X-Git-Url: http://47.100.26.94:8080/?a=blobdiff_plain;f=src%2FMultiTracker.cpp;h=138657e9b8630c65110eb8e2b0e2f634dab1d452;hb=70532232dd98f31467eff7baaaff6e68f803bb45;hp=aef5e2e9f854d578044c5999f96e70c877d52f53;hpb=a80807eb35cc0ff70a9afdd6b7db2f38cb686683;p=trackerpp.git

diff --git a/src/MultiTracker.cpp b/src/MultiTracker.cpp
index aef5e2e..138657e 100644
--- a/src/MultiTracker.cpp
+++ b/src/MultiTracker.cpp
@@ -11,9 +11,8 @@ using namespace std;
 
 static const std::string TAG = "MultiTracker";
 static const cv::Size PREFERRED_SIZE = Size(64, 128);
-
 static const double MaxCost  = 100000;
-static const int MaxPatch  = 5;
+static const double ProbThreshold = 0.05;
 
 MultiTracker::MultiTracker(EngineWPtr e)
 : engine(e)
@@ -74,8 +73,11 @@ double MultiTracker::distance(TrackerPtr tracker, const cv::Mat& image, const De
         ss = similarity(i, patch);
         features.insert(features.end(),  ss.begin(), ss.end());
     }
-    double prob = predictor->predict(4, features);
-    return prob; 
+    double prob = predictor->predict(Tracker::MaxPatch - 1, features); // TODO why is MaxPatch-1
+    if (prob > ProbThreshold)
+        return -log(prob);
+    else 
+        return MaxCost;
 }
 
 static float calc_iou_ratio(const Detection& d1, const Detection& d2)
@@ -85,6 +87,12 @@ static float calc_iou_ratio(const Detection& d1, const Detection& d2)
 
 void MultiTracker::update(unsigned int total, const Detection* detections, const Mat& image)
 {
+    // predict trackers, update trackers using kalman filter
+    for (auto t : trackers){
+        t->predict();
+    }
+
+    // match the trackers with the detections using linear sum assignment (hungarian)
     int row = trackers.size();
     int col = total;
     Eigen::MatrixXi cost_matrix = Eigen::MatrixXi::Zero(row, col);