cv::detail::tracking::kalman_filters::UnscentedKalmanFilterParams Class Reference

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

#include <opencv2/tracking/kalman_filters.hpp>

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

Detailed Description

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

Constructor & Destructor Documentation

UnscentedKalmanFilterParams() [1/2]

cv::detail::tracking::kalman_filters::UnscentedKalmanFilterParams::UnscentedKalmanFilterParams ( )

inline

The constructors.

UnscentedKalmanFilterParams() [2/2]

cv::detail::tracking::kalman_filters::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

init()

void cv::detail::tracking::kalman_filters::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

alpha

double cv::detail::tracking::kalman_filters::UnscentedKalmanFilterParams::alpha

Default is 1e-3.

beta

double cv::detail::tracking::kalman_filters::UnscentedKalmanFilterParams::beta

Default is 2.0.

CP

int cv::detail::tracking::kalman_filters::UnscentedKalmanFilterParams::CP

Dimensionality of the control vector.

dataType

int cv::detail::tracking::kalman_filters::UnscentedKalmanFilterParams::dataType

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

DP

int cv::detail::tracking::kalman_filters::UnscentedKalmanFilterParams::DP

Dimensionality of the state vector.

errorCovInit

Mat cv::detail::tracking::kalman_filters::UnscentedKalmanFilterParams::errorCovInit

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

k

double cv::detail::tracking::kalman_filters::UnscentedKalmanFilterParams::k

Default is 0.

measurementNoiseCov

Mat cv::detail::tracking::kalman_filters::UnscentedKalmanFilterParams::measurementNoiseCov

Measurement noise cross-covariance matrix, MP x MP.

model

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

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

MP

int cv::detail::tracking::kalman_filters::UnscentedKalmanFilterParams::MP

Dimensionality of the measurement vector.

processNoiseCov

Mat cv::detail::tracking::kalman_filters::UnscentedKalmanFilterParams::processNoiseCov

Process noise cross-covariance matrix, DP x DP.

stateInit

Mat cv::detail::tracking::kalman_filters::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:

• opencv2/tracking/kalman_filters.hpp