X-Git-Url: http://47.100.26.94:8080/?a=blobdiff_plain;f=src%2FTracker.cpp;h=27dd4000f167065d690d3b6c1ba1e0877dcb747d;hb=e45efc2cf76f6dc89e8b02484bf69a400cb93cf9;hp=2d353a75af7c0c58dc2735eb5e49063981879127;hpb=5675c1a74ffcb95725eb11463e51cfebbc88a15e;p=trackerpp.git

diff --git a/src/Tracker.cpp b/src/Tracker.cpp
index 2d353a7..27dd400 100644
--- a/src/Tracker.cpp
+++ b/src/Tracker.cpp
@@ -9,6 +9,22 @@ Tracker::Tracker(int id) : id(id)
 {
     status = TrackerStatus::Fire;
     preStatus = TrackerStatus::Fire;
+
+    // TODO
+    // init KalmanFilter
+    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()