KalmanFilter Class |
Kalman filter.
The class implements standard Kalman filter \url{http://en.wikipedia.org/wiki/Kalman_filter}.
However, you can modify KalmanFilter::transitionMatrix, KalmanFilter::controlMatrix and
KalmanFilter::measurementMatrix to get the extended Kalman filter functionality.
Inheritance HierarchyNamespace: OpenCvSharp
Assembly: OpenCvSharp (in OpenCvSharp.dll) Version: 3.4.1.20180605-33-CaRLSharp
SyntaxThe KalmanFilter type exposes the following members.
Constructors| Name | Description | |
|---|---|---|
 | KalmanFilter |
the default constructor
|
| KalmanFilter(Int32, Int32, Int32, Int32) |
the full constructor taking the dimensionality of the state, of the measurement and of the control vector
|
Properties| Name | Description | |
|---|---|---|
 | AllocatedMemory |
Gets or sets a memory address allocated by AllocMemory.
(Inherited from DisposableObject.) |
| AllocatedMemorySize |
Gets or sets the byte length of the allocated memory
(Inherited from DisposableObject.) |
 | ControlMatrix |
control matrix (B) (not used if there is no control)
|
| CvPtr |
Native pointer of OpenCV structure
(Inherited from DisposableCvObject.) |
| ErrorCovPost |
posteriori error estimate covariance matrix (P(k)): P(k)=(I-K(k)*H)*P'(k)
|
| ErrorCovPre |
priori error estimate covariance matrix (P'(k)): P'(k)=A*P(k-1)*At + Q)*/
|
| Gain |
Kalman gain matrix (K(k)): K(k)=P'(k)*Ht*inv(H*P'(k)*Ht+R)
|
| IsDisposed |
Gets a value indicating whether this instance has been disposed.
(Inherited from DisposableObject.) |
| IsEnabledDispose |
Gets or sets a value indicating whether you permit disposing this instance.
(Inherited from DisposableObject.) |
| MeasurementMatrix |
measurement matrix (H)
|
| MeasurementNoiseCov |
measurement noise covariance matrix (R)
|
| ProcessNoiseCov |
process noise covariance matrix (Q)
|
| StatePost |
corrected state (x(k)): x(k)=x'(k)+K(k)*(z(k)-H*x'(k))
|
| StatePre |
predicted state (x'(k)): x(k)=A*x(k-1)+B*u(k)
|
| TransitionMatrix |
state transition matrix (A)
|
Methods| Name | Description | |
|---|---|---|
 | AllocGCHandle |
Pins the object to be allocated by cvSetData.
(Inherited from DisposableObject.) |
| AllocMemory |
Allocates the specified size of memory.
(Inherited from DisposableObject.) |
| Correct |
updates the predicted state from the measurement
|
| Dispose |
Releases the resources
(Inherited from DisposableObject.) |
| DisposeManaged |
Releases managed resources
(Inherited from DisposableObject.) |
| DisposeUnmanaged |
Releases unmanaged resources
(Overrides DisposableCvObjectDisposeUnmanaged.) |
| Equals | Determines whether the specified object is equal to the current object. (Inherited from Object.) |
| Finalize |
Destructor
(Inherited from DisposableObject.) |
| GetHashCode | Serves as the default hash function. (Inherited from Object.) |
| GetType | Gets the Type of the current instance. (Inherited from Object.) |
| Init |
re-initializes Kalman filter. The previous content is destroyed.
|
| MemberwiseClone | Creates a shallow copy of the current Object. (Inherited from Object.) |
| NotifyMemoryPressure |
Notifies the allocated size of memory.
(Inherited from DisposableObject.) |
| Predict |
computes predicted state
|
| ThrowIfDisposed |
If this object is disposed, then ObjectDisposedException is thrown.
(Inherited from DisposableObject.) |
| ToString | Returns a string that represents the current object. (Inherited from Object.) |
Fields| Name | Description | |
|---|---|---|
 | dataHandle |
Gets or sets a handle which allocates using cvSetData.
(Inherited from DisposableObject.) |
| ptr |
Data pointer
(Inherited from DisposableCvObject.) |
See Also