ParticleFilterConstVelocity.h

#ifndef PARTICLEFILTER_CONSTVELOCITY_HEADER
#define PARTICLEFILTER_CONSTVELOCITY_HEADER

#define PFCV_DEBUG

#include "ParticleFilter.h"
#include "Pool.h"

class ParticleFilterConstVelocity : public ParticleFilter {
public:
    ParticleFilterConstVelocity(int n, float velocityThre, float distWeight);

    ~ParticleFilterConstVelocity();

    void InitBuffer();
    void InitTarget(const Rect &target, const Point2D &initVelocity);

    void Propagate(const Size &imgSize);

    void CalculateMatchScore(const IntegralImage *intImage,
        const StrongClassifier *classifier, const Pool<Rect> &dets,
        std::vector<MatchMatrix::MatchScore>::iterator &matchArray) const;

    //inline void SetVelocity(const Point2D &initV) {
    //  velocity = initV;
    //}
    void SetVelocitySigma(float sigma);

protected:
    // The sizeof particles. Here it should be 2. Its structure like:
    // struct Particle {
    //      int upper;
    //      int left;
    //      int vUpper;
    //      int vLeft;
    // }

    Point2D velocity;

    // The threshold of velocity used in gate function.
    const float velocityThre;

    // The weight of distance score in match score formula.
    const float distWeight;

    // Gaussian noise used in velocity.
    std::normal_distribution<float> gaussianVelocity;

    void InitParticles();
};

#endif