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namespace byte_kalman | |
{ | |
class KalmanFilter | |
{ | |
public: | |
static const double chi2inv95[10]; | |
KalmanFilter(); | |
KAL_DATA initiate(const DETECTBOX& measurement); | |
void predict(KAL_MEAN& mean, KAL_COVA& covariance); | |
KAL_HDATA project(const KAL_MEAN& mean, const KAL_COVA& covariance); | |
KAL_DATA update(const KAL_MEAN& mean, | |
const KAL_COVA& covariance, | |
const DETECTBOX& measurement); | |
Eigen::Matrix<float, 1, -1> gating_distance( | |
const KAL_MEAN& mean, | |
const KAL_COVA& covariance, | |
const std::vector<DETECTBOX>& measurements, | |
bool only_position = false); | |
private: | |
Eigen::Matrix<float, 8, 8, Eigen::RowMajor> _motion_mat; | |
Eigen::Matrix<float, 4, 8, Eigen::RowMajor> _update_mat; | |
float _std_weight_position; | |
float _std_weight_velocity; | |
}; | |
} |