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#pragma once
#include "dataType.h"
namespace byte_kalman
{
class KalmanFilter
{
public:
static const double chi2inv95[10];
KalmanFilter();
KAL_DATA initiate(const DETECTBOX& measurement);
void predict(KAL_MEAN& mean, KAL_COVA& covariance);
KAL_HDATA project(const KAL_MEAN& mean, const KAL_COVA& covariance);
KAL_DATA update(const KAL_MEAN& mean,
const KAL_COVA& covariance,
const DETECTBOX& measurement);
Eigen::Matrix<float, 1, -1> gating_distance(
const KAL_MEAN& mean,
const KAL_COVA& covariance,
const std::vector<DETECTBOX>& measurements,
bool only_position = false);
private:
Eigen::Matrix<float, 8, 8, Eigen::RowMajor> _motion_mat;
Eigen::Matrix<float, 4, 8, Eigen::RowMajor> _update_mat;
float _std_weight_position;
float _std_weight_velocity;
};
} |