1 files changed, 32 insertions, 0 deletions
diff --git a/tracker-easy/kalman-filter-pose.h b/tracker-easy/kalman-filter-pose.h
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+++ b/tracker-easy/kalman-filter-pose.h
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+/* Copyright (c) 2019, Stephane Lenclud <github@lenclud.com>
+
+ * Permission to use, copy, modify, and/or distribute this
+ * software for any purpose with or without fee is hereby granted,
+ * provided that the above copyright notice and this permission
+ * notice appear in all copies.
+ */
+
+#pragma once
+
+#include <opencv2/core.hpp>
+#include <opencv2/video/tracking.hpp>
+
+
+namespace EasyTracker
+{
+
+    ///
+    /// TODO: do not use a constant time difference
+    ///
+    class KalmanFilterPose: public cv::KalmanFilter
+    {
+    public:
+        KalmanFilterPose();
+        void Init(int aStateCount, int aMeasurementCount, int aInputCount, double aDt);
+        void Update(double& aX, double& aY, double& aZ, double& aRoll, double& aPitch, double& aYaw);
+
+
+        cv::Mat iMeasurements;
+    };
+
+}