OpenCV  3.0.0-dev Open Source Computer Vision
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< UkfSystemModelmodel
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 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.

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