Kalman.h

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// Based on https://github.com/Smorodov/Multitarget-tracker/tree/master/Tracker, GPLv3
// Refer to README.md in this directory.
 
#pragma once
#include "defines.h"
#include <opencv2/opencv.hpp>
 
// http://www.morethantechnical.com/2011/06/17/simple-kalman-filter-for-tracking-using-opencv-2-2-w-code/
class TKalmanFilter
{
public:
  TKalmanFilter(Point_t p, track_t deltatime = 0.2);
  ~TKalmanFilter();
  void Prediction();
  Point_t Update(Point_t p, bool DataCorrect);
  cv::KalmanFilter* kalman;
  track_t dt;
  Point_t LastPosition; // contour in [px]
  Point_t LastVelocity; // velocity in [px/s]
};