kalman.h

opencv实现的人体运动跟踪源码

#ifndef _KALMAN_CB_
#define _KALMAN_CB_

class CKalman
{
public:
    CKalman( int D, int M, int C );
	~CKalman();
	KalmanPredict( double * control );
	KalmanCorrect( double * measurement );
public:	
	int MP;  //number of measure vector dimensions
	int DP;  //number of state   vector dimensions
	int CP;  //number of control vector dimensions

	double* state_pre;            //[DP * 1] 
	double* state_post;           //[DP * 1] 
	double* transition_matrix;    //[DP * DP] 
	double* control_matrix;       //[DP * CP] if (CP > 0) 
	double* measurement_matrix;   //[MP * DP]
	double* process_noise_cov;    //[DP * DP]
	double* measurement_noise_cov;//[MP * MP]
	double* error_cov_pre;        //[DP * DP]
	double* error_cov_post;       //[DP * DP]
	double* gain;                 //[DP * MP]
};
#endif //!defined (_KALMAN_CB_)