Unscented Kalman filter parameters. The class for initialization parameters of Unscented Kalman filter. More...
#include <opencv2/tracking/kalman_filters.hpp>
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]
|
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.
The documentation for this class was generated from the following file:
- opencv2/tracking/kalman_filters.hpp