1 files changed, 37 insertions, 0 deletions
diff --git a/tracker-neuralnet/deadzone_filter.h b/tracker-neuralnet/deadzone_filter.h
new file mode 100644
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+++ b/tracker-neuralnet/deadzone_filter.h
@@ -0,0 +1,37 @@
+#pragma once
+
+#include "unscented_trafo.h"
+#include "opencv_contrib.h"
+#include "model_adapters.h"
+
+namespace neuralnet_tracker_ns
+{
+
+/// Represents a 6d pose by quaternion rotation and position vector.
+struct QuatPose {
+    cv::Quatf rot;
+    cv::Vec3f pos;
+};
+
+struct FiltParams
+{
+    float deadzone_hardness = 1.f;
+    float deadzone_size = 1.f;
+};
+
+/** Callback type for converting data from the `Face` struct to a 6d pose.
+*
+* This callback is needed because it depends on things that the filter doesn't have to know about and it is called multiple times
+* due to the way how uncertainty estimates are handled
+*/
+using Face2WorldFunction = std::function<QuatPose (const cv::Quatf&, const cv::Point2f&, float)>;
+
+/** Applies a deadzone filter similar to the one used in the Hamilton filter.
+*
+* What sets this apart is that the deadzone size scales with the uncertainty estimate of the network.
+* The rotation uncertainty is represented by a covariance matrix for the distribution of a rotation vector which
+* describes the offset from the mean rotation (the quaternion in the `Face` struct).
+*/
+QuatPose apply_filter(const PoseEstimator::Face &face, const QuatPose& previous_pose, float dt, Face2WorldFunction face2world, const FiltParams& params);
+
+} // namespace neuralnet_tracker_ns
+\ No newline at end of file