static const int MaxLost = 5;
-Tracker::Tracker(const cv::Mat& image,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_<float>(4, 4) <<
+ 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_<float>(2, 2) <<
+ this->kf.measurementMatrix = (Mat_<double>(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);
+ 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);
}
Tracker::~Tracker()
{
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;
+}
+