org.opencv.video

Class KalmanFilter

java.lang.Object

org.opencv.video.KalmanFilter

public class KalmanFilter
extends Object

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)

Field Summary

Fields

Modifier and Type	Field and Description
protected long	nativeObj

Constructor Summary

Constructors

Modifier	Constructor and Description
	KalmanFilter()
	KalmanFilter(int dynamParams, int measureParams)
	KalmanFilter(int dynamParams, int measureParams, int controlParams)
	KalmanFilter(int dynamParams, int measureParams, int controlParams, int type)
protected	KalmanFilter(long addr)

Method Summary

Modifier and Type	Method and Description
static KalmanFilter	__fromPtr__(long addr)
Mat	correct(Mat measurement) Updates the predicted state from the measurement.
protected void	finalize()
Mat	get_controlMatrix()
Mat	get_errorCovPost()
Mat	get_errorCovPre()
Mat	get_gain()
Mat	get_measurementMatrix()
Mat	get_measurementNoiseCov()
Mat	get_processNoiseCov()
Mat	get_statePost()
Mat	get_statePre()
Mat	get_transitionMatrix()
long	getNativeObjAddr()
Mat	predict() Computes a predicted state.
Mat	predict(Mat control) Computes a predicted state.
void	set_controlMatrix(Mat controlMatrix)
void	set_errorCovPost(Mat errorCovPost)
void	set_errorCovPre(Mat errorCovPre)
void	set_gain(Mat gain)
void	set_measurementMatrix(Mat measurementMatrix)
void	set_measurementNoiseCov(Mat measurementNoiseCov)
void	set_processNoiseCov(Mat processNoiseCov)
void	set_statePost(Mat statePost)
void	set_statePre(Mat statePre)
void	set_transitionMatrix(Mat transitionMatrix)

Methods inherited from class java.lang.Object

clone, equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

nativeObj

protected final long nativeObj

Constructor Detail

KalmanFilter

protected KalmanFilter(long addr)

KalmanFilter

public KalmanFilter()

KalmanFilter

public KalmanFilter(int dynamParams,
                    int measureParams,
                    int controlParams,
                    int type)

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.

KalmanFilter

public KalmanFilter(int dynamParams,
                    int measureParams,
                    int controlParams)

Parameters:

dynamParams - Dimensionality of the state.

measureParams - Dimensionality of the measurement.

controlParams - Dimensionality of the control vector.

KalmanFilter

public KalmanFilter(int dynamParams,
                    int measureParams)

Parameters:

dynamParams - Dimensionality of the state.

measureParams - Dimensionality of the measurement.

Method Detail

getNativeObjAddr

public long getNativeObjAddr()

__fromPtr__

public static KalmanFilter __fromPtr__(long addr)

predict

public Mat predict(Mat control)

Computes a predicted state.

Parameters:

control - The optional input control

Returns:

automatically generated

predict

public Mat predict()

Computes a predicted state.

Returns:

automatically generated

correct

public Mat correct(Mat measurement)

Updates the predicted state from the measurement.

Parameters:

measurement - The measured system parameters

Returns:

automatically generated

get_statePre

public Mat get_statePre()

set_statePre

public void set_statePre(Mat statePre)

get_statePost

public Mat get_statePost()

set_statePost

public void set_statePost(Mat statePost)

get_transitionMatrix

public Mat get_transitionMatrix()

set_transitionMatrix

public void set_transitionMatrix(Mat transitionMatrix)

get_controlMatrix

public Mat get_controlMatrix()

set_controlMatrix

public void set_controlMatrix(Mat controlMatrix)

get_measurementMatrix

public Mat get_measurementMatrix()

set_measurementMatrix

public void set_measurementMatrix(Mat measurementMatrix)

get_processNoiseCov

public Mat get_processNoiseCov()

set_processNoiseCov

public void set_processNoiseCov(Mat processNoiseCov)

get_measurementNoiseCov

public Mat get_measurementNoiseCov()

set_measurementNoiseCov

public void set_measurementNoiseCov(Mat measurementNoiseCov)

get_errorCovPre

public Mat get_errorCovPre()

set_errorCovPre

public void set_errorCovPre(Mat errorCovPre)

get_gain

public Mat get_gain()

set_gain

public void set_gain(Mat gain)

get_errorCovPost

public Mat get_errorCovPost()

set_errorCovPost

public void set_errorCovPost(Mat errorCovPost)

finalize

protected void finalize()
                 throws Throwable

Overrides:

finalize in class Object

Throws:

Throwable