cv::tracking::UnscentedKalmanFilterParams Class Reference

Unscented Kalman filter parameters. The class for initialization parameters of Unscented Kalman filter. More...

#include "kalman_filters.hpp"

Inheritance diagram for cv::tracking::UnscentedKalmanFilterParams:

Public Member Functions
	UnscentedKalmanFilterParams ()
	UnscentedKalmanFilterParams (int dp, int mp, int cp, double processNoiseCovDiag, double measurementNoiseCovDiag, Ptr< UkfSystemModel > dynamicalSystem, int type=CV_64F)
void	init (int dp, int mp, int cp, double processNoiseCovDiag, double measurementNoiseCovDiag, Ptr< UkfSystemModel > dynamicalSystem, int type=CV_64F)

Public Attributes
double	alpha
	Default is 1e-3. More...
double	beta
	Default is 2.0. More...
int	CP
	Dimensionality of the control vector. More...
int	dataType
	Type of elements of vectors and matrices, default is CV_64F. More...
int	DP
	Dimensionality of the state vector. More...
Mat	errorCovInit
	State estimate cross-covariance matrix, DP x DP, default is identity. More...
double	k
	Default is 0. More...
Mat	measurementNoiseCov
	Measurement noise cross-covariance matrix, MP x MP. More...
Ptr< UkfSystemModel >	model
	Object of the class containing functions for computing the next state and the measurement. More...
int	MP
	Dimensionality of the measurement vector. More...
Mat	processNoiseCov
	Process noise cross-covariance matrix, DP x DP. More...
Mat	stateInit
	Initial state, DP x 1, default is zero. More...

Detailed Description

Unscented Kalman filter parameters. The class for initialization parameters of Unscented Kalman filter.

Constructor & Destructor Documentation

cv::tracking::UnscentedKalmanFilterParams::UnscentedKalmanFilterParams ( )

inline

The constructors.

cv::tracking::UnscentedKalmanFilterParams::UnscentedKalmanFilterParams	(	int	dp,
		int	mp,
		int	cp,
		double	processNoiseCovDiag,
		double	measurementNoiseCovDiag,
		Ptr< UkfSystemModel >	dynamicalSystem,
		int	type = CV_64F
	)

Parameters

dp	- dimensionality of the state vector,
mp	- dimensionality of the measurement vector,
cp	- dimensionality of the control vector,
processNoiseCovDiag	- value of elements on main diagonal process noise cross-covariance matrix,
measurementNoiseCovDiag	- value of elements on main diagonal measurement noise cross-covariance matrix,
dynamicalSystem	- ptr to object of the class containing functions for computing the next state and the measurement,
type	- type of the created matrices that should be CV_32F or CV_64F.

Member Function Documentation

void cv::tracking::UnscentedKalmanFilterParams::init	(	int	dp,
		int	mp,
		int	cp,
		double	processNoiseCovDiag,
		double	measurementNoiseCovDiag,
		Ptr< UkfSystemModel >	dynamicalSystem,
		int	type = CV_64F
	)

The function for initialization of Unscented Kalman filter

Parameters

dp	- dimensionality of the state vector,
mp	- dimensionality of the measurement vector,
cp	- dimensionality of the control vector,
processNoiseCovDiag	- value of elements on main diagonal process noise cross-covariance matrix,
measurementNoiseCovDiag	- value of elements on main diagonal measurement noise cross-covariance matrix,
dynamicalSystem	- ptr to object of the class containing functions for computing the next state and the measurement,
type	- type of the created matrices that should be CV_32F or CV_64F.

Member Data Documentation

double cv::tracking::UnscentedKalmanFilterParams::alpha

Default is 1e-3.

double cv::tracking::UnscentedKalmanFilterParams::beta

Default is 2.0.

int cv::tracking::UnscentedKalmanFilterParams::CP

Dimensionality of the control vector.

int cv::tracking::UnscentedKalmanFilterParams::dataType

Type of elements of vectors and matrices, default is CV_64F.

int cv::tracking::UnscentedKalmanFilterParams::DP

Dimensionality of the state vector.

Mat cv::tracking::UnscentedKalmanFilterParams::errorCovInit

State estimate cross-covariance matrix, DP x DP, default is identity.

double cv::tracking::UnscentedKalmanFilterParams::k

Default is 0.

Mat cv::tracking::UnscentedKalmanFilterParams::measurementNoiseCov

Measurement noise cross-covariance matrix, MP x MP.

Ptr<UkfSystemModel> cv::tracking::UnscentedKalmanFilterParams::model

Object of the class containing functions for computing the next state and the measurement.

int cv::tracking::UnscentedKalmanFilterParams::MP

Dimensionality of the measurement vector.

Mat cv::tracking::UnscentedKalmanFilterParams::processNoiseCov

Process noise cross-covariance matrix, DP x DP.

Mat cv::tracking::UnscentedKalmanFilterParams::stateInit

Initial state, DP x 1, default is zero.

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The documentation for this class was generated from the following file:

• /build/master-contrib_docs-mac/opencv_contrib/modules/tracking/include/opencv2/tracking/kalman_filters.hpp