Tracker::Tracker(const cv::Mat& image, const Detection& detection, int id)
: id(id)
{
- status = TrackerStatus::Fire;
- preStatus = TrackerStatus::Fire;
-
- // TODO: Kalman filter
KF.transitionMatrix = (Mat_<double>(4, 4) <<
1, 0, 1, 0,
0, 1, 0, 1,
KF.processNoiseCov = 1e-5 * Mat_<double>::eye(4, 4);
KF.measurementNoiseCov = 1e-1 * Mat_<double>::ones(2, 2);
KF.errorCovPost = 1. * Mat_<double>::ones(4, 4);
- //this->kf.statePre = 0.1 * Matx_<int, 4, 1>::randn(4, 1);
- //??? TODO
randn(KF.statePre, Scalar::all(0), Scalar::all(0.1));
KF.statePost = (Mat_<double>(4, 1) << detection.center_x, detection.center_y, 0, 0);
}
void Tracker::predict()
{
age++;
- //detection = KF.predict();
+ // TODO
+ Mat temp = KF.predict();
}