public SingleTrackInitializer(FusionEngine fusionEngine, int minBatchMeasurements)
{
Debug.LogWarning("Warning: Track initialization not fully implemented yet, for now will try to put all unassociated measurements into a single track");
this.fusionEngine = fusionEngine;
this.batchEstimator = new WLSQBatchEstimator(minBatchMeasurements, fusionEngine);
}
// Internal storage
//private List<GaussianTrack> protoTrackList;
// Constructor
public ChiSquareAssociator(FusionEngine fusionEngine, float chiSquareThreshold)
{
// Save pointer to the fusion engine
this.fusionEngine = fusionEngine;
this.chiSquareThreshold = chiSquareThreshold;
// Initialize hungarian algorithm
this.hungarianAlgorithm = new HungarianAlgorithm();
// Initialize internal storage
//protoTrackList = new List<GaussianTrack>();
}
// Use this for initialization
void Start()
{
// Save a pointer to the fusion engine
fusionEngine = GetComponentInParent<FusionEngine>();
// Get a pointer to the target
targets = GameObject.FindGameObjectsWithTag("Target");
// Noise distribution
nd = new NormalDistribution(0, 1);
noiseCovariance = new Matrix(3, 3);
noiseCovariance[0, 0] = 1e-3;
noiseCovariance[1, 1] = 1e-3;
noiseCovariance[2, 2] = 1e-3;
noiseCovCholT = noiseCovariance.CholeskyDecomposition.TriangularFactor.Clone();
noiseCovCholT.Transpose();
// Reset time since the last update
timeSinceLastUpdateSec = 0.0f;
}
// Constructor
public WLSQBatchEstimator(int minBatchMeasurements, FusionEngine fusionEngine)
{
this.minBatchMeasurements = minBatchMeasurements;
this.fusionEngine = fusionEngine;
}
