抛一个kalman滤波跟踪的封装类 c++版opencv实现

#ifndef KALMAN_H
#define KALMAN_H
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <opencv2/video/tracking.hpp>
#include <opencv2/imgproc/imgproc.hpp>
class Kalman {


public:
Kalman();
~Kalman() {}


//KalmanFilter KF(6, 1, 0);
cv::KalmanFilter* m_pkalman;
cv::Mat* m_pProcessNoise;
cv::Mat* m_pMeasurementNoise;
cv::Mat* m_state;
cv::Mat* m_measurement;


bool m_bMeasurementAvail;
bool m_bprior; // first time detection 


int m_numStatesDim;
int m_numMeasureDim;



void Init();
void InitPrediction(pcl::PointXYZ* leftPt, pcl::PointXYZ* rhtPt);
pcl::PointXYZ Predict();
pcl::Point