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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;
};
}
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