Maintaing the history using kalman tracker object

[bundelesneha05]

In SORT object in Kalman tracker, history for the bounding boxes is maintained using Kalman tracker object as shown below, is there any history is maintained in DeepSORT? or can it have any provision for maintaining history?

` def init(self,bbox): """ Initialises a tracker using initial bounding box. """

define constant velocity model

self.kf = KalmanFilter(dim_x=7, dim_z=4)
self.kf.F = np.array([[1,0,0,0,1,0,0],[0,1,0,0,0,1,0],[0,0,1,0,0,0,1],[0,0,0,1,0,0,0],  [0,0,0,0,1,0,0],[0,0,0,0,0,1,0],[0,0,0,0,0,0,1]])
self.kf.H = np.array([[1,0,0,0,0,0,0],[0,1,0,0,0,0,0],[0,0,1,0,0,0,0],[0,0,0,1,0,0,0]])

self.kf.R[2:,2:] *= 10.
self.kf.P[4:,4:] *= 1000. #give high uncertainty to the unobservable initial velocities
self.kf.P *= 10.
self.kf.Q[-1,-1] *= 0.01
self.kf.Q[4:,4:] *= 0.01

self.kf.x[:4] = convert_bbox_to_z(bbox)
self.time_since_update = 0
self.id = KalmanBoxTracker.count
KalmanBoxTracker.count += 1
self.history = []
self.hits = 0
self.hit_streak = 0
self.age = 0

`

[kameel2311]

Hi did you solve this issue ?

[bundelesneha05]

@kameel2311 Yes.

[kameel2311]

@kameel2311 Yes.

Can you please share with me how and what to modify ?