Fix nan issue in features

[trackerpp.git] / src / Tracker.cpp

diff --git a/src/Tracker.cpp b/src/Tracker.cpp
index e9353bd..2d4f2b0 100644 (file)
--- a/src/Tracker.cpp
+++ b/src/Tracker.cpp
@@ -6,29 +6,24 @@ using namespace std;
 
 static const int MaxLost = 5;
 
-Tracker::Tracker(const cv::Mat& image, const Detection& detection, int id) : id(id)
+Tracker::Tracker(const cv::Mat& image, const Detection& detection, int id) 
+: id(id)
 {
-    status = TrackerStatus::Fire;
-    preStatus = TrackerStatus::Fire;
-
-    // TODO: Kalman filter
-    this->kf.transitionMatrix = (Mat_<double>(4, 4) << 
+    KF.transitionMatrix = (Mat_<double>(4, 4) << 
                                                 1, 0, 1, 0,
                                                 0, 1, 0, 1,
                                                 0, 0, 1, 0,
                                                 0, 0, 0, 1);
 
-    this->kf.measurementMatrix = (Mat_<double>(2, 2) << 
+    KF.measurementMatrix = (Mat_<double>(2, 2) << 
                                                 1, 0, 0, 0,
                                                 0, 1, 0, 0);
 
-    this->kf.processNoiseCov = 1e-5 * Mat_<double>::eye(4, 4);
-    this->kf.measurementNoiseCov = 1e-1 * Mat_<double>::ones(2, 2);
-    this->kf.errorCovPost = 1. * Mat_<double>::ones(4, 4);
-    //this->kf.statePre = 0.1 * Matx_<int, 4, 1>::randn(4, 1);
-    //??? TODO
-    randn(this->kf.statePre, Scalar::all(0), Scalar::all(0.1));
-    this->kf.statePost = (Mat_<double>(4, 1) << detection.center_x, detection.center_y, 0, 0);
+    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);
+    randn(KF.statePre, Scalar::all(0), Scalar::all(0.1));
+    KF.statePost = (Mat_<double>(4, 1) << detection.center_x, detection.center_y, 0, 0);
 }
 
 Tracker::~Tracker()
@@ -53,14 +48,24 @@ void Tracker::updateState(const Mat& image)
 
 void Tracker::addPatch(PatchPtr p)
 {
-    this->patches.push_back(p);
+    patches.insert(patches.begin(), p);
+    if (patches.size() > MaxPatch){
+        patches.pop_back();
+    }
 }
 
 void Tracker::correct(const cv::Mat& image, const Detection& detection)
 {
-    //kf.correct();
+    // detection.center_x,   detection.center_y, 
+    // KF.correct(detect.center_x, detect.center_y);
     preStatus = status;
     status = TrackerStatus::Active;
     last_active = age;
 }
 
+void Tracker::predict()
+{
+    age++;
+    // TODO
+    Mat temp = KF.predict();
+}