内容填充

KalmanFilter.h

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+#ifndef KALMANFILTER_H
+#define KALMANFILTER_H
+
+#include <opencv2/opencv.hpp>
+
+class KalmanFilter {
+public:
+    KalmanFilter();
+    
+    void update(const cv::Point2f& measurement);
+    cv::Point2f predict();
+    
+    cv::Point2f get_last_measurement() const { return last_measurement; }
+    cv::Point2f get_last_prediction() const { return last_prediction; }
+    bool is_initialized() const { return initialized; }
+
+private:
+    cv::KalmanFilter kf;
+    bool initialized;
+    cv::Point2f last_measurement;
+    cv::Point2f last_prediction;
+    
+    void init_params();
+};
+
+#endif // KALMANFILTER_H