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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 Hierarchy

Namespace:  OpenCvSharp
Assembly:  OpenCvSharp (in OpenCvSharp.dll) Version: 1.0.0
Syntax
public class KalmanFilter : DisposableCvObject

The KalmanFilter type exposes the following members.

Constructors
  NameDescription
Public methodKalmanFilter
the default constructor
Public methodKalmanFilter(Int32, Int32, Int32, Int32)
the full constructor taking the dimensionality of the state, of the measurement and of the control vector
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Properties
  NameDescription
Protected propertyAllocatedMemory
Gets or sets a memory address allocated by AllocMemory.
(Inherited from DisposableObject.)
Protected propertyAllocatedMemorySize
Gets or sets the byte length of the allocated memory
(Inherited from DisposableObject.)
Public propertyControlMatrix
control matrix (B) (not used if there is no control)
Public propertyCvPtr
Native pointer of OpenCV structure
(Inherited from DisposableCvObject.)
Protected propertyDataHandle
Gets or sets a handle which allocates using cvSetData.
(Inherited from DisposableObject.)
Public propertyErrorCovPost
posteriori error estimate covariance matrix (P(k)): P(k)=(I-K(k)*H)*P'(k)
Public propertyErrorCovPre
priori error estimate covariance matrix (P'(k)): P'(k)=A*P(k-1)*At + Q)*/
Public propertyGain
Kalman gain matrix (K(k)): K(k)=P'(k)*Ht*inv(H*P'(k)*Ht+R)
Public propertyIsDisposed
Gets a value indicating whether this instance has been disposed.
(Inherited from DisposableObject.)
Public propertyIsEnabledDispose
Gets or sets a value indicating whether you permit disposing this instance.
(Inherited from DisposableObject.)
Public propertyMeasurementMatrix
measurement matrix (H)
Public propertyMeasurementNoiseCov
measurement noise covariance matrix (R)
Public propertyProcessNoiseCov
process noise covariance matrix (Q)
Public propertyStatePost
corrected state (x(k)): x(k)=x'(k)+K(k)*(z(k)-H*x'(k))
Public propertyStatePre
predicted state (x'(k)): x(k)=A*x(k-1)+B*u(k)
Public propertyTransitionMatrix
state transition matrix (A)
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Methods
  NameDescription
Protected methodAllocGCHandle
Pins the object to be allocated by cvSetData.
(Inherited from DisposableObject.)
Protected methodAllocMemory
Allocates the specified size of memory.
(Inherited from DisposableObject.)
Public methodCorrect
updates the predicted state from the measurement
Public methodDispose
Releases the resources
(Inherited from DisposableObject.)
Protected methodDispose(Boolean)
Releases the resources
(Inherited from DisposableObject.)
Protected methodDisposeManaged
Releases managed resources
(Inherited from DisposableObject.)
Protected methodDisposeUnmanaged
Releases unmanaged resources
(Overrides DisposableCvObjectDisposeUnmanaged.)
Public methodEquals
Determines whether the specified object is equal to the current object.
(Inherited from Object.)
Protected methodFinalize
Destructor
(Inherited from DisposableObject.)
Public methodGetHashCode
Serves as the default hash function.
(Inherited from Object.)
Public methodGetType
Gets the Type of the current instance.
(Inherited from Object.)
Public methodInit
re-initializes Kalman filter. The previous content is destroyed.
Protected methodMemberwiseClone
Creates a shallow copy of the current Object.
(Inherited from Object.)
Protected methodNotifyMemoryPressure
Notifies the allocated size of memory.
(Inherited from DisposableObject.)
Public methodPredict
computes predicted state
Public methodThrowIfDisposed
If this object is disposed, then ObjectDisposedException is thrown.
(Inherited from DisposableObject.)
Public methodToString
Returns a string that represents the current object.
(Inherited from Object.)
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Fields
  NameDescription
Protected fieldptr
Data pointer
(Inherited from DisposableCvObject.)
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See Also