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hydradarpa / kalman-hydra

Python and C++ code for Hydra optical flow, behavior analysis with extended Kalman filter tracker
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Add edge constraint penalties #12

Closed benlansdell closed 8 years ago

benlansdell commented 8 years ago

Involves adding new observation component

benlansdell commented 8 years ago

Expensive to compute the penalty function for each render in Jacobian/Hessian computation. Perhaps can approximate by the frame's distancefromcontour and use this instead...

benlansdell commented 8 years ago

The idea is simply to add an extra observation that is the mask for the rendered and observed frames. The discrepancy between these two acts to correct for contour mismatch (large tracking drift).