unify the interface with detector

[trackerpp.git] / src / Tracker.cpp

diff --git a/src/Tracker.cpp b/src/Tracker.cpp
index 2d353a7..27dd400 100644 (file)
--- a/src/Tracker.cpp
+++ b/src/Tracker.cpp
@@ -9,6 +9,22 @@ Tracker::Tracker(int id) : id(id)
 {
     status = TrackerStatus::Fire;
     preStatus = TrackerStatus::Fire;
+
+    // TODO
+    // init KalmanFilter
+    this->kf.transitionMatrix = (Mat_<float>(4, 4) << 
+                                                1, 0, 1, 0,
+                                                0, 1, 0, 1,
+                                                0, 0, 1, 0,
+                                                0, 0, 0, 1);
+
+    this->kf.measurementMatrix = (Mat_<float>(2, 2) << 
+                                                1, 0, 0, 0,
+                                                0, 1, 0, 0);
+
+    this->kf.processNoiseCov = 1e-5 * Mat_<float>::eye(4, 4);
+    this->kf.measurementNoiseCov = 1e-1 * Mat_<float>::ones(2, 2);
+    this->kf.errorCovPost = 1. * Mat_<float>::ones(4, 4);
 }
 
 Tracker::~Tracker()