finish tracker

[trackerpp.git] / src / MultiTracker.cpp

diff --git a/src/MultiTracker.cpp b/src/MultiTracker.cpp
index aef5e2e..547a195 100644 (file)
--- a/src/MultiTracker.cpp
+++ b/src/MultiTracker.cpp
@@ -14,6 +14,7 @@ static const cv::Size PREFERRED_SIZE = Size(64, 128);
 
 static const double MaxCost  = 100000;
 static const int MaxPatch  = 5;
+static const double ProbThreshold = 0.05;
 
 MultiTracker::MultiTracker(EngineWPtr e)
 : engine(e)
@@ -74,8 +75,11 @@ double MultiTracker::distance(TrackerPtr tracker, const cv::Mat& image, const De
         ss = similarity(i, patch);
         features.insert(features.end(),  ss.begin(), ss.end());
     }
-    double prob = predictor->predict(4, features);
-    return prob; 
+    double prob = predictor->predict(MaxPatch - 1, features); // TODO ???
+    if (prob > ProbThreshold)
+        return -log(prob);
+    else 
+        return MaxCost;
 }
 
 static float calc_iou_ratio(const Detection& d1, const Detection& d2)
@@ -85,6 +89,12 @@ static float calc_iou_ratio(const Detection& d1, const Detection& d2)
 
 void MultiTracker::update(unsigned int total, const Detection* detections, const Mat& image)
 {
+    // predict trackers, update trackers using kalman filter
+    for (auto t : trackers){
+        t->predict();
+    }
+
+    // match the trackers with the detections
     int row = trackers.size();
     int col = total;
     Eigen::MatrixXi cost_matrix = Eigen::MatrixXi::Zero(row, col);