KalmanLineModule.h

#ifndef KALMANLINEMODULE_H
#define KALMANLINEMODULE_H

#include "Datapool.h"
#include "ModuleInterface.h"
#include "image_display.h"
//Commented to expect a Kalman Filter lib from OpenCV
//#include "src/ekfline.h"

using namespace std;

class KalmanLineModule: public ModuleInterface
{
public:
    KalmanLineModule(Datapool* i_data);
    ~KalmanLineModule();

    //Set module configuration parameters
    bool setParameters(QDomNode& config);

    //Initialization after reading parameters
    bool init();

    //Function executed at each frame
    bool run();

    //update parameters at runtime.
    bool updateParameters();

private:
    bool firstTime;

    //line
    cv::Vec2f line;

    //Matrix numbers
    int numlines;
    int numparameter;
    //Commented to expect a Kalman Filter lib from OpenCV
    //ekfline filter;
    //ekfline::Vector state;
};


#endif // KALMANLINEMODULE_H