def __init__(self, algorithm):
super(Ball2DTracker, self).__init__()
self.threshold_filter = ThresholdFilter(
np.array([20, 150, 50], dtype=np.uint8),
np.array([40, 255, 255], dtype=np.uint8))
self.algo = algorithm()
# Setup the Kalman Filter noise matrices
self.Q = (10**-3) * np.eye(4, 4)
self.R = (10**-1) * np.eye(2, 2)
self.kalman_filter = KalmanFilter(self.Q, self.R)
self.centroid_algo = Centroid()
self.transformed_image = np.copy(self.image)
self.centroid = self.centroid_algo(
self.threshold_filter(self.transformed_image))
