TrackingFilter.hpp

/*
 *  LiveFit
 *  Copyright (C) 2016 The University of Georgia
 *
 *  This program is free software; you can redistribute it and/or modify
 *  it under the terms of the GNU General Public License as published by
 *  the Free Software Foundation; either version 2 of the License, or
 *  (at your option) any later version.
 *
 *  This program is distributed in the hope that it will be useful,
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 *  GNU General Public License for more details.
 *
 *  You should have received a copy of the GNU General Public License along
 *  with this program; if not, write to the Free Software Foundation, Inc.,
 *  51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
 */

#ifndef TRACKINGFILTER_HPP
#define TRACKINGFILTER_HPP

#include "KalmanFilterPlus.hpp"
#include <QDebug>

class TrackingFilter
{
public:
  TrackingFilter();

  void flushKalman();

  double kalmanDistance(cv::Mat measurement);

  void updateTrackFailure();

  cv::Mat prediction();
  cv::Mat covariance();

  void updateTimeState(double t);

  double dT() { return mTstop - mTstart; }
  double time() { return mTstop; }

  bool isFound();
  bool isLost();

protected:
  int mBlobRad;
  int mLatency;
  int mNotFoundCount;

  int mKfStateLen;
  cv::Mat mKfState;
  int mFoundCount;

  int mKfControlLen;
  cv::Mat mKfControl;
  cv::Mat mKfControlVec;

  int mKfMeasLen;
  cv::Mat mKfMeas;

  double mTstart = 0;
  double mTstop = 0;

  KalmanFilterPlus mKf;
};

#endif // TRACKINGFILTER_HPP