| KalmanFilter Class |
The class implements a standard Kalman filter. However, you can modify transitionMatrix, controlMatrix, and measurementMatrix to get
an extended Kalman filter functionality.
Inheritance HierarchyNamespace: Emgu.CV
Assembly: Emgu.CV (in Emgu.CV.dll) Version: 3.0.0.2161 (3.0.0.2161)
SyntaxThe KalmanFilter type exposes the following members.
Constructors| Name | Description | |
|---|---|---|
 | KalmanFilter |
Initializes a new instance of the KalmanFilter class.
|
Methods| Name | Description | |
|---|---|---|
| Correct |
Updates the predicted state from the measurement.
|
| Dispose |
The dispose function that implements IDisposable interface
(Inherited from DisposableObject.) |
 | DisposeObject |
Release the unmanaged resources
(Overrides DisposableObjectDisposeObject.) |
| Equals | (Inherited from Object.) |
| Finalize |
Destructor
(Inherited from DisposableObject.) |
| GetHashCode | Serves as a hash function for a particular type. (Inherited from Object.) |
| GetType | Gets the type of the current instance. (Inherited from Object.) |
| MemberwiseClone | Creates a shallow copy of the current Object. (Inherited from Object.) |
| Predict |
Perform the predict operation using the option control input
|
| ReleaseManagedResources |
Release the managed resources. This function will be called during the disposal of the current object.
override ride this function if you need to call the Dispose() function on any managed IDisposable object created by the current object
(Inherited from DisposableObject.) |
| ToString | Returns a string that represents the current object. (Inherited from Object.) |
Fields| Name | Description | |
|---|---|---|
 | _ptr |
A pointer to the unmanaged object
(Inherited from UnmanagedObject.) |
Properties| Name | Description | |
|---|---|---|
 | ControlMatrix |
Control matrix (B) (not used if there is no control)
|
| 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)
|
| MeasurementMatrix |
Measurement matrix (H)
|
| MeasurementNoiseCov |
Measurement noise covariance matrix (R)
|
| ProcessNoiseCov |
Process noise covariance matrix (Q)
|
| Ptr |
Pointer to the unmanaged object
(Inherited from UnmanagedObject.) |
| 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)
|
| TransitionMatrix |
State transition matrix (A)
|
See Also