Kalman filter for systems with constant velocity. More...

#include <OpenCVKalman.h>

Collaboration diagram for KalmanFilter< _dims >:

Public Member Functions
	KalmanFilter ()

	~KalmanFilter ()

void	InitRandom (float m, float sd, float processNoise, float measurementNoise)
	random initial state More...

void	AddMeasure (const float *x)
	adjust the internal kalman state by x More...

void	GetCorrectedState (float *x)
	copy the internal state to x More...

void	GetVariance (float *x)

const CvMat *	Predict ()
	Predict the next state. More...

void	Predict (float *x)
	Predict the next state and copy it to x. More...

Private Attributes
CvKalman *	kalman

CvMat *	measurement

CvRandState	rng

Detailed Description

template<unsigned int _dims>
class KalmanFilter< _dims >

Kalman filter for systems with constant velocity.

Parameters

_dims the number of dimensions

Definition at line 38 of file OpenCVKalman.h.

Constructor & Destructor Documentation

template<unsigned int _dims>

KalmanFilter< _dims >::KalmanFilter ( )

Definition at line 45 of file OpenCVKalman.h.

template<unsigned int _dims>

KalmanFilter< _dims >::~KalmanFilter ( )

Definition at line 53 of file OpenCVKalman.h.

Member Function Documentation

template<unsigned int _dims>

void KalmanFilter< _dims >::AddMeasure ( const float * x)

adjust the internal kalman state by x

Definition at line 109 of file OpenCVKalman.h.

Referenced by OpticalFlow::PrintFlowField(), and tests::KalmanTest::Run().

template<unsigned int _dims>

void KalmanFilter< _dims >::GetCorrectedState ( float * x)

copy the internal state to x

Definition at line 115 of file OpenCVKalman.h.

Referenced by tests::KalmanTest::Run().

template<unsigned int _dims>

void KalmanFilter< _dims >::GetVariance ( float * x)

Definition at line 119 of file OpenCVKalman.h.

Referenced by tests::KalmanTest::Run().

template<unsigned int _dims>

void KalmanFilter< _dims >::InitRandom	(	float	m,
		float	sd,
		float	processNoise,
		float	measurementNoise
	)

random initial state

sets up the transition and error matrices, too

Parameters

m	initial mean
sd	initial standard deviation
processNoise	diagonal elements of the process variance matrix
measurementNoise	diagonal elements of the measurement variance matrix

Definition at line 67 of file OpenCVKalman.h.

Referenced by OpticalFlow::OpticalFlow(), and tests::KalmanTest::Run().

template<unsigned int _dims>

const CvMat* KalmanFilter< _dims >::Predict ( )

Predict the next state.

Definition at line 126 of file OpenCVKalman.h.

Referenced by KalmanFilter< 2 >::Predict(), OpticalFlow::PrintFlowField(), and tests::KalmanTest::Run().

template<unsigned int _dims>

void KalmanFilter< _dims >::Predict ( float * x)

Predict the next state and copy it to x.

Definition at line 131 of file OpenCVKalman.h.