项目结构大变

inc/KalmanFilter.h

@@ -6,12 +6,16 @@
 class KalmanFilter {
 public:
     KalmanFilter();
-    
+
     void update(const cv::Point2f& measurement);
     cv::Point2f predict();
-    
+
+    // Method to update the process noise based on target movement characteristics
+    void updateProcessNoise(const cv::Point2f& current_measurement);
+
     cv::Point2f get_last_measurement() const { return last_measurement; }
     cv::Point2f get_last_prediction() const { return last_prediction; }
+    cv::Point2f get_current_velocity() const;  // New method to get current velocity
     bool is_initialized() const { return initialized; }
 
 private:
@@ -19,8 +23,16 @@ private:
     bool initialized;
     cv::Point2f last_measurement;
     cv::Point2f last_prediction;
-    
+    cv::Point2f prev_measurement;
+    bool has_prev_measurement;
+
+    // Store previous states for velocity and acceleration estimation
+    cv::Point2f prev_velocity;
+    double time_elapsed;  // Time in seconds between measurements
+    bool has_prev_velocity;
+
     void init_params();
+    cv::Point2f estimate_velocity(const cv::Point2f& current, const cv::Point2f& previous);
 };
 
 #endif // KALMANFILTER_H