X-Git-Url: http://47.100.26.94:8080/?a=blobdiff_plain;f=src%2FTracker.cpp;h=098a24ec4e4b1f0310c3249f521bb3e3a6bc2eec;hb=81741fb5b3fe86bf29a130f367ea102e3aa99b0b;hp=2d353a75af7c0c58dc2735eb5e49063981879127;hpb=5675c1a74ffcb95725eb11463e51cfebbc88a15e;p=trackerpp.git

diff --git a/src/Tracker.cpp b/src/Tracker.cpp
index 2d353a7..098a24e 100644
--- a/src/Tracker.cpp
+++ b/src/Tracker.cpp
@@ -2,25 +2,39 @@
 
 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
+    KF.transitionMatrix = (Mat_<double>(4, 4) << 
+                                                1, 0, 1, 0,
+                                                0, 1, 0, 1,
+                                                0, 0, 1, 0,
+                                                0, 0, 0, 1);
+
+    KF.measurementMatrix = (Mat_<double>(2, 2) << 
+                                                1, 0, 0, 0,
+                                                0, 1, 0, 0);
+
+    KF.processNoiseCov = 1e-5 * Mat_<double>::eye(4, 4);
+    KF.measurementNoiseCov = 1e-1 * Mat_<double>::ones(2, 2);
+    KF.errorCovPost = 1. * Mat_<double>::ones(4, 4);
+    //this->kf.statePre = 0.1 * Matx_<int, 4, 1>::randn(4, 1);
+    //??? TODO
+    randn(KF.statePre, Scalar::all(0), Scalar::all(0.1));
+    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 +51,26 @@ void Tracker::updateState(const Mat& image)
         status = TrackerStatus::Lost;
     }
 }
+
+void Tracker::addPatch(PatchPtr p)
+{
+    patches.insert(patches.begin(), p);
+    if (patches.size() > MaxPatch){
+        patches.erase(patches.end());
+    }
+}
+
+void Tracker::correct(const cv::Mat& image, const Detection& detection)
+{
+    // detection.center_x,   detection.center_y, 
+    // KF.correct(detect.center_x, detect.center_y);
+    preStatus = status;
+    status = TrackerStatus::Active;
+    last_active = age;
+}
+
+void Tracker::predict()
+{
+    age++;
+    //detection = KF.predict();
+}