Kalman filter state
Inheritance Hierarchy
OpenCvSharpDisposableObject
OpenCvSharpDisposableCvObject
OpenCvSharpCvKalman
Namespace: OpenCvSharp
Assembly: OpenCvSharp (in OpenCvSharp.dll) Version: 1.0.0.0 (1.0.0.0)
Syntax
The CvKalman type exposes the following members.
Constructors
| Name | Description | |
|---|---|---|
 | CvKalman(IntPtr) |
Initializes by native pointer
|
| CvKalman(Int32, Int32) |
Allocates Kalman filter structure
|
| CvKalman(Int32, Int32, Int32) |
Allocates Kalman filter structure
|
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) (it is not used if there is no control
|
| CP |
Number of control vector dimensions
|
| CvPtr |
Native pointer of OpenCV structure
(Inherited from DisposableCvObject.) |
| DP |
Number of state vector dimensions
|
| DynamMatr |
transition_matrix->data.fl
|
| 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.) |
| KalmGainMatr |
gain->data.fl
|
| MeasurementMatr |
measurement_matrix->data.fl
|
| MeasurementMatrix |
Measurement matrix (H)
|
| MeasurementNoiseCov |
Measurement noise covariance matrix (R)
|
| MNCovariance |
measurement_noise_cov->data.fl
|
| MP |
Number of measurement vector dimensions
|
| PNCovariance |
process_noise_cov->data.fl
|
| PosterErrorCovariance |
error_cov_post->data.fl
|
| PosterState |
state_pre->data.fl
|
| PriorErrorCovariance |
error_cov_pre->data.fl
|
| PriorState |
state_post->data.fl
|
| 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)
|
| Temp1 |
Temporary matrix 1
|
| Temp1Data |
temp1->data.fl
|
| Temp2 |
Temporary matrix 2
|
| Temp2Data |
temp2->data.fl
|
| Temp3 |
Temporary matrix 3
|
| Temp4 |
Temporary matrix 4
|
| Temp5 |
Temporary matrix 5
|
| 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 |
Adjusts model state (cvKalmanCorrect).
|
| Dispose |
Releases the resources
(Inherited from DisposableObject.) |
| Dispose(Boolean) |
Clean up any resources being used.
(Overrides DisposableCvObjectDispose(Boolean).) |
| Equals | (Inherited from Object.) |
| Finalize |
Destructor
(Inherited from DisposableObject.) |
| GetHashCode | (Inherited from Object.) |
| GetType | (Inherited from Object.) |
| MemberwiseClone | (Inherited from Object.) |
| NotifyMemoryPressure |
Notifies the allocated size of memory.
(Inherited from DisposableObject.) |
| Predict |
Estimates subsequent model state (cvKalmanPredict).
|
| Predict(CvMat) |
Estimates subsequent model state (cvKalmanPredict).
|
| ThrowIfDisposed |
If this object is disposed, then ObjectDisposedException is thrown.
(Inherited from DisposableObject.) |
| ToString | (Inherited from Object.) |
| UpdateByMeasurement |
Adjusts model state
|
| UpdateByTime |
Estimates subsequent model state
|
| UpdateByTime(CvMat) |
Estimates subsequent model state
|
Fields
| Name | Description | |
|---|---|---|
 | dataHandle |
Gets or sets a handle which allocates using cvSetData.
(Inherited from DisposableObject.) |
| ptr |
Data pointer
(Inherited from DisposableCvObject.) |
  | SizeOf |
sizeof(CvKalman)
|
See Also