Initial setup for CLion

ANSMOT/OCSort/include/KalmanBoxTracker.h

@@ -0,0 +1,54 @@
+#ifndef KALMANBOXTRACKER_H
+#define KALMANBOXTRACKER_H
+#include "OCSortKalmanFilter.h"
+#include "OCSortUtilities.h"
+#include "iostream"
+/*
+This class represents the internal state of individual
+tracked objects observed as bbox.
+*/
+namespace ANSOCSort {
+    class KalmanBoxTracker {
+    public:
+        /*method*/
+        KalmanBoxTracker() : kf(nullptr) {};
+        KalmanBoxTracker(Eigen::VectorXf bbox_,int delta_t_ = 3);
+        ~KalmanBoxTracker();
+
+        // Deep copy (raw pointer ownership)
+        KalmanBoxTracker(const KalmanBoxTracker& other);
+        KalmanBoxTracker& operator=(const KalmanBoxTracker& other);
+
+        // Move semantics
+        KalmanBoxTracker(KalmanBoxTracker&& other) noexcept;
+        KalmanBoxTracker& operator=(KalmanBoxTracker&& other) noexcept;
+
+        void update(Eigen::Matrix<float, 9, 1>* bbox_);
+        Eigen::RowVectorXf predict();
+        Eigen::VectorXf get_state();
+
+    public:
+        /*variable*/
+        static int count;
+        Eigen::VectorXf bbox;// [9,1]
+        KalmanFilterNew* kf;
+        int time_since_update;
+        int id;
+        std::vector<Eigen::VectorXf> history;
+        int hits;
+        int hit_streak;
+        int age = 0;        
+        Eigen::RowVectorXf last_observation = Eigen::RowVectorXf::Zero(9);
+        std::unordered_map<int, Eigen::VectorXf> observations;
+        std::vector<Eigen::VectorXf> history_observations;
+        Eigen::RowVectorXf velocity = Eigen::RowVectorXf::Zero(2);// [2,1]
+        int delta_t;
+        double GetScore() { return bbox[4]; }
+        int GetClassId() { return (int)bbox[5]; }
+        int GetDGId() { return (int)bbox[6]; }
+        int GetCamId() { return (int)bbox[7]; }
+        int GetModelId() { return (int)bbox[8]; }
+    };
+}
+
+#endif