Question on Deal with matched detections in main.py?
tringn opened this issue · comments
Hi @kcg2015,
Thanks for your great work.
I have a question on function Deal with matched detections in main.py.
Assume in the 1st frame, there is no matched detections, then we will jump to if len(unmatched_dets) > 0:. It does the tmp_trk.predict_only() by using current detection (x = np.array([[z[0], 0, z[1], 0, z[2], 0, z[3], 0]]).T; tmp_trk.x_state = x).
In the 2nd frame, I assume that all objects in 1st frame are matched to detections in 2nd frame, then we jump to if matched.size > 0, and do predict. However, in tmp_trk.kalman_filter(z), I saw that the code does predict then update with current detection info. I am confused because we already did predict when processing detection in the 1st frame?
Can you clarify my confusion?
I suppose that we should do update and then predict.
Thank you so much.
