Fix issue boostpython not stopped by Ctrl+c

[trackerpp.git] / src / Tracker.cpp

diff --git a/src/Tracker.cpp b/src/Tracker.cpp
index 2d353a7..50bc820 100644 (file)
--- a/src/Tracker.cpp
+++ b/src/Tracker.cpp
@@ -5,24 +5,40 @@ using namespace cv;
 
 static const int MaxLost = 5;
 
-Tracker::Tracker(int id) : id(id)
+Tracker::Tracker(const cv::Mat& image,int id) : id(id)
 {
     status = TrackerStatus::Fire;
     preStatus = TrackerStatus::Fire;
-}
 
-Tracker::~Tracker()
-{
+    // 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);
 }
 
-void Tracker::addPatch(Patch* p)
+Tracker::~Tracker()
 {
-    patches.push_back(p);
-    if (patches.size() > Metrics::MaxPatch){
-        patches.erase(patches.end());
-    }
 }
 
+//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;