mhttrackingmodule.h

#ifndef MHTTRACKINGMODULE_H
#define MHTTRACKINGMODULE_H

#include <map>
#include <string>
#include <QImage>
#include "Datapool.h"
#include <math.h>
#include "ModuleInterface.h"
#include "src/LAP/lap.h"


class mhtTrackingModule: public ModuleInterface {
public:
    mhtTrackingModule(Datapool *i_data);
    ~mhtTrackingModule();

    //Set module configuration parameters
    bool setParameters(QDomNode& config);

    //Initialization after reading parameters
    bool init();

    //Function executed at each frame
    bool run();

    //update parameters at runtime.
    bool updateParameters();

private:

    class objState
    {
    public:
        double cx, cy, dx, dy, vx, vy;
        objState(){}
        ~objState(){}
        void set(double cx_, double cy_, double dx_, double dy_, double vx_, double vy_);
    };

    class measure
    {
    public:
        double cx, cy, dx, dy;
        measure(double cx_, double cy_, double dx_, double dy_);
        ~measure(){}
    };

    class hypothesis
    {
    public:
        std::vector<objState> stimation_t;      // Stimation (t|t)
        std::vector<objState> stimation_t_1;    // Stimation (t|t-1)
        std::vector<std::vector<double> > covariance_t;     // Covariance (t|t)
        std::vector<std::vector<double> > covariance_t_1;   // Covariance (t|t-1)
        std::vector<std::vector<double> > A;                // Transition matrix
        double vx;
        double vy;
        double dt;
        int** costs;
        int* solution;
        int totalCost;

        hypothesis();
        ~hypothesis(){}

        void stimate();

    };

    int CN;
    int CD;
    int k;
    std::vector<measure> measures_t;        // Measure in t
    std::vector<measure> measures_t_1;      // Measure in t-1

    std::vector<hypothesis > hyp;
    std::vector<hypothesis > kHyp;

    void calculateCosts(hypothesis &hyp);
    void getKhypothesis();
    QPointF fixMeasure(objState o, measure m);
    hypothesis takeBestHyp(std::vector<hypothesis > hyps, bool ok);
    std::vector<QPoint> takeEdges(hypothesis h);

};

#endif // MHTTRACKINGMODULE_H