KF 402 modules/core/src/opencl/arithm.cl __kernel void KF(__global const uchar * srcptr1, int srcstep1, int srcoffset1, KF 34 samples/cpp/kalman.cpp KalmanFilter KF(2, 1, 0); KF 43 samples/cpp/kalman.cpp KF.transitionMatrix = (Mat_<float>(2, 2) << 1, 1, 0, 1); KF 45 samples/cpp/kalman.cpp setIdentity(KF.measurementMatrix); KF 46 samples/cpp/kalman.cpp setIdentity(KF.processNoiseCov, Scalar::all(1e-5)); KF 47 samples/cpp/kalman.cpp setIdentity(KF.measurementNoiseCov, Scalar::all(1e-1)); KF 48 samples/cpp/kalman.cpp setIdentity(KF.errorCovPost, Scalar::all(1)); KF 50 samples/cpp/kalman.cpp randn(KF.statePost, Scalar::all(0), Scalar::all(0.1)); KF 59 samples/cpp/kalman.cpp Mat prediction = KF.predict(); KF 63 samples/cpp/kalman.cpp randn( measurement, Scalar::all(0), Scalar::all(KF.measurementNoiseCov.at<float>(0))); KF 66 samples/cpp/kalman.cpp measurement += KF.measurementMatrix*state; KF 86 samples/cpp/kalman.cpp KF.correct(measurement); KF 88 samples/cpp/kalman.cpp randn( processNoise, Scalar(0), Scalar::all(sqrt(KF.processNoiseCov.at<float>(0, 0)))); KF 89 samples/cpp/kalman.cpp state = KF.transitionMatrix*state + processNoise; KF 66 samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_detection.cpp void initKalmanFilter( KalmanFilter &KF, int nStates, int nMeasurements, int nInputs, double dt); KF 67 samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_detection.cpp void updateKalmanFilter( KalmanFilter &KF, Mat &measurements, KF 139 samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_detection.cpp KalmanFilter KF; // instantiate Kalman Filter KF 145 samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_detection.cpp initKalmanFilter(KF, nStates, nMeasurements, nInputs, dt); // init function KF 273 samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_detection.cpp updateKalmanFilter( KF, measurements, KF 357 samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_detection.cpp void initKalmanFilter(KalmanFilter &KF, int nStates, int nMeasurements, int nInputs, double dt) KF 360 samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_detection.cpp KF.init(nStates, nMeasurements, nInputs, CV_64F); // init Kalman Filter KF 362 samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_detection.cpp setIdentity(KF.processNoiseCov, Scalar::all(1e-5)); // set process noise KF 363 samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_detection.cpp setIdentity(KF.measurementNoiseCov, Scalar::all(1e-2)); // set measurement noise KF 364 samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_detection.cpp setIdentity(KF.errorCovPost, Scalar::all(1)); // error covariance KF 389 samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_detection.cpp KF.transitionMatrix.at<double>(0,3) = dt; KF 390 samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_detection.cpp KF.transitionMatrix.at<double>(1,4) = dt; KF 391 samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_detection.cpp KF.transitionMatrix.at<double>(2,5) = dt; KF 392 samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_detection.cpp KF.transitionMatrix.at<double>(3,6) = dt; KF 393 samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_detection.cpp KF.transitionMatrix.at<double>(4,7) = dt; KF 394 samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_detection.cpp KF.transitionMatrix.at<double>(5,8) = dt; KF 395 samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_detection.cpp KF.transitionMatrix.at<double>(0,6) = 0.5*pow(dt,2); KF 396 samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_detection.cpp KF.transitionMatrix.at<double>(1,7) = 0.5*pow(dt,2); KF 397 samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_detection.cpp KF.transitionMatrix.at<double>(2,8) = 0.5*pow(dt,2); KF 400 samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_detection.cpp KF.transitionMatrix.at<double>(9,12) = dt; KF 401 samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_detection.cpp KF.transitionMatrix.at<double>(10,13) = dt; KF 402 samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_detection.cpp KF.transitionMatrix.at<double>(11,14) = dt; KF 403 samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_detection.cpp KF.transitionMatrix.at<double>(12,15) = dt; KF 404 samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_detection.cpp KF.transitionMatrix.at<double>(13,16) = dt; KF 405 samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_detection.cpp KF.transitionMatrix.at<double>(14,17) = dt; KF 406 samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_detection.cpp KF.transitionMatrix.at<double>(9,15) = 0.5*pow(dt,2); KF 407 samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_detection.cpp KF.transitionMatrix.at<double>(10,16) = 0.5*pow(dt,2); KF 408 samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_detection.cpp KF.transitionMatrix.at<double>(11,17) = 0.5*pow(dt,2); KF 420 samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_detection.cpp KF.measurementMatrix.at<double>(0,0) = 1; // x KF 421 samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_detection.cpp KF.measurementMatrix.at<double>(1,1) = 1; // y KF 422 samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_detection.cpp KF.measurementMatrix.at<double>(2,2) = 1; // z KF 423 samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_detection.cpp KF.measurementMatrix.at<double>(3,9) = 1; // roll KF 424 samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_detection.cpp KF.measurementMatrix.at<double>(4,10) = 1; // pitch KF 425 samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_detection.cpp KF.measurementMatrix.at<double>(5,11) = 1; // yaw KF 430 samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_detection.cpp void updateKalmanFilter( KalmanFilter &KF, Mat &measurement, KF 435 samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_detection.cpp Mat prediction = KF.predict(); KF 438 samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_detection.cpp Mat estimated = KF.correct(measurement);