#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