From bfe47f03615b4e5a28df91547d804c5819d981f2 Mon Sep 17 00:00:00 2001
From: Stéphane Lenclud <github@lenclud.com>
Date: Thu, 18 Apr 2019 15:54:18 +0200
Subject: Easy Tracker: built-in Kalman filter. It's hard to tell if it brings
 much though.

---
 tracker-easy/tracker-easy.h | 11 ++++++++---
 1 file changed, 8 insertions(+), 3 deletions(-)

(limited to 'tracker-easy/tracker-easy.h')

diff --git a/tracker-easy/tracker-easy.h b/tracker-easy/tracker-easy.h
index a8c8e6be..a84d725e 100644
--- a/tracker-easy/tracker-easy.h
+++ b/tracker-easy/tracker-easy.h
@@ -1,5 +1,4 @@
-/* Copyright (c) 2012 Patrick Ruoff
- * Copyright (c) 2014-2016 Stanislaw Halik <sthalik@misaki.pl>
+/* Copyright (c) 2019 Stephane Lenclud
  *
  * Permission to use, copy, modify, and/or distribute this software for any
  * purpose with or without fee is hereby granted, provided that the above
@@ -14,15 +13,18 @@
 #include "video/camera.hpp"
 #include "compat/timer.hpp"
 
+
 #include "preview.h"
 #include "settings.h"
 #include "point-extractor.h"
+#include "kalman-filter-pose.h"
 
 #include <atomic>
 #include <memory>
 #include <vector>
 
 #include <opencv2/core.hpp>
+#include <opencv2/video/tracking.hpp>
 
 #include <QThread>
 #include <QMutex>
@@ -87,7 +89,7 @@ namespace EasyTracker
         std::atomic<bool> ever_success = false;
         mutable QMutex center_lock, data_lock;
 
-        //
+        // Statistics
         Timer iTimer;
         Timer iFpsTimer;
         int iFrameCount = 0;
@@ -95,6 +97,9 @@ namespace EasyTracker
         int iFps = 0;
         int iSkippedFps = 0;
 
+        //
+        KalmanFilterPose iKf;
+
         // Vertices defining the model we are tracking
         std::vector<cv::Point3f> iModel;
         // Bitmap points corresponding to model vertices
-- 
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