tracker-neuralnet/deadzone_filter.h

#pragma once

#include "unscented_trafo.h"
#include "opencv_contrib.h"
#include "model_adapters.h"

namespace neuralnet_tracker_ns
{

/// Represents a 6d pose by quaternion rotation and position vector.
struct QuatPose {
    cv::Quatf rot;
    cv::Vec3f pos;
};

struct FiltParams
{
    float deadzone_hardness = 1.f;
    float deadzone_size = 1.f;
};

/** Callback type for converting data from the `Face` struct to a 6d pose.
*
* This callback is needed because it depends on things that the filter doesn't have to know about and it is called multiple times
* due to the way how uncertainty estimates are handled
*/
using Face2WorldFunction = std::function<QuatPose (const cv::Quatf&, const cv::Point2f&, float)>;

/** Applies a deadzone filter similar to the one used in the Hamilton filter.
*
* What sets this apart is that the deadzone size scales with the uncertainty estimate of the network.
* The rotation uncertainty is represented by a covariance matrix for the distribution of a rotation vector which
* describes the offset from the mean rotation (the quaternion in the `Face` struct).
*/
QuatPose apply_filter(const PoseEstimator::Face &face, const QuatPose& previous_pose, float dt, Face2WorldFunction face2world, const FiltParams& params);

} // namespace neuralnet_tracker_ns