Merge pull request Smorodov#63 from Nuzhny007/master

Tracking improving
wwfzs1990 · Dec 13, 2017 · 086eeda · 086eeda
2 parents 41c61f0 + 4d4fee3
commit 086eeda
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Showing 2 changed files with 11 additions and 8 deletions.
diff --git a/Tracker/Kalman.cpp b/Tracker/Kalman.cpp
@@ -122,14 +122,16 @@ void TKalmanFilter::CreateLinear(cv::Rect_<track_t> rect0, Point_t rectv0)
 
     cv::setIdentity(m_linearKalman->measurementMatrix);
 
+    track_t n1 = pow(m_deltaTime, 4.) / 4.;
+    track_t n2 = pow(m_deltaTime, 3.) / 2.;
+    track_t n3 = pow(m_deltaTime, 2.);
     m_linearKalman->processNoiseCov = (cv::Mat_<track_t>(6, 6) <<
-                                       pow(m_deltaTime,4.)/4., 0,                    0,                    0,                    pow(m_deltaTime,3.)/2., 0,
-                                       0,                    pow(m_deltaTime,4.)/4., 0,                    0,                    pow(m_deltaTime,3.)/2., 0,
-                                       0,                    0,                    pow(m_deltaTime,4.)/4., 0,                    0,                    0,
-                                       0,                    0,                    0,                    pow(m_deltaTime,4.)/4., 0,                    0,
-                                       pow(m_deltaTime,3.)/2., 0,                    0,                    0,                    pow(m_deltaTime,2.),    0,
-                                       0,                    pow(m_deltaTime,3.)/2., 0,                    0,                    0,                    pow(m_deltaTime,2.));
-
+                                       n1, 0,  0,  0,  n2, 0,
+                                       0,  n1, 0,  0,  0,  n2,
+                                       0,  0,  n1, 0,  0,  0,
+                                       0,  0,  0,  n1, 0,  0,
+                                       n2, 0,  0,  0,  n3, 0,
+                                       0,  n2, 0,  0,  0,  n3);
 
     m_linearKalman->processNoiseCov *= m_accelNoiseMag;
 

diff --git a/Tracker/track.cpp b/Tracker/track.cpp
@@ -220,7 +220,7 @@ void CTrack::RectUpdate(
 #ifdef USE_OCV_KCF
         if (!dataCorrect)
         {
-            cv::Size roiSize(std::max(2 * m_predictionRect.width, currFrame.cols / 2), std::min(2 * m_predictionRect.height, currFrame.rows / 2));
+            cv::Size roiSize(std::max(2 * m_predictionRect.width, currFrame.cols / 4), std::min(2 * m_predictionRect.height, currFrame.rows / 4));
             if (roiSize.width > currFrame.cols)
             {
                 roiSize.width = currFrame.cols;
@@ -334,6 +334,7 @@ void CTrack::CreateExternalTracker()
             params.desc_pca = cv::TrackerKCF::GRAY;
             params.desc_npca = cv::TrackerKCF::GRAY;
             params.resize = true;
+            params.detect_thresh = 0.3;
 #if (((CV_VERSION_MAJOR == 3) && (CV_VERSION_MINOR >= 3)) || (CV_VERSION_MAJOR > 3))
             m_tracker = cv::TrackerKCF::create(params);
 #else