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* [ pca.cpp ](example_pca.cpp.html)
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__ [ OpenCV Documentation ](index.html)
  * [ Docs ](index.html) » 
  * [ Video Analysis ](group_video.html) » 
  * [ Object Tracking ](group_video_track.html) » 
  * class cv::KalmanFilter 
  * 
* * *
#  class cv::KalmanFilter
##  Overview
Kalman filter class.  More…
    
    
    #include <tracking.hpp>
    
    class KalmanFilter
    {
    public:
        // fields
    
        [Mat](class_cv_Mat.html#doxid-db-de6-classcv-1-1-mat) controlMatrix;
        [Mat](class_cv_Mat.html#doxid-db-de6-classcv-1-1-mat) errorCovPost;
        [Mat](class_cv_Mat.html#doxid-db-de6-classcv-1-1-mat) errorCovPre;
        [Mat](class_cv_Mat.html#doxid-db-de6-classcv-1-1-mat) gain;
        [Mat](class_cv_Mat.html#doxid-db-de6-classcv-1-1-mat) measurementMatrix;
        [Mat](class_cv_Mat.html#doxid-db-de6-classcv-1-1-mat) measurementNoiseCov;
        [Mat](class_cv_Mat.html#doxid-db-de6-classcv-1-1-mat) processNoiseCov;
        [Mat](class_cv_Mat.html#doxid-db-de6-classcv-1-1-mat) statePost;
        [Mat](class_cv_Mat.html#doxid-db-de6-classcv-1-1-mat) statePre;
        [Mat](class_cv_Mat.html#doxid-db-de6-classcv-1-1-mat) temp1;
        [Mat](class_cv_Mat.html#doxid-db-de6-classcv-1-1-mat) temp2;
        [Mat](class_cv_Mat.html#doxid-db-de6-classcv-1-1-mat) temp3;
        [Mat](class_cv_Mat.html#doxid-db-de6-classcv-1-1-mat) temp4;
        [Mat](class_cv_Mat.html#doxid-db-de6-classcv-1-1-mat) temp5;
        [Mat](class_cv_Mat.html#doxid-db-de6-classcv-1-1-mat) transitionMatrix;
    
        // construction
    
        KalmanFilter();
    
        KalmanFilter(
            int dynamParams,
            int measureParams,
            int controlParams = 0,
            int type = [CV_32F](group_core_hal_interface.html#doxid-d1-d1b-group-core-hal-interface-1ga4a3def5d72b74bed31f5f8ab7676099c)
            );
    
        // methods
    
        const [Mat](class_cv_Mat.html#doxid-db-de6-classcv-1-1-mat)&
        correct(const [Mat](class_cv_Mat.html#doxid-db-de6-classcv-1-1-mat)& measurement);
    
        void
        init(
            int dynamParams,
            int measureParams,
int controlParams = 0,
            int type = [CV_32F](group_core_hal_interface.html#doxid-d1-d1b-group-core-hal-interface-1ga4a3def5d72b74bed31f5f8ab7676099c)
            );
    
        const [Mat](class_cv_Mat.html#doxid-db-de6-classcv-1-1-mat)&
        predict(const [Mat](class_cv_Mat.html#doxid-db-de6-classcv-1-1-mat)& control = [Mat](class_cv_Mat.html#doxid-db-de6-classcv-1-1-mat)());
    };
    
##  Detailed Documentation
Kalman filter class.
The class implements a standard Kalman filter [
http://en.wikipedia.org/wiki/Kalman_filter
](http://en.wikipedia.org/wiki/Kalman_filter) , [ [91]
](page_citelist.html#doxid-d0-de3-citelist-1citeref-welch95) . However, you
can modify transitionMatrix, controlMatrix, and measurementMatrix to get an
extended Kalman filter functionality. See the OpenCV sample kalman.cpp.
  * An example using the standard Kalman filter can be found at opencv_source_code/samples/cpp/kalman.cpp 
###  Fields
    
    
    [Mat](class_cv_Mat.html#doxid-db-de6-classcv-1-1-mat) controlMatrix
    
control matrix (B) (not used if there is no control)
    
    
    [Mat](class_cv_Mat.html#doxid-db-de6-classcv-1-1-mat) errorCovPost
    
posteriori error estimate covariance matrix (P(k)): P(k)=(I-K(k)*H)*P’(k)
    
    
    [Mat](class_cv_Mat.html#doxid-db-de6-classcv-1-1-mat) errorCovPre
    
priori error estimate covariance matrix (P’(k)): P’(k)=A*P(k-1)*At + Q)*/
    
    
    [Mat](class_cv_Mat.html#doxid-db-de6-classcv-1-1-mat) gain
    
Kalman gain matrix (K(k)): K(k)=P’(k)*Ht*inv(H*P’(k)*Ht+R)
    
    
    [Mat](class_cv_Mat.html#doxid-db-de6-classcv-1-1-mat) measurementMatrix
    
measurement matrix (H)
    
    
    [Mat](class_cv_Mat.html#doxid-db-de6-classcv-1-1-mat) measurementNoiseCov
    
measurement noise covariance matrix (R)
    
    
    [Mat](class_cv_Mat.html#doxid-db-de6-classcv-1-1-mat) processNoiseCov
    
process noise covariance matrix (Q)
    
    
    [Mat](class_cv_Mat.html#doxid-db-de6-classcv-1-1-mat) statePost
    
corrected state (x(k)): x(k)=x’(k)+K(k)*(z(k)-H*x’(k))
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[ OpenCV Documentation ](index.html)
3.2
  * [ 2D Features Framework ](group_features2d.html)
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  * [ Object Detection ](group_objdetect.html)
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  * [ Video Analysis ](group_video.html)
    * [ C API ](group_video_c.html)
    * [ Motion Analysis ](group_video_motion.html)
    * [ Object Tracking ](group_video_track.html)
      * [ class cv::DenseOpticalFlow ](class_cv_DenseOpticalFlow.html)
      * [ class cv::DualTVL1OpticalFlow ](class_cv_DualTVL1OpticalFlow.html)
      * [ class cv::FarnebackOpticalFlow ](class_cv_FarnebackOpticalFlow.html)
      * class cv::KalmanFilter 
        * Overview 
        * Detailed Documentation 
      * [ class cv::SparseOpticalFlow ](class_cv_SparseOpticalFlow.html)
      * [ class cv::SparsePyrLKOpticalFlow ](class_cv_SparsePyrLKOpticalFlow.html)
      * [ Overview ](group_video_track.html#overview)
      * [ Detailed Documentation ](group_video_track.html#detailed-documentation)
  * [ Video I/O ](group_videoio.html)
  * [ Video Stabilization ](group_videostab.html)
  * [ Bibliography ](page_citelist.html)
  * [ CUDA Module Introduction ](page_cuda_intro.html)
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Parameter  |  Description  
---|---  
[ RWTO_TKOFF ](./../advanced_config/parameter_reference.html#RWTO_TKOFF) |
Enable runway takeoff  
[ FW_W_EN ](./../advanced_config/parameter_reference.html#FW_W_EN) |  Enable
wheel controller  
[ RWTO_MAX_THR ](./../advanced_config/parameter_reference.html#RWTO_MAX_THR) |
Max throttle during runway takeoff  
[ RWTO_RAMP_TIME
](./../advanced_config/parameter_reference.html#RWTO_RAMP_TIME) |  Throttle
ramp up time  
[ RWTO_ROT_AIRSPD
](./../advanced_config/parameter_reference.html#RWTO_ROT_AIRSPD) |  Airspeed
threshold to start rotation (pitching up). If not configured by operator is
set to 0.9*FW_TKO_AIRSPD.  
[ RWTO_ROT_TIME ](./../advanced_config/parameter_reference.html#RWTO_ROT_TIME)
|  This is the time desired to linearly ramp in takeoff pitch constraints
during the takeoff rotation.  
[ FW_TKO_AIRSPD ](./../advanced_config/parameter_reference.html#FW_TKO_AIRSPD)
|  Airspeed setpoint during the takeoff climbout phase (after rotation). If
not configured by operator is set to FW_AIRSPD_MIN.  
[ RWTO_NUDGE ](./../advanced_config/parameter_reference.html#RWTO_NUDGE) |
Enable wheel controller nudging while on the runway  
[ FW_WING_SPAN ](./../advanced_config/parameter_reference.html#FW_WING_SPAN) |
The wingspan of the vehicle. Used to prevent wingstrikes.  
[ FW_WING_HEIGHT
](./../advanced_config/parameter_reference.html#FW_WING_HEIGHT) |  The height
of the wings above ground (ground clearance). Used to prevent wingstrikes.  
[ RWTO_NPFG_PERIOD
](./../advanced_config/parameter_reference.html#RWTO_NPFG_PERIOD) |  L1 period
while steering on runway. Increase for less aggressive response to course
errors.  
[ FW_FLAPS_TO_SCL
](./../advanced_config/parameter_reference.html#FW_FLAPS_TO_SCL) |  Flaps
setpoint during takeoff  
  
##  See Also  ​
![-](closed.png) Properties inherited from [ QObject
](http://doc.qt.io/qt-5/qobject.html)  
|  [ objectName ](http://doc.qt.io/qt-5/qobject.html#objectName-prop)  
  
##  Additional Inherited Members  
  
---  
![-](closed.png) Static Public Member Functions inherited from [ QObject
](http://doc.qt.io/qt-5/qobject.html)  
bool  |  [ connect ](http://doc.qt.io/qt-5/qobject.html#connect) (const [
QObject ](http://doc.qt.io/qt-5/qobject.html) * [ sender
](http://doc.qt.io/qt-5/qobject.html#sender) , const char *signal, const [
QObject ](http://doc.qt.io/qt-5/qobject.html) *receiver, const char *method,
Qt::ConnectionType type)  
bool  |  [ connect ](http://doc.qt.io/qt-5/qobject.html#connect-2) (const [
QObject ](http://doc.qt.io/qt-5/qobject.html) * [ sender
](http://doc.qt.io/qt-5/qobject.html#sender) , const [ QMetaMethod
](http://doc.qt.io/qt-5/qmetamethod.html) &signal, const [ QObject
](http://doc.qt.io/qt-5/qobject.html) *receiver, const [ QMetaMethod
](http://doc.qt.io/qt-5/qmetamethod.html) &method, Qt::ConnectionType type)  
bool  |  [ disconnect ](http://doc.qt.io/qt-5/qobject.html#disconnect) (const
[ QObject ](http://doc.qt.io/qt-5/qobject.html) * [ sender
](http://doc.qt.io/qt-5/qobject.html#sender) , const char *signal, const [
QObject ](http://doc.qt.io/qt-5/qobject.html) *receiver, const char *method)  
bool  |  [ disconnect ](http://doc.qt.io/qt-5/qobject.html#disconnect-2)
(const [ QObject ](http://doc.qt.io/qt-5/qobject.html) * [ sender
](http://doc.qt.io/qt-5/qobject.html#sender) , const [ QMetaMethod
](http://doc.qt.io/qt-5/qmetamethod.html) &signal, const [ QObject
](http://doc.qt.io/qt-5/qobject.html) *receiver, const [ QMetaMethod
](http://doc.qt.io/qt-5/qmetamethod.html) &method)  
[ QString ](http://doc.qt.io/qt-5/qstring.html) |  [ tr
](http://doc.qt.io/qt-5/qobject.html#tr) (const char *sourceText, const char
*disambiguation, int n)  
[ QString ](http://doc.qt.io/qt-5/qstring.html) |  [ trUtf8
](http://doc.qt.io/qt-5/qobject.html#trUtf8) (const char *sourceText, const
char *disambiguation, int n)  
![-](closed.png) Protected Member Functions inherited from [ Plugin
](classignition_1_1gui_1_1Plugin.html)  
void  |  [ DeleteLater
](classignition_1_1gui_1_1Plugin.html#acf148f507cd3f4efe843cee455a679b9) ()
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