X-Git-Url: http://47.100.26.94:8080/?a=blobdiff_plain;f=src%2FTracker.cpp;h=2d4f2b04e4d879e2dd1c6a0fd4e0f44c21ceea5b;hb=97b147e9106cb549dd7dd62829b9d29b326738c7;hp=50bc82044dbe3e6ddfd42a2e5a5149b9b11238db;hpb=3ff9a5ad691b8dca9d91f8e9786a8d08d31b70fa;p=trackerpp.git

diff --git a/src/Tracker.cpp b/src/Tracker.cpp
index 50bc820..2d4f2b0 100644
--- a/src/Tracker.cpp
+++ b/src/Tracker.cpp
@@ -2,43 +2,35 @@
 
 using namespace suanzi;
 using namespace cv;
+using namespace std;
 
 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
-    // init KalmanFilter
-    this->kf.transitionMatrix = (Mat_<float>(4, 4) << 
+    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) << 
+    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);
+    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);
+    randn(KF.statePre, Scalar::all(0), Scalar::all(0.1));
+    KF.statePost = (Mat_<double>(4, 1) << detection.center_x, detection.center_y, 0, 0);
 }
 
 Tracker::~Tracker()
 {
+    patches.clear();
 }
 
-//void Tracker::addPatch(Patch* p)
-//{
-//    patches.push_back(p);
-//    if (patches.size() > Metrics::MaxPatch){
-//        patches.erase(patches.end());
-//    }
-//}
-//
 void Tracker::updateState(const Mat& image)
 {
     preStatus = this->status;
@@ -53,3 +45,27 @@ void Tracker::updateState(const Mat& image)
         status = TrackerStatus::Lost;
     }
 }
+
+void Tracker::addPatch(PatchPtr p)
+{
+    patches.insert(patches.begin(), p);
+    if (patches.size() > MaxPatch){
+        patches.pop_back();
+    }
+}
+
+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++;
+    // TODO
+    Mat temp = KF.predict();
+}