kalman_filter_vision.c File Reference

#include "kalman_filter_vision.h"
#include "math/pprz_algebra_float.h"

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Functions
void	kalman_filter_linear_2D_float (float *model, float *measurements, float *covariance, float *state, float *process_noise, float *measurement_noise)
	A simple linear 2D kalman filter, computed using floats and matrices. More...

Function Documentation

void kalman_filter_linear_2D_float	(	float *	model,
		float *	measurements,
		float *	covariance,
		float *	state,
		float *	process_noise,
		float *	measurement_noise
	)

A simple linear 2D kalman filter, computed using floats and matrices.

To be used for vision task like optical flow, tracking markers etc.

Parameters

[in]	*model	The process model for the prediction of the next state (array size of [1 x 4])
[in]	*measurements	Values of the measurements (array size of [1 x 2])
[in]	*covariance	Covariance matrix of previous iteration (array size of [1 x 4])
[out]	*covariance	Updated Covariance matrix (array size of [1 x 4])
[in]	*state	Previous state vector with estimates(array size of [1 x 2])
[out]	*state	Updated state vector with estimates
[in]	*measurement_noise	Expected variance of the noise of the measurements
[in]	*process_noise	Expected variance of the noise of the process model

Definition at line 26 of file kalman_filter_vision.c.

References float_mat_copy(), float_mat_diff(), float_mat_mul(), float_mat_sum(), float_mat_transpose(), H, MAKE_MATRIX_PTR, Q, and mesonh.mesonh_atmosphere::Z.

Referenced by kalman_filter_opticflow_velocity().

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