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Fixed bugs introduced while converting from Python to C++ #129

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Fixed bugs introduced while converting from Python to C++ #129

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7 changes: 4 additions & 3 deletions deploy/OCSort/cpp/src/KalmanFilter.cpp
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Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
#include "../include/KalmanFilter.hpp"
#include "../include/KalmanFilter.hpp"
#include <iostream>
namespace ocsort {
KalmanFilterNew::KalmanFilterNew() {};
Expand Down Expand Up @@ -26,7 +26,7 @@ namespace ocsort {
};
void KalmanFilterNew::predict() {
x = F * x;
P = _alpha_sq * ((F * P), F.transpose()) + Q;
P = _alpha_sq * ((F * P) * F.transpose()) + Q;
x_prior = x;
P_prior = P;
}
Expand All @@ -46,6 +46,7 @@ namespace ocsort {
y = *z_ - H * x;
auto PHT = P * H.transpose();
S = H * PHT + R;
SI = S.inverse();
K = PHT * SI;
x = x + K * y;
auto I_KH = I - K * H;
Expand Down Expand Up @@ -152,4 +153,4 @@ namespace ocsort {
}
}
}
}// namespace ocsort
}// namespace ocsort