From: Tae-Young Chung <ty83.chung@samsung.com>
Date: Mon, 1 Jul 2024 09:07:31 +0000 (+0900)
Subject: Change transition matrix value in kalman filter
X-Git-Url: http://review.tizen.org/git/?a=commitdiff_plain;h=b3b2bf39c7349ca0067dd5f5dab859d7ddcd3ea9;p=platform%2Fcore%2Fapi%2Fsingleo.git

Change transition matrix value in kalman filter

Change-Id: Ie27bd7fdbed7ba7d92e2a882d3002202c69e9b0d
Signed-off-by: Tae-Young Chung <ty83.chung@samsung.com>
---

diff --git a/inference/backends/private/src/Kalman2d.cpp b/inference/backends/private/src/Kalman2d.cpp
index 251860f..86001e5 100644
--- a/inference/backends/private/src/Kalman2d.cpp
+++ b/inference/backends/private/src/Kalman2d.cpp
@@ -30,7 +30,7 @@ Kalman2D::Kalman2D()
     _filter.statePre = (Mat_<float>(4,1) << 0, 0, 0, 0);
     _filter.statePost = (Mat_<float>(4,1) << 0, 0, 0, 0);
 
-    _filter.transitionMatrix = (Mat_<float>(4,4) << 1, 0, 0.5f, 0, 0, 1, 0, 0.5f, 0, 0, 0.02f, 0, 0, 0, 0, 0.02f);
+    _filter.transitionMatrix = (Mat_<float>(4,4) << 1, 0, 0.25f, 0, 0, 1, 0, 0.25f, 0, 0, 0.02f, 0, 0, 0, 0, 0.02f);
     _filter.processNoiseCov = (cv::Mat_<float>(4, 4) << 0.3f, 0, 0, 0, 0, 0.3f, 0, 0, 0, 0, 0.3f, 0, 0, 0, 0, 0.3f);
     _filter.measurementMatrix = (cv::Mat_<float>(2, 4) << 1, 0, 0, 0, 0, 1, 0, 0);
 	_filter.measurementNoiseCov = cv::Mat::eye(2, 2, CV_32F);