X-Git-Url: http://47.100.26.94:8080/?a=blobdiff_plain;f=src%2FTracker.cpp;h=8ab241491303389b8952792c5b8938ad04b0b6f1;hb=db369d962b595544373b417ae9a76e7268eb12fb;hp=2d353a75af7c0c58dc2735eb5e49063981879127;hpb=5675c1a74ffcb95725eb11463e51cfebbc88a15e;p=trackerpp.git

diff --git a/src/Tracker.cpp b/src/Tracker.cpp
index 2d353a7..8ab2414 100644
--- a/src/Tracker.cpp
+++ b/src/Tracker.cpp
@@ -2,25 +2,34 @@
 
 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,int id) : id(id)
 {
     status = TrackerStatus::Fire;
     preStatus = TrackerStatus::Fire;
-}
 
-Tracker::~Tracker()
-{
+    // TODO: Kalman filter
+    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);
 }
 
-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 +46,8 @@ void Tracker::updateState(const Mat& image)
         status = TrackerStatus::Lost;
     }
 }
+
+void Tracker::addPatch(PatchPtr p)
+{
+    this->patches.push_back(p);
+}