cecile_supercool_tracker/trackers/
kalman_prediction.rs

1use crate::utils::bbox::Universal2DBox;
2use crate::utils::kalman::kalman_2d_box::{Universal2DBoxKalmanFilter, DIM_2D_BOX_X2};
3use crate::utils::kalman::KalmanState;
4
5pub trait TrackAttributesKalmanPrediction {
6    fn get_state(&self) -> Option<KalmanState<{ DIM_2D_BOX_X2 }>>;
7    fn set_state(&mut self, state: KalmanState<{ DIM_2D_BOX_X2 }>);
8
9    fn get_position_weight(&self) -> f32;
10
11    fn get_velocity_weight(&self) -> f32;
12
13    fn make_prediction(&mut self, observation_bbox: &Universal2DBox) -> Universal2DBox {
14        let f =
15            Universal2DBoxKalmanFilter::new(self.get_position_weight(), self.get_velocity_weight());
16
17        let current_state = if let Some(state) = self.get_state() {
18            state
19        } else {
20            f.initiate(observation_bbox)
21        };
22
23        let prediction = f.predict(&current_state);
24
25        let new_state = f.update(&prediction, observation_bbox);
26        self.set_state(new_state);
27
28        let mut res = Universal2DBox::try_from(new_state).unwrap();
29        res.confidence = observation_bbox.confidence;
30
31        res
32    }
33}