Kalman estimation related functions. More...
#include <mtt/mtt_kalman.h>
Go to the source code of this file.
Macros | |
#define | CV_MODEL 0 |
Functions | |
void | AddPointErrorVectors (t_errors *error, double x_inno, double y_inno, double x_resi, double y_resi, double lateral_error) |
void | AllocMotionModels (t_list &list, t_config &config) |
CvKalman * | CreateModelCTRV (void) |
CvKalman * | CreateModelCV (void) |
CvKalman * | CreateModelCV_SC (void) |
CvKalman * | CreateModelFwdCt (void) |
void | dA_FwdCt (CvKalman *model, double q[6], double dt, double l) |
void | dH_FwdCt (CvKalman *model) |
void | GetErrorConvariance (t_errors *error) |
Get covariance. More... | |
void | IterateMotionModelCTRV (CvKalman *model, double vm, double wm) |
void | IterateMotionModelCV (CvKalman *model, double vxm, double vym) |
double | IterateMotionModelCV_SC (CvKalman *model, double vm) |
void | IterateMotionModelFwdCt (CvKalman *model, double z[2]) |
void | MotionModelsIteration (vector< t_listPtr > &list, t_config &config) |
void | UpdateTransitionMatrixCTRV (CvKalman *model, double, double, double t, double v, double w, double dt) |
void | UpdateTransitionMatrixCV (CvKalman *model, double dt) |
void | UpdateTransitionMatrixCV_SC (CvKalman *model, double dt) |
Variables | |
double | gl |
int | select_object |
Kalman estimation related functions.
Definition in file mtt_kalman.cpp.
#define CV_MODEL 0 |
Definition at line 34 of file mtt_kalman.cpp.
void AddPointErrorVectors | ( | t_errors * | error, |
double | x_inno, | ||
double | y_inno, | ||
double | x_resi, | ||
double | y_resi, | ||
double | lateral_error | ||
) |
Definition at line 40 of file mtt_kalman.cpp.
Definition at line 415 of file mtt_kalman.cpp.
CvKalman* CreateModelCTRV | ( | void | ) |
Definition at line 638 of file mtt_kalman.cpp.
CvKalman* CreateModelCV | ( | void | ) |
Definition at line 706 of file mtt_kalman.cpp.
CvKalman* CreateModelCV_SC | ( | void | ) |
Definition at line 674 of file mtt_kalman.cpp.
CvKalman* CreateModelFwdCt | ( | void | ) |
Definition at line 757 of file mtt_kalman.cpp.
void dA_FwdCt | ( | CvKalman * | model, |
double | q[6], | ||
double | dt, | ||
double | l | ||
) |
Definition at line 1037 of file mtt_kalman.cpp.
void dH_FwdCt | ( | CvKalman * | model | ) |
Definition at line 1026 of file mtt_kalman.cpp.
void GetErrorConvariance | ( | t_errors * | error | ) |
Get covariance.
Initalise auxiliar matrixes
Set accumulators to 0
Do Cov(Innovation) = 1/m * S(i=0,i< m-1,d[k-i]*d[k-i]') and Cov(Residue) = 1/m * S(i=0,i< m-1,e[k-i]*e[k-i]')
Definition at line 508 of file mtt_kalman.cpp.
void IterateMotionModelCTRV | ( | CvKalman * | model, |
double | vm, | ||
double | wm | ||
) |
Definition at line 780 of file mtt_kalman.cpp.
void IterateMotionModelCV | ( | CvKalman * | model, |
double | vxm, | ||
double | vym | ||
) |
Definition at line 913 of file mtt_kalman.cpp.
double IterateMotionModelCV_SC | ( | CvKalman * | model, |
double | vm | ||
) |
Definition at line 874 of file mtt_kalman.cpp.
void IterateMotionModelFwdCt | ( | CvKalman * | model, |
double | z[2] | ||
) |
Definition at line 842 of file mtt_kalman.cpp.
If the object is new, we set the prestate and poststate, given that this is not a new measurement, of the filter to the current measurement
Get the new measurement into the filter and correct, t=k
Extract the correct state from the filter and put it to path[k]
After correction iterate the filter to make a prediction, t=k+1
Extract the prediction from the filter
Obtain error vectors
Add estimated point to path
Put velocity into data file
Obtain velocity
Put lateral error into data file
Put error cov and AKF gains into data file
Define a new search area based on the kalman errors and predicted position
Do some tweaks on the kalman errors
Only update if the object is visible
Definition at line 64 of file mtt_kalman.cpp.
void UpdateTransitionMatrixCTRV | ( | CvKalman * | model, |
double | , | ||
double | , | ||
double | t, | ||
double | v, | ||
double | w, | ||
double | dt | ||
) |
Definition at line 1156 of file mtt_kalman.cpp.
void UpdateTransitionMatrixCV | ( | CvKalman * | model, |
double | dt | ||
) |
Definition at line 975 of file mtt_kalman.cpp.
void UpdateTransitionMatrixCV_SC | ( | CvKalman * | model, |
double | dt | ||
) |
Definition at line 955 of file mtt_kalman.cpp.
double gl |
int select_object |
Definition at line 36 of file mtt_kalman.cpp.