00001 // Based on https://github.com/Smorodov/Multitarget-tracker/tree/master/Tracker, GPLv3 00002 // Refer to README.md in this directory. 00003 00004 #pragma once 00005 #include "defines.h" 00006 #include <opencv/cv.h> 00007 00008 // http://www.morethantechnical.com/2011/06/17/simple-kalman-filter-for-tracking-using-opencv-2-2-w-code/ 00009 class TKalmanFilter 00010 { 00011 public: 00012 TKalmanFilter(Point_t p, track_t deltatime = 0.2); 00013 ~TKalmanFilter(); 00014 void Prediction(); 00015 Point_t Update(Point_t p, bool DataCorrect); 00016 cv::KalmanFilter* kalman; 00017 track_t dt; 00018 Point_t LastPosition; // contour in [px] 00019 Point_t LastVelocity; // velocity in [px/s] 00020 };