3 using namespace suanzi;
6 static const int MaxLost = 5;
8 Tracker::Tracker(int id) : id(id)
10 status = TrackerStatus::Fire;
11 preStatus = TrackerStatus::Fire;
15 this->kf.transitionMatrix = (Mat_<float>(4, 4) <<
21 this->kf.measurementMatrix = (Mat_<float>(2, 2) <<
25 this->kf.processNoiseCov = 1e-5 * Mat_<float>::eye(4, 4);
26 this->kf.measurementNoiseCov = 1e-1 * Mat_<float>::ones(2, 2);
27 this->kf.errorCovPost = 1. * Mat_<float>::ones(4, 4);
34 void Tracker::addPatch(Patch* p)
37 if (patches.size() > Metrics::MaxPatch){
38 patches.erase(patches.end());
42 void Tracker::updateState(const Mat& image)
44 preStatus = this->status;
45 int lost_age = this->age - this->last_active;
46 int active_age = this->last_active;
48 if (lost_age >= MaxLost){
49 status = TrackerStatus::Delete;
50 } else if (lost_age >= 1 && active_age == 1){
51 status = TrackerStatus::Delete;
52 } else if (lost_age >= 1) {
53 status = TrackerStatus::Lost;