KalmanFilter

Objective-C

@interface KalmanFilter : NSObject

Swift

class KalmanFilter : NSObject

Kalman filter class.

The class implements a standard Kalman filter http://en.wikipedia.org/wiki/Kalman_filter, CITE: Welch95 . However, you can modify transitionMatrix, controlMatrix, and measurementMatrix to get an extended Kalman filter functionality.

Note

In C API when CvKalman* kalmanFilter structure is not needed anymore, it should be released with cvReleaseKalman(&kalmanFilter)

Member of Video

Methods

  • Declaration

    Objective-C

    - (nonnull instancetype)initWithDynamParams:(int)dynamParams
                              measureParams:(int)measureParams
                              controlParams:(int)controlParams
                                       type:(int)type;

    Swift

    init(dynamParams: Int32, measureParams: Int32, controlParams: Int32, type: Int32)

    Parameters

    dynamParams

    Dimensionality of the state.
    measureParams

    Dimensionality of the measurement.
    controlParams

    Dimensionality of the control vector.
    type

    Type of the created matrices that should be CV_32F or CV_64F.

  • Declaration

    Objective-C

    - (nonnull instancetype)initWithDynamParams:(int)dynamParams
                              measureParams:(int)measureParams
                              controlParams:(int)controlParams;

    Swift

    init(dynamParams: Int32, measureParams: Int32, controlParams: Int32)

    Parameters

    dynamParams

    Dimensionality of the state.
    measureParams

    Dimensionality of the measurement.
    controlParams

    Dimensionality of the control vector.

  • Declaration

    Objective-C

    - (nonnull instancetype)initWithDynamParams:(int)dynamParams
                              measureParams:(int)measureParams;

    Swift

    init(dynamParams: Int32, measureParams: Int32)

    Parameters

    dynamParams

    Dimensionality of the state.
    measureParams

    Dimensionality of the measurement.

  • Declaration

    Objective-C

    - (instancetype)init;

    Swift

    init()

  • Updates the predicted state from the measurement.

    Declaration

    Objective-C

    - (nonnull Mat *)correct:(nonnull Mat *)measurement;

    Swift

    func correct(measurement: Mat) -> Mat

    Parameters

    measurement

    The measured system parameters

  • Computes a predicted state.

    Declaration

    Objective-C

    - (nonnull Mat *)predict:(nonnull Mat *)control;

    Swift

    func predict(control: Mat) -> Mat

    Parameters

    control

    The optional input control

  • Computes a predicted state.

    Declaration

    Objective-C

    - (nonnull Mat *)predict;

    Swift

    func predict() -> Mat

  • Declaration

    Objective-C

    @property Mat* statePre

    Swift

    var statePre: Mat { get set }

  • Declaration

    Objective-C

    @property Mat* statePost

    Swift

    var statePost: Mat { get set }

  • Declaration

    Objective-C

    @property Mat* transitionMatrix

    Swift

    var transitionMatrix: Mat { get set }

  • Declaration

    Objective-C

    @property Mat* controlMatrix

    Swift

    var controlMatrix: Mat { get set }

  • Declaration

    Objective-C

    @property Mat* measurementMatrix

    Swift

    var measurementMatrix: Mat { get set }

  • Declaration

    Objective-C

    @property Mat* processNoiseCov

    Swift

    var processNoiseCov: Mat { get set }

  • Declaration

    Objective-C

    @property Mat* measurementNoiseCov

    Swift

    var measurementNoiseCov: Mat { get set }

  • Declaration

    Objective-C

    @property Mat* errorCovPre

    Swift

    var errorCovPre: Mat { get set }

  • Declaration

    Objective-C

    @property Mat* gain

    Swift

    var gain: Mat { get set }

  • Declaration

    Objective-C

    @property Mat* errorCovPost

    Swift

    var errorCovPost: Mat { get set }