Differential D8756 Diff 28314 libmv/autotrack/predict_tracks.h

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	#ifndef LIBMV_AUTOTRACK_PREDICT_TRACKS_H_	#ifndef LIBMV_AUTOTRACK_PREDICT_TRACKS_H_
	#define LIBMV_AUTOTRACK_PREDICT_TRACKS_H_	#define LIBMV_AUTOTRACK_PREDICT_TRACKS_H_

		#include "libmv/tracking/kalman_filter.h"
		#include "libmv/autotrack/marker.h"

	namespace mv {	namespace mv {

	class Tracks;	class Tracks;
	struct Marker;	struct Marker;

		typedef mv::KalmanFilter<double, 6, 2> TrackerKalman;

		class KalmanFilterState {
		TrackerKalman::State _state;
		int _stateFrame;
		bool _hasInitializedState;
		int _frameStep;
		Marker _previousMarker;

		public:
		KalmanFilterState() : _state(), _stateFrame(0), _hasInitializedState(false), _frameStep(1), _previousMarker() {}

		// Initialize the Kalman state.
		void Init(const Marker& first_marker, int frameStep);

		// predict forward until target_frame is reached
		bool PredictForward(const int target_frame,
		Marker* predicted_marker);

		// returns true if update was succesful
		bool Update(const Marker& measured_marker);
		};



	// Predict the position of the given marker, and update it accordingly. The	// Predict the position of the given marker, and update it accordingly. The
	// existing position will be overwritten.	// existing position will be overwritten.
	bool PredictMarkerPosition(const Tracks& tracks, Marker* marker);	bool PredictMarkerPosition(const Tracks& tracks, Marker* marker);
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