Add test for Predictor

[trackerpp.git] / src / Tracker.cpp

diff --git a/src/Tracker.cpp b/src/Tracker.cpp
index 79fd941..8ab2414 100644 (file)
--- a/src/Tracker.cpp
+++ b/src/Tracker.cpp
@@ -1,11 +1,53 @@
 #include "Tracker.h"
 
 using namespace suanzi;
+using namespace cv;
+using namespace std;
 
-Tracker::Tracker()
+static const int MaxLost = 5;
+
+Tracker::Tracker(const cv::Mat& image,int id) : id(id)
 {
+    status = TrackerStatus::Fire;
+    preStatus = TrackerStatus::Fire;
+
+    // TODO: Kalman filter
+    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()
 {
+    patches.clear();
+}
+
+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;
+    }
+}
+
+void Tracker::addPatch(PatchPtr p)
+{
+    this->patches.push_back(p);
 }