KalmanFilter Class Reference

#include <kalmanFilter.h>

Public Member Functions
	KalmanFilter ()
	~KalmanFilter ()
void	predictionBegin (float x, float y)
void	predictionUpdate (float x, float y)
void	predictionGet (CvPoint &pnt)
Private Attributes
CvKalman *	myKalmanFilter
CvRandState	rng
CvMat *	measurement_Z
CvMat *	measurementNoise_V
bool	bMeasurement
CRITICAL_SECTION	mutexPrediction

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Detailed Description

Basic linear kalman filtering using opencv kalman structure

Definition at line 8 of file kalmanFilter.h.

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Constructor & Destructor Documentation

KalmanFilter::KalmanFilter

(

)

Initialize Kalman params

Definition at line 3 of file kalmanFilter.cpp.

KalmanFilter::~KalmanFilter

(

)

Definition at line 28 of file kalmanFilter.cpp.

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Member Function Documentation

void KalmanFilter::predictionBegin	(	float	x,
		float	y
	)

Initialize prediction with point (x,y)

Definition at line 39 of file kalmanFilter.cpp.

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void KalmanFilter::predictionGet

(

CvPoint &

pnt

)

Load prediction point in pnt

Definition at line 57 of file kalmanFilter.cpp.

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void KalmanFilter::predictionUpdate	(	float	x,
		float	y
	)

Update prediction with point (x,y)

Definition at line 49 of file kalmanFilter.cpp.

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Field Documentation

bool KalmanFilter::bMeasurement [private]

Definition at line 35 of file kalmanFilter.h.

CvMat* KalmanFilter::measurement_Z [private]

X: Real State vector. Xk=Fk*Xk-1 + Wk W: Process noise vector. Wk ~ N(0,SIGMAK) Z: Measurement vector of the true state Xk. Zk=Hk*Xk + Vk

Definition at line 31 of file kalmanFilter.h.

CvMat* KalmanFilter::measurementNoise_V [private]

V: Observation noise vector. Vk ~ N(0,SIGMAK)

Definition at line 33 of file kalmanFilter.h.

CRITICAL_SECTION KalmanFilter::mutexPrediction [private]

Definition at line 36 of file kalmanFilter.h.

CvKalman* KalmanFilter::myKalmanFilter [private]

Linear Kalman object

Definition at line 24 of file kalmanFilter.h.

CvRandState KalmanFilter::rng [private]

Definition at line 25 of file kalmanFilter.h.