A TrackingFilter with some specifics for tracking a ball in flight. More...

Inheritance diagram for BallTrackingFilter:

Collaboration diagram for BallTrackingFilter:

Public Member Functions
void	flushKalman ()
	Reset the status of the KF to initial.

void	setXYCovariance (double sigma)
	Set the covariance for the x and y measurements in the KF.

void	updateTrackFailure ()
	Tell the KF that we failed to track a ball.

void	updateTrackSuccess (TrackingBall ball)
	Tell the KF about a new tracked ball.

void	updateTimeState (double t)
	Change the current internal time state of the tracker (eg at a new tick)

void	setGravConstant (double gravConstant)
	Set the acceleration due to gravity.

Public Member Functions inherited from TrackingFilter
void	flushKalman ()
	Reset KF state to initial values.

double	kalmanDistance (cv::Mat measurement)
	Compute the Kalman distance to a measurement vector. More...

void	updateTrackFailure ()
	Alert the KF that we did not track a ball this frame.

cv::Mat	prediction ()
	The KF prediction of the state.

cv::Mat	covariance ()
	The KF's covariance matrix.

void	updateTimeState (double t)
	Update the time state of the tracker to the current time.

double	dT ()
	Change in time from prior state to this one.

double	time ()
	The current time state.

bool	isFound ()
	Whether we have found a object recently.

bool	isLost ()
	Whether the object is lost and we don't know anything about it.

Private Attributes
double	mGravConstant
	A priori known acceleration due to gravity g (positive direction) is towards center of earth. More...

Additional Inherited Members
Protected Attributes inherited from TrackingFilter
int	mBlobRad
	Radius of the current state blob?

int	mLatency
	Unused?

int	mNotFoundCount
	Number of frames we have missed this object for. More...

int	mKfStateLen
	Length of the state vector; 6 <x,y,dx,dy,w,h>

cv::Mat	mKfState
	State vector of most recent state.

int	mFoundCount
	Number of frames we have tracked this object for.

int	mKfControlLen

cv::Mat	mKfControl

cv::Mat	mKfControlVec

int	mKfMeasLen
	Length of the measurement vector; 4 <x,y,w,h>

cv::Mat	mKfMeas
	Measurement vector of most recent state.

double	mTstart = 0
	Start time of this tick (the previous timestep's time)

double	mTstop = 0
	Stop time of this tick (the current timestate)

KalmanFilterPlus	mKf
	The Kalman Filter object proper.

Detailed Description

A TrackingFilter with some specifics for tracking a ball in flight.

Member Data Documentation

double BallTrackingFilter::mGravConstant

private

A priori known acceleration due to gravity g (positive direction) is towards center of earth.

The documentation for this class was generated from the following files: