kalman_filters.hpp

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#ifndef __OPENCV_TRACKING_KALMAN_HPP_




#define __OPENCV_TRACKING_KALMAN_HPP_








#include "opencv2/core.hpp"




#include <limits>








namespace

cv
{



namespace
detail {



inline
namespace
tracking {











inline
namespace
kalman_filters {







class
CV_EXPORTS
UnscentedKalmanFilter



{



public:







virtual
~UnscentedKalmanFilter(){}







virtual
Mat
predict( InputArray control = noArray() ) = 0;







virtual
Mat
correct( InputArray measurement ) = 0;







virtual
Mat
getProcessNoiseCov()
const
= 0;







virtual
Mat
getMeasurementNoiseCov()
const
= 0;







virtual
Mat
getErrorCov()
const
= 0;







virtual
Mat
getState()
const
= 0;


};







class
CV_EXPORTS
UkfSystemModel



{



public:







virtual
~UkfSystemModel(){}







virtual
void
stateConversionFunction(
const
Mat& x_k,
const
Mat& u_k,
const
Mat& v_k,
Mat& x_kplus1 ) = 0;



virtual
void
measurementFunction(
const
Mat& x_k,
const
Mat& n_k,
Mat& z_k ) = 0;


};











class
CV_EXPORTS
UnscentedKalmanFilterParams



{



public:







int
DP;




int
MP;




int
CP;




int
dataType;








Mat
stateInit;




Mat
errorCovInit;








Mat
processNoiseCov;




Mat
measurementNoiseCov;








// Parameters of algorithm




double
alpha;




double
k;




double
beta;








//Dynamical system model




Ptr<UkfSystemModel>
model;








UnscentedKalmanFilterParams(){}







UnscentedKalmanFilterParams(
int
dp,
int
mp,
int
cp,
double
processNoiseCovDiag,
double
measurementNoiseCovDiag,



Ptr<UkfSystemModel>
dynamicalSystem,
int
type = CV_64F );







void
init(
int
dp,
int
mp,
int
cp,
double
processNoiseCovDiag,
double
measurementNoiseCovDiag,



Ptr<UkfSystemModel>
dynamicalSystem,
int
type = CV_64F );


};







class
CV_EXPORTS
AugmentedUnscentedKalmanFilterParams:
public
UnscentedKalmanFilterParams



{



public:







AugmentedUnscentedKalmanFilterParams(){}







AugmentedUnscentedKalmanFilterParams(
int
dp,
int
mp,
int
cp,
double
processNoiseCovDiag,
double
measurementNoiseCovDiag,



Ptr<UkfSystemModel>
dynamicalSystem,
int
type = CV_64F );







void
init(
int
dp,
int
mp,
int
cp,
double
processNoiseCovDiag,
double
measurementNoiseCovDiag,



Ptr<UkfSystemModel>
dynamicalSystem,
int
type = CV_64F );


};






CV_EXPORTS
Ptr<UnscentedKalmanFilter>
createUnscentedKalmanFilter(
const
UnscentedKalmanFilterParams
&params );


CV_EXPORTS
Ptr<UnscentedKalmanFilter>
createAugmentedUnscentedKalmanFilter(
const
AugmentedUnscentedKalmanFilterParams
&params );






}
// namespace











}}}
// namespace








#endif