need to download the model.
        eCSRT    // Discriminative Correlation Filter with Channel and Spatial Reliability
    };
 
 
    class MultiTracker
    {
        public:
            // Declare public methods.
 
            MultiTracker(const double dTrackingLostTimeout = 1.0, const double dMaxTrackingTime = 3.0, const double dIOUThreshold = 0.3);
            ~MultiTracker();
            bool InitTracker(const cv::Mat& cvFrame, const std::shared_ptr<cv::Rect2d> cvBoundingBox, const TrackerType eTrackerType = TrackerType::eKCF);
            void Update(const cv::Mat& cvFrame);
            void ClearTrackers();
 
            // Setters.
            void SetTrackerLostTimeout(const double dTimeout);
            void SetMaxTrackingTime(const double dMaxTime);
 
            // Getters.
            double GetTrackerLostTimeout() const;
            double GetMaxTrackingTime() const;
 
        private:
            // Declare private methods.
 
            double CalculateIOU(const cv::Rect2d& cvBoxA, const cv::Rect2d& cvBoxB);
            cv::Ptr<cv::Tracker> CreateTracker(const TrackerType eType);
 
            // Declare private member variables.
            std::map<int, cv::Ptr<cv::Tracker>> m_mTrackers;
            std::map<int, std::shared_ptr<cv::Rect2d>> m_mBoundingBoxes;
            std::map<int, std::chrono::system_clock::time_point> m_mLastUpdateTime;
            std::map<int, std::chrono::system_clock::time_point> m_mTimeSinceLastGroundTruthDetection;
            double m_dTrackingLostThreshold;    // Time in seconds after which a tracker is considered lost.
            double m_dMaxTrackingTime;          // Maximum time in seconds to track an object.
            double m_dIOUThreshold;             // Minimum Intersection over Union required to associate a new detection with an existing tracker.
            int m_nNextId;
    };
}    // namespace tracking
 
#endif    // BOUNDING_BOX_TRACKING_H