Add callback from multitracker to engine

[trackerpp.git] / src / Tracker.cpp

diff --git a/src/Tracker.cpp b/src/Tracker.cpp
index 2d353a7..e9353bd 100644 (file)
--- a/src/Tracker.cpp
+++ b/src/Tracker.cpp
@@ -2,25 +2,38 @@
 
 using namespace suanzi;
 using namespace cv;
+using namespace std;
 
 static const int MaxLost = 5;
 
-Tracker::Tracker(int id) : id(id)
+Tracker::Tracker(const cv::Mat& image, const Detection& detection, int id) : id(id)
 {
     status = TrackerStatus::Fire;
     preStatus = TrackerStatus::Fire;
-}
 
-Tracker::~Tracker()
-{
+    // TODO: Kalman filter
+    this->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) << 
+                                                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);
 }
 
-void Tracker::addPatch(Patch* p)
+Tracker::~Tracker()
 {
-    patches.push_back(p);
-    if (patches.size() > Metrics::MaxPatch){
-        patches.erase(patches.end());
-    }
+    patches.clear();
 }
 
 void Tracker::updateState(const Mat& image)
@@ -37,3 +50,17 @@ void Tracker::updateState(const Mat& image)
         status = TrackerStatus::Lost;
     }
 }
+
+void Tracker::addPatch(PatchPtr p)
+{
+    this->patches.push_back(p);
+}
+
+void Tracker::correct(const cv::Mat& image, const Detection& detection)
+{
+    //kf.correct();
+    preStatus = status;
+    status = TrackerStatus::Active;
+    last_active = age;
+}
+