class Tracks(object):
"""docstring for Tracks"""
def __init__(self, detection, trackId):
super(Tracks, self).__init__()
self.KF = KalmanFilter()
self.KF.predict()
self.KF.correct(np.matrix(detection).reshape(2, 1))
self.trace = deque(maxlen=20)
self.prediction = detection.reshape(1, 2)
self.trackId = trackId
self.skipped_frames = 0
def predict(self, detection):
self.prediction = np.array(self.KF.predict()).reshape(1, 2)
self.KF.correct(np.matrix(detection).reshape(2, 1))
class TrackingObject(object): """ TrackingObject: maintains and updates all the information for one tracked object """ def __init__(self, detection, trackId): super(TrackingObject, self).__init__() self.KF = KalmanFilter() self.KF.predict() self.KF.correct(np.matrix(detection).reshape(2,1)) self.trace = deque(maxlen=20) self.prediction = detection.reshape(1,2) self.trackId = trackId self.skipped_frames = 0 def predict_and_correct(self, measurement): self.prediction = np.array(self.KF.predict()).reshape(1,2) self.KF.correct(np.matrix(measurement).reshape(2,1))
