Simple component to track a moving 2D point over time using a Kalman filter. More...

#include <jevoisbase/Components/Tracking/Kalman1D.H>

Inheritance diagram for Kalman1D:

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Collaboration diagram for Kalman1D:

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Public Member Functions
	Kalman1D (std::string const &instance)
	Constructor. More...

virtual	~Kalman1D ()
	Destructor. More...

void	set (float x)
	Function to call each time you have a new measurement. More...

float	get (float const eps=0.01F)
	Function to call each time you want to get the Kalman-filtered coordinates. More...

Public Member Functions inherited from jevois::Component
	Component (std::string const &instance)

virtual	~Component ()

std::shared_ptr< Comp >	addSubComponent (std::string const &instance, Args &&...args)

void	removeSubComponent (std::shared_ptr< Comp > &component)

void	removeSubComponent (std::string const &instance, bool warnIfNotFound=true)

std::shared_ptr< Comp >	getSubComponent (std::string const &instance) const

bool	isTopLevel () const

Engine *	engine () const

bool	initialized () const

const std::string &	className () const

const std::string &	instanceName () const

std::vector< std::string >	setParamVal (std::string const &paramdescriptor, T const &val)

void	setParamValUnique (std::string const &paramdescriptor, T const &val)

std::vector< std::pair< std::string, T > >	getParamVal (std::string const &paramdescriptor) const

T	getParamValUnique (std::string const &paramdescriptor) const

std::vector< std::string >	setParamString (std::string const &paramdescriptor, std::string const &val)

void	setParamStringUnique (std::string const &paramdescriptor, std::string const &val)

std::vector< std::pair< std::string, std::string > >	getParamString (std::string const &paramdescriptor) const

std::string	getParamStringUnique (std::string const &paramdescriptor) const

void	freezeParam (std::string const &paramdescriptor)

void	unFreezeParam (std::string const &paramdescriptor)

void	freezeAllParams ()

void	unFreezeAllParams ()

std::string	descriptor () const

void	setParamsFromFile (std::string const &filename)

std::istream &	setParamsFromStream (std::istream &is, std::string const &absfile)

virtual void	paramInfo (std::shared_ptr< UserInterface > s, std::map< std::string, std::string > &categs, bool skipFrozen, std::string const &cname="", std::string const &pfx="")

void	foreachParam (std::function< void(std::string const &compname, ParameterBase *p)> func, std::string const &cname="")

std::shared_ptr< DynamicParameter< T > >	addDynamicParameter (std::string const &name, std::string const &description, T const &defaultValue, ParameterCategory const &category)

std::shared_ptr< DynamicParameter< T > >	addDynamicParameter (std::string const &name, std::string const &description, T const &defaultValue, ValidValuesSpec< T > const &validValuesSpec, ParameterCategory const &category)

void	setDynamicParameterCallback (std::string const &name, std::function< void(T const &)> cb, bool callnow=true)

void	removeDynamicParameter (std::string const &name)

void	setPath (std::string const &path)

std::filesystem::path	absolutePath (std::filesystem::path const &path="")

std::shared_ptr< Comp >	addSubComponent (std::string const &instance, Args &&...args)

void	removeSubComponent (std::shared_ptr< Comp > &component)

void	removeSubComponent (std::string const &instance, bool warnIfNotFound=true)

std::shared_ptr< Comp >	getSubComponent (std::string const &instance) const

bool	isTopLevel () const

Engine *	engine () const

bool	initialized () const

const std::string &	className () const

const std::string &	instanceName () const

std::vector< std::string >	setParamVal (std::string const &paramdescriptor, T const &val)

void	setParamValUnique (std::string const &paramdescriptor, T const &val)

std::vector< std::pair< std::string, T > >	getParamVal (std::string const &paramdescriptor) const

T	getParamValUnique (std::string const &paramdescriptor) const

std::vector< std::string >	setParamString (std::string const &paramdescriptor, std::string const &val)

void	setParamStringUnique (std::string const &paramdescriptor, std::string const &val)

std::vector< std::pair< std::string, std::string > >	getParamString (std::string const &paramdescriptor) const

std::string	getParamStringUnique (std::string const &paramdescriptor) const

void	freezeParam (std::string const &paramdescriptor)

void	unFreezeParam (std::string const &paramdescriptor)

void	freezeAllParams ()

void	unFreezeAllParams ()

std::string	descriptor () const

void	setParamsFromFile (std::string const &filename)

std::istream &	setParamsFromStream (std::istream &is, std::string const &absfile)

virtual void	paramInfo (std::shared_ptr< UserInterface > s, std::map< std::string, std::string > &categs, bool skipFrozen, std::string const &cname="", std::string const &pfx="")

void	foreachParam (std::function< void(std::string const &compname, ParameterBase *p)> func, std::string const &cname="")

std::shared_ptr< DynamicParameter< T > >	addDynamicParameter (std::string const &name, std::string const &description, T const &defaultValue, ParameterCategory const &category)

std::shared_ptr< DynamicParameter< T > >	addDynamicParameter (std::string const &name, std::string const &description, T const &defaultValue, ValidValuesSpec< T > const &validValuesSpec, ParameterCategory const &category)

void	setDynamicParameterCallback (std::string const &name, std::function< void(T const &)> cb, bool callnow=true)

void	removeDynamicParameter (std::string const &name)

void	setPath (std::string const &path)

std::filesystem::path	absolutePath (std::filesystem::path const &path="")

Public Member Functions inherited from jevois::ParameterRegistry
virtual	~ParameterRegistry ()

Protected Member Functions
void	postInit () override

void	onParamChange (kalman1d::usevel const &param, bool const &newval) override

void	onParamChange (kalman1d::procnoise const &param, float const &newval) override

void	onParamChange (kalman1d::measnoise const &param, float const &newval) override

void	onParamChange (kalman1d::postnoise const &param, float const &newval) override

Protected Member Functions inherited from jevois::Component
virtual void	preInit ()

virtual void	preUninit ()

virtual void	postUninit ()

virtual void	preInit ()

virtual void	preUninit ()

virtual void	postUninit ()

Protected Member Functions inherited from jevois::ParameterRegistry
void	addParameter (ParameterBase *const param)

void	removeParameter (ParameterBase *const param)

void	callbackInitCall ()

Protected Attributes
cv::KalmanFilter	itsKF

cv::Mat	itsState
	(x, y, xdot, ydot) More...

cv::Mat	itsProcessNoise

cv::Mat	itsMeasurement

cv::Mat	itsLatest

bool	itsFresh

Related Functions
(Note that these are not member functions.)
	JEVOIS_DECLARE_PARAMETER_WITH_CALLBACK (usevel, bool, "Use velocity tracking, in addition to position", false, ParamCateg)
	Parameter. More...

	JEVOIS_DECLARE_PARAMETER_WITH_CALLBACK (procnoise, float, "Process noise standard deviation", 0.003F, ParamCateg)
	Parameter. More...

	JEVOIS_DECLARE_PARAMETER_WITH_CALLBACK (measnoise, float, "Measurement noise standard deviation", 0.05F, ParamCateg)
	Parameter. More...

	JEVOIS_DECLARE_PARAMETER_WITH_CALLBACK (postnoise, float, "A posteriori error estimate standard deviation", 0.3F, ParamCateg)
	Parameter. More...

Detailed Description

Simple component to track a moving 2D point over time using a Kalman filter.

A Kalman filter allows one to filter noisy data over time. Here, it is used to filter the possibly noisy results of some machine vision algorith that is trying to detect a particular item in the camera's video stream. On occasion, the detection might abruptly jump to an erroneous location. Such jumps are filtered out by the Kalman filter.

Note that, unlike Kalman2D, this class does not perform any normalization or range transformation.

This code loosely inspired by https://github.com/abreheret/kalman-mouse/blob/master/src/main.cpp

Definition at line 54 of file Kalman1D.H.

Constructor & Destructor Documentation

◆ Kalman1D()

Kalman1D::Kalman1D ( std::string const & instance )

Constructor.

Definition at line 23 of file Kalman1D.C.

References itsKF.

◆ ~Kalman1D()

Kalman1D::~Kalman1D ( )

virtual

Destructor.

Definition at line 31 of file Kalman1D.C.

Member Function Documentation

◆ get()

float Kalman1D::get ( float const eps = 0.01F )

Function to call each time you want to get the Kalman-filtered coordinates.

It is ok to call get() multiple times with no intervening set(), if you have no new measurements but still want to use the filter output.

eps is used for rounding of returned value, which is convenient to avoid sending very long floating point values over serial port.

Definition at line 78 of file Kalman1D.C.

References itsFresh, itsKF, and itsLatest.

◆ onParamChange() [1/4]

void Kalman1D::onParamChange	(	kalman1d::measnoise const &	param,
		float const &	newval
	)

overrideprotected

◆ onParamChange() [2/4]

void Kalman1D::onParamChange	(	kalman1d::postnoise const &	param,
		float const &	newval
	)

overrideprotected

◆ onParamChange() [3/4]

void Kalman1D::onParamChange	(	kalman1d::procnoise const &	param,
		float const &	newval
	)

overrideprotected

◆ onParamChange() [4/4]

void Kalman1D::onParamChange	(	kalman1d::usevel const &	param,
		bool const &	newval
	)

overrideprotected

◆ postInit()

void Kalman1D::postInit ( )

overrideprotectedvirtual

Reimplemented from jevois::Component.

Definition at line 35 of file Kalman1D.C.

References itsKF.

◆ set()

void Kalman1D::set ( float x )

Function to call each time you have a new measurement.

Definition at line 70 of file Kalman1D.C.

References itsFresh, itsKF, itsLatest, and itsMeasurement.

Friends And Related Function Documentation

◆ JEVOIS_DECLARE_PARAMETER_WITH_CALLBACK() [1/4]

JEVOIS_DECLARE_PARAMETER_WITH_CALLBACK	(	measnoise	,
		float	,
		"Measurement noise standard deviation"	,
		0.	05F,
		ParamCateg
	)

◆ JEVOIS_DECLARE_PARAMETER_WITH_CALLBACK() [2/4]

JEVOIS_DECLARE_PARAMETER_WITH_CALLBACK	(	postnoise	,
		float	,
		"A posteriori error estimate standard deviation"	,
		0.	3F,
		ParamCateg
	)

◆ JEVOIS_DECLARE_PARAMETER_WITH_CALLBACK() [3/4]

JEVOIS_DECLARE_PARAMETER_WITH_CALLBACK	(	procnoise	,
		float	,
		"Process noise standard deviation"	,
		0.	003F,
		ParamCateg
	)

◆ JEVOIS_DECLARE_PARAMETER_WITH_CALLBACK() [4/4]

JEVOIS_DECLARE_PARAMETER_WITH_CALLBACK	(	usevel	,
		bool	,
		"Use velocity	tracking,
		in addition to position"	,
		false	,
		ParamCateg
	)

Member Data Documentation

◆ itsFresh

bool Kalman1D::itsFresh

protected

Definition at line 88 of file Kalman1D.H.

Referenced by get(), and set().

◆ itsKF

cv::KalmanFilter Kalman1D::itsKF

protected

Definition at line 83 of file Kalman1D.H.

Referenced by get(), Kalman1D(), postInit(), and set().

◆ itsLatest

cv::Mat Kalman1D::itsLatest

protected

Definition at line 87 of file Kalman1D.H.

Referenced by get(), and set().

◆ itsMeasurement

cv::Mat Kalman1D::itsMeasurement

protected

Definition at line 86 of file Kalman1D.H.

Referenced by set().

◆ itsProcessNoise

cv::Mat Kalman1D::itsProcessNoise

protected

Definition at line 85 of file Kalman1D.H.

◆ itsState

cv::Mat Kalman1D::itsState

protected

(x, y, xdot, ydot)

Definition at line 84 of file Kalman1D.H.

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

include/jevoisbase/Components/Tracking/Kalman1D.H
src/Components/Tracking/Kalman1D.C

Public Member Functions

Protected Member Functions

Protected Attributes

Related Functions

Detailed Description

Constructor & Destructor Documentation

◆ Kalman1D()

◆ ~Kalman1D()

Member Function Documentation

◆ get()

◆ onParamChange() [1/4]

◆ onParamChange() [2/4]

◆ onParamChange() [3/4]

◆ onParamChange() [4/4]

◆ postInit()

◆ set()

Friends And Related Function Documentation

◆ JEVOIS_DECLARE_PARAMETER_WITH_CALLBACK() [1/4]

◆ JEVOIS_DECLARE_PARAMETER_WITH_CALLBACK() [2/4]

◆ JEVOIS_DECLARE_PARAMETER_WITH_CALLBACK() [3/4]

◆ JEVOIS_DECLARE_PARAMETER_WITH_CALLBACK() [4/4]

Member Data Documentation

◆ itsFresh

◆ itsKF

◆ itsLatest

◆ itsMeasurement

◆ itsProcessNoise

◆ itsState