KalmanFilter.hpp

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#ifndef KALMAN_FILTER_HPP
#define KALMAN_FILTER_HPP
 
#include "FAST/ProcessObject.hpp"
#include "AppearanceModel.hpp"
#include "ShapeModel.hpp"
 
namespace fast {
 
class Image;
class Mesh;
 
class FAST_EXPORT  KalmanFilter : public ProcessObject {
    FAST_OBJECT(KalmanFilter)
    public:
        void setShapeModel(ShapeModel::pointer shapeModel);
        void setAppearanceModel(AppearanceModel::pointer appearanceModel);
        void setIterations(int iterations);
        void setStartIterations(int iterations);
        VectorXf getCurrentState() const;
        DataChannel::pointer getSegmentationOutputPort();
        DataChannel::pointer getDisplacementsOutputPort();
    private:
        KalmanFilter();
        void execute(); // runs a loop with predict, measure and update
        void predict();
        void estimate(std::shared_ptr<Image> image);
        std::shared_ptr<Mesh> getDisplacementVectors(std::shared_ptr<Image> image);
 
        AppearanceModel::pointer mAppearanceModel;
        ShapeModel::pointer mShapeModel;
 
        VectorXf mCurrentState;
        VectorXf mPreviousState;
        VectorXf mDefaultState;
        VectorXf mPredictedState;
 
        MatrixXf mCurrentCovariance;
        MatrixXf mPreviousCovariance;
        MatrixXf mPredictedCovariance;
 
        bool mInitialized;
        bool mFirstExecute;
        bool mOutputDisplacements;
 
        int mIterations;
        int mStartIterations;
};
 
} // end namespace fast
 
#endif