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Code Issues Releases Wiki Activity

Merge pull request #449 from Audenrith:EnableAccessToUKFErrorCovariance

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This commit is contained in:
Vadim Pisarevsky
2015-12-10 17:40:28 +00:00
parent 051759c162 6259c1e49b
commit 1a88b254e2
3 changed files with 17 additions and 0 deletions
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5
modules/tracking/include/opencv2/tracking/kalman_filters.hpp
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@@ -80,6 +80,11 @@ public:
*/ */
virtual Mat getMeasurementNoiseCov() const = 0; virtual Mat getMeasurementNoiseCov() const = 0;
/**
* @return the error cross-covariance matrix.
*/
virtual Mat getErrorCov() const = 0;
/** /**
* @return the current estimate of the state. * @return the current estimate of the state.
*/ */

6
modules/tracking/src/augmented_unscented_kalman.cpp
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@@ -195,6 +195,7 @@ public:
Mat getProcessNoiseCov() const; Mat getProcessNoiseCov() const;
Mat getMeasurementNoiseCov() const; Mat getMeasurementNoiseCov() const;
Mat getErrorCov() const;
Mat getState() const; Mat getState() const;
@@ -425,6 +426,11 @@ Mat AugmentedUnscentedKalmanFilterImpl::getMeasurementNoiseCov() const
return measurementNoiseCov.clone(); return measurementNoiseCov.clone();
} }
Mat AugmentedUnscentedKalmanFilterImpl::getErrorCov() const
{
return errorCov.clone();
}
Mat AugmentedUnscentedKalmanFilterImpl::getState() const Mat AugmentedUnscentedKalmanFilterImpl::getState() const
{ {
return state.clone(); return state.clone();

6
modules/tracking/src/unscented_kalman.cpp
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@@ -189,6 +189,7 @@ public:
// Get system parameters // Get system parameters
Mat getProcessNoiseCov() const; Mat getProcessNoiseCov() const;
Mat getMeasurementNoiseCov() const; Mat getMeasurementNoiseCov() const;
Mat getErrorCov() const;
// Get the state estimate // Get the state estimate
Mat getState() const; Mat getState() const;
@@ -400,6 +401,11 @@ Mat UnscentedKalmanFilterImpl::getMeasurementNoiseCov() const
return measurementNoiseCov.clone(); return measurementNoiseCov.clone();
} }
Mat UnscentedKalmanFilterImpl::getErrorCov() const
{
return errorCov.clone();
}
Mat UnscentedKalmanFilterImpl::getState() const Mat UnscentedKalmanFilterImpl::getState() const
{ {
return state.clone(); return state.clone();