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jfx_kalman_filter_src
Commit a80d49ad authored by oscar's avatar oscar
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提交参数变动

parent b9119b53
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Showing with 20 additions and 20 deletions
BaseTracker/Track3D.cpp
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......@@ -22,13 +22,13 @@ Track3D::Track3D():BaseTrack(10, 7)
0, 0, 0, 0, 0, 0, 0, 0, 1, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 1;
kf->P_ <<
10, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 10, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 10, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 10, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 10, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 10, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 10, 0, 0, 0,
10000, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 10000, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 10000, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 10000, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 10000, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 10000, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 10000, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 10000, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 10000, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 10000;
......@@ -41,24 +41,24 @@ Track3D::Track3D():BaseTrack(10, 7)
0, 0, 0, 0, 0, 1, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 1, 0, 0, 0;
kf->Q_ <<
1, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 1, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 1, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 1, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 1, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 1, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 1, 0, 0, 0,
0.01, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0.01, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0.01, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0.01, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0.01, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0.01, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0.01, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0.0001, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0.0001;
0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01;
kf->R_ <<
1, 0, 0, 0, 0, 0, 0,
0, 1, 0, 0, 0, 0, 0,
0, 0, 1, 0, 0, 0, 0,
0, 0, 0, 10, 0, 0, 0,
0, 0, 0, 0, 10, 0, 0,
0, 0, 0, 0, 0, 10, 0,
0, 0, 0, 0, 0, 0, 10;
0, 0, 0, 1, 0, 0, 0,
0, 0, 0, 0, 1, 0, 0,
0, 0, 0, 0, 0, 1, 0,
0, 0, 0, 0, 0, 0, 1;
kf_ = kf;
}
......
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