src/Tracker.cpp

   1 #include "Tracker.h"
   2
   3 using namespace suanzi;
   4 using namespace cv;
   5 using namespace std;
   6
   7 static const int MaxLost = 5;
   8
   9 Tracker::Tracker(const cv::Mat& image, const Detection& detection, int id)
  10 : id(id)
  11 {
  12     KF.transitionMatrix = (Mat_<double>(4, 4) <<
  13                                                 1, 0, 1, 0,
  14                                                 0, 1, 0, 1,
  15                                                 0, 0, 1, 0,
  16                                                 0, 0, 0, 1);
  17
  18     KF.measurementMatrix = (Mat_<double>(2, 2) <<
  19                                                 1, 0, 0, 0,
  20                                                 0, 1, 0, 0);
  21
  22     KF.processNoiseCov = 1e-5 * Mat_<double>::eye(4, 4);
  23     KF.measurementNoiseCov = 1e-1 * Mat_<double>::ones(2, 2);
  24     KF.errorCovPost = 1. * Mat_<double>::ones(4, 4);
  25     randn(KF.statePre, Scalar::all(0), Scalar::all(0.1));
  26     KF.statePost = (Mat_<double>(4, 1) << detection.center_x, detection.center_y, 0, 0);
  27 }
  28
  29 Tracker::~Tracker()
  30 {
  31     patches.clear();
  32 }
  33
  34 void Tracker::updateState(const Mat& image)
  35 {
  36     preStatus = this->status;
  37     int lost_age = this->age - this->last_active;
  38     int active_age = this->last_active;
  39
  40     if (lost_age >= MaxLost){
  41         status = TrackerStatus::Delete;
  42     } else if (lost_age >= 1 && active_age == 1){
  43         status = TrackerStatus::Delete;
  44     } else if (lost_age >= 1) {
  45         status = TrackerStatus::Lost;
  46     }
  47 }
  48
  49 void Tracker::addPatch(PatchPtr p)
  50 {
  51     patches.insert(patches.begin(), p);
  52     if (patches.size() > MaxPatch){
  53         patches.erase(patches.end());
  54     }
  55 }
  56
  57 void Tracker::correct(const cv::Mat& image, const Detection& detection)
  58 {
  59     // detection.center_x,   detection.center_y,
  60     // KF.correct(detect.center_x, detect.center_y);
  61     preStatus = status;
  62     status = TrackerStatus::Active;
  63     last_active = age;
  64 }
  65
  66 void Tracker::predict()
  67 {
  68     age++;
  69     // TODO
  70     Mat temp = KF.predict();
  71 }