X-Git-Url: http://47.100.26.94:8080/?a=blobdiff_plain;f=src%2FTracker.cpp;h=e9353bdfbfa3aa5c14aa929d9c291ed7abe6955b;hb=a80807eb35cc0ff70a9afdd6b7db2f38cb686683;hp=50bc82044dbe3e6ddfd42a2e5a5149b9b11238db;hpb=3ff9a5ad691b8dca9d91f8e9786a8d08d31b70fa;p=trackerpp.git

diff --git a/src/Tracker.cpp b/src/Tracker.cpp
index 50bc820..e9353bd 100644
--- a/src/Tracker.cpp
+++ b/src/Tracker.cpp
@@ -2,43 +2,40 @@
 
 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) << 
+    // TODO: Kalman filter
+    this->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) << 
+    this->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);
+    this->kf.processNoiseCov = 1e-5 * Mat_<double>::eye(4, 4);
+    this->kf.measurementNoiseCov = 1e-1 * Mat_<double>::ones(2, 2);
+    this->kf.errorCovPost = 1. * Mat_<double>::ones(4, 4);
+    //this->kf.statePre = 0.1 * Matx_<int, 4, 1>::randn(4, 1);
+    //??? TODO
+    randn(this->kf.statePre, Scalar::all(0), Scalar::all(0.1));
+    this->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 +50,17 @@ void Tracker::updateState(const Mat& image)
         status = TrackerStatus::Lost;
     }
 }
+
+void Tracker::addPatch(PatchPtr p)
+{
+    this->patches.push_back(p);
+}
+
+void Tracker::correct(const cv::Mat& image, const Detection& detection)
+{
+    //kf.correct();
+    preStatus = status;
+    status = TrackerStatus::Active;
+    last_active = age;
+}
+