| 265 | |
| 266 | |
| 267 | class EllipseTracker(BaseTracker): |
| 268 | def __init__(self, params): |
| 269 | super().__init__(dim=5, dim_z=5) |
| 270 | self.kf.R[2:, 2:] *= 10.0 |
| 271 | # High uncertainty to the unobservable initial velocities |
| 272 | self.kf.P[5:, 5:] *= 1000.0 |
| 273 | self.kf.P *= 10.0 |
| 274 | self.kf.Q[5:, 5:] *= 0.01 |
| 275 | self.state = params |
| 276 | |
| 277 | @BaseTracker.state.setter |
| 278 | def state(self, params): |
| 279 | state = np.asarray(params).reshape((-1, 1)) |
| 280 | super(EllipseTracker, type(self)).state.fset(self, state) |
| 281 | |
| 282 | |
| 283 | class SkeletonTracker(BaseTracker): |