#include "Tracker.h"
using namespace suanzi;
+using namespace cv;
-Tracker::Tracker()
+static const int MaxLost = 5;
+
+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()
{
}
+
+void Tracker::addPatch(Patch* p)
+{
+ patches.push_back(p);
+ if (patches.size() > Metrics::MaxPatch){
+ patches.erase(patches.end());
+ }
+}
+
+void Tracker::updateState(const Mat& image)
+{
+ preStatus = this->status;
+ int lost_age = this->age - this->last_active;
+ int active_age = this->last_active;
+
+ if (lost_age >= MaxLost){
+ status = TrackerStatus::Delete;
+ } else if (lost_age >= 1 && active_age == 1){
+ status = TrackerStatus::Delete;
+ } else if (lost_age >= 1) {
+ status = TrackerStatus::Lost;
+ }
+}