Detailed Description

Dummy state estimator whose prediction is identical to the last known states.

Definition at line 57 of file sources/libs/nvmultiobjecttracker/include/modules/Estimatorv2/DummyEstimator2.hpp.

Inheritance diagram for DummyEstimator2:

Collaboration diagram for DummyEstimator2:

[legend]

Public Member Functions
	DummyEstimator2 (const std::string &configFilePath, const int numTotalStates=4, const int numObservStates=4)
	Construct a dummy state estimator from configuration. More...

	~DummyEstimator2 ()
	Destroy the dummy state estimator. More...

void	reset () override
	Reset the states and make the age to be zero. More...

Eigen::VectorXd	update (const float dT=1) override
	Update without any measurement, using the prediction only. More...

Eigen::VectorXd	update (const std::vector< std::tuple< Eigen::VectorXd, Eigen::Matrix2d, bool > > &measurements, const float dT=1) override
	Given a set of measurements and their covariances, update the estimator and returns the estimated states. More...

Eigen::VectorXd	getStates () const override
	Return the current estimated states. More...

Eigen::VectorXd	getPredictedStates (const float dT=1) override
	Predict states without modifying the current estimate. More...

Eigen::MatrixXd	getMeasurementNoiseCovariance () const override
	Return the measurement-noise covariance matrix. More...

std::tuple< Eigen::VectorXd, Eigen::MatrixXd >	getStatesWithCov () const override
	Return the current states and their covariance. More...

std::tuple< Eigen::VectorXd, Eigen::MatrixXd >	getPredictedStatesWithCov (const float dT=1) override
	Predict states and covariance without modifying the current estimate. More...

std::tuple< Eigen::VectorXd, Eigen::MatrixXd >	getPredictedMeasurementsWithCov (const float dT=1) override
	Predict measurements and covariance without modifying the current estimate. More...

uint32_t	getAge () const override
	Return the number of estimator updates. More...

const STATE_ESTIMATOR_TYPES	getStateEstimatorType () override
	Return the configured state-estimator type. More...

const bool	useAspectRatio () const override
	Return whether the estimator represents size using aspect ratio. More...

void	overrideState (const Eigen::Vector2d &position, const Eigen::Vector2d &velocity) override
	Overwrite the position and velocity components. More...

	DummyEstimator2 (const std::string &configFilePath, const int numTotalStates=4, const int numObservStates=4)
	Construct a dummy state estimator from configuration. More...

	~DummyEstimator2 ()
	Destroy the dummy state estimator. More...

void	reset () override
	Reset the states and make the age to be zero. More...

Eigen::VectorXd	update (const float dT=1) override
	Update without any measurement, using the prediction only. More...

Eigen::VectorXd	update (const std::vector< std::tuple< Eigen::VectorXd, Eigen::Matrix2d, bool > > &measurements, const float dT=1) override
	Given a set of measurements and their covariances, update the estimator and returns the estimated states. More...

Eigen::VectorXd	getStates () const override
	Return the current estimated states. More...

Eigen::VectorXd	getPredictedStates (const float dT=1) override
	Predict states without modifying the current estimate. More...

Eigen::MatrixXd	getMeasurementNoiseCovariance () const override
	Return the measurement-noise covariance matrix. More...

std::tuple< Eigen::VectorXd, Eigen::MatrixXd >	getStatesWithCov () const override
	Return the current states and their covariance. More...

std::tuple< Eigen::VectorXd, Eigen::MatrixXd >	getPredictedStatesWithCov (const float dT=1) override
	Predict states and covariance without modifying the current estimate. More...

std::tuple< Eigen::VectorXd, Eigen::MatrixXd >	getPredictedMeasurementsWithCov (const float dT=1) override
	Predict measurements and covariance without modifying the current estimate. More...

uint32_t	getAge () const override
	Return the number of estimator updates. More...

const STATE_ESTIMATOR_TYPES	getStateEstimatorType () override
	Return the configured state-estimator type. More...

const bool	useAspectRatio () const override
	Return whether the estimator represents size using aspect ratio. More...

void	overrideState (const Eigen::Vector2d &position, const Eigen::Vector2d &velocity) override
	Overwrite the position and velocity components. More...

Protected Member Functions
void	initStates ()
	Initialize all the target states. More...

void	initStates ()
	Initialize all the target states. More...

Protected Attributes
DummyEstimatorParams2	m_params
	Stores configuration parameters for the state-estimation module. More...

const int	m_numTotalStates
	Specifies the total number of estimated states. More...

const int	m_numObservStates
	Specifies the number of observed states. More...

Eigen::VectorXd	m_X
	Estimated states. More...

Eigen::MatrixXd	m_P
	Estimate error covariance. More...

uint32_t	m_age
	Counts estimator updates. More...

Constructor & Destructor Documentation

◆ DummyEstimator2() [1/2]

DummyEstimator2::DummyEstimator2	(	const std::string &	configFilePath,
		const int	numTotalStates = `4`,
		const int	numObservStates = `4`
	)

Construct a dummy state estimator from configuration.

Parameters

[in]	configFilePath	The path to a config file.
[in]	numTotalStates	The # of total states to be estimated.
[in]	numObservStates	The # of observation (i.e., measurement) states.

◆ ~DummyEstimator2() [1/2]

DummyEstimator2::~DummyEstimator2 ( )

Destroy the dummy state estimator.

◆ DummyEstimator2() [2/2]

DummyEstimator2::DummyEstimator2	(	const std::string &	configFilePath,
		const int	numTotalStates = `4`,
		const int	numObservStates = `4`
	)

Construct a dummy state estimator from configuration.

Parameters

[in]	configFilePath	The path to a config file.
[in]	numTotalStates	The # of total states to be estimated.
[in]	numObservStates	The # of observation (i.e., measurement) states.

◆ ~DummyEstimator2() [2/2]

DummyEstimator2::~DummyEstimator2 ( )

Destroy the dummy state estimator.

Member Function Documentation

◆ getAge() [1/2]

uint32_t DummyEstimator2::getAge ( ) const

inlineoverridevirtual

Return the number of estimator updates.

Implements IEstimator2.

Definition at line 125 of file sources/libs/nvmultiobjecttracker/include/modules/Estimatorv2/DummyEstimator2.hpp.

References m_age.

◆ getAge() [2/2]

uint32_t DummyEstimator2::getAge ( ) const

inlineoverridevirtual

Return the number of estimator updates.

Implements IEstimator2.

Definition at line 125 of file 9.2/sources/libs/nvmultiobjecttracker/include/modules/Estimatorv2/DummyEstimator2.hpp.

References m_age.

◆ getMeasurementNoiseCovariance() [1/2]

Eigen::MatrixXd DummyEstimator2::getMeasurementNoiseCovariance ( ) const

inlineoverridevirtual

Return the measurement-noise covariance matrix.

Implements IEstimator2.

Definition at line 101 of file sources/libs/nvmultiobjecttracker/include/modules/Estimatorv2/DummyEstimator2.hpp.

References m_P.

◆ getMeasurementNoiseCovariance() [2/2]

Eigen::MatrixXd DummyEstimator2::getMeasurementNoiseCovariance ( ) const

inlineoverridevirtual

Return the measurement-noise covariance matrix.

Implements IEstimator2.

Definition at line 101 of file 9.2/sources/libs/nvmultiobjecttracker/include/modules/Estimatorv2/DummyEstimator2.hpp.

References m_P.

◆ getPredictedMeasurementsWithCov() [1/2]

std::tuple<Eigen::VectorXd, Eigen::MatrixXd> DummyEstimator2::getPredictedMeasurementsWithCov ( const float dT = 1 )

inlineoverridevirtual

Predict measurements and covariance without modifying the current estimate.

Parameters

[in] dT The time step.

Implements IEstimator2.

Definition at line 119 of file sources/libs/nvmultiobjecttracker/include/modules/Estimatorv2/DummyEstimator2.hpp.

References m_P, and m_X.

◆ getPredictedMeasurementsWithCov() [2/2]

std::tuple<Eigen::VectorXd, Eigen::MatrixXd> DummyEstimator2::getPredictedMeasurementsWithCov ( const float dT = 1 )

inlineoverridevirtual

Predict measurements and covariance without modifying the current estimate.

Parameters

[in] dT The time step.

Implements IEstimator2.

Definition at line 119 of file 9.2/sources/libs/nvmultiobjecttracker/include/modules/Estimatorv2/DummyEstimator2.hpp.

References m_P, and m_X.

◆ getPredictedStates() [1/2]

Eigen::VectorXd DummyEstimator2::getPredictedStates ( const float dT = 1 )

inlineoverridevirtual

Predict states without modifying the current estimate.

Parameters

[in] dT The time step.

Implements IEstimator2.

Definition at line 98 of file 9.2/sources/libs/nvmultiobjecttracker/include/modules/Estimatorv2/DummyEstimator2.hpp.

References m_X.

◆ getPredictedStates() [2/2]

Eigen::VectorXd DummyEstimator2::getPredictedStates ( const float dT = 1 )

inlineoverridevirtual

Predict states without modifying the current estimate.

Parameters

[in] dT The time step.

Implements IEstimator2.

Definition at line 98 of file sources/libs/nvmultiobjecttracker/include/modules/Estimatorv2/DummyEstimator2.hpp.

References m_X.

◆ getPredictedStatesWithCov() [1/2]

std::tuple<Eigen::VectorXd, Eigen::MatrixXd> DummyEstimator2::getPredictedStatesWithCov ( const float dT = 1 )

inlineoverridevirtual

Predict states and covariance without modifying the current estimate.

Parameters

[in] dT The time step.

Implements IEstimator2.

Definition at line 110 of file sources/libs/nvmultiobjecttracker/include/modules/Estimatorv2/DummyEstimator2.hpp.

References m_P, and m_X.

◆ getPredictedStatesWithCov() [2/2]

std::tuple<Eigen::VectorXd, Eigen::MatrixXd> DummyEstimator2::getPredictedStatesWithCov ( const float dT = 1 )

inlineoverridevirtual

Predict states and covariance without modifying the current estimate.

Parameters

[in] dT The time step.

Implements IEstimator2.

Definition at line 110 of file 9.2/sources/libs/nvmultiobjecttracker/include/modules/Estimatorv2/DummyEstimator2.hpp.

References m_P, and m_X.

◆ getStateEstimatorType() [1/2]

const STATE_ESTIMATOR_TYPES DummyEstimator2::getStateEstimatorType ( )

inlineoverridevirtual

Return the configured state-estimator type.

Implements IEstimator2.

Definition at line 128 of file sources/libs/nvmultiobjecttracker/include/modules/Estimatorv2/DummyEstimator2.hpp.

References m_params, and DummyEstimatorParams2::m_stateEstimatorType.

◆ getStateEstimatorType() [2/2]

const STATE_ESTIMATOR_TYPES DummyEstimator2::getStateEstimatorType ( )

inlineoverridevirtual

Return the configured state-estimator type.

Implements IEstimator2.

Definition at line 128 of file 9.2/sources/libs/nvmultiobjecttracker/include/modules/Estimatorv2/DummyEstimator2.hpp.

References m_params, and DummyEstimatorParams2::m_stateEstimatorType.

◆ getStates() [1/2]

Eigen::VectorXd DummyEstimator2::getStates ( ) const

inlineoverridevirtual

Return the current estimated states.

Implements IEstimator2.

Definition at line 92 of file 9.2/sources/libs/nvmultiobjecttracker/include/modules/Estimatorv2/DummyEstimator2.hpp.

References m_X.

◆ getStates() [2/2]

Eigen::VectorXd DummyEstimator2::getStates ( ) const

inlineoverridevirtual

Return the current estimated states.

Implements IEstimator2.

Definition at line 92 of file sources/libs/nvmultiobjecttracker/include/modules/Estimatorv2/DummyEstimator2.hpp.

References m_X.

◆ getStatesWithCov() [1/2]

std::tuple<Eigen::VectorXd, Eigen::MatrixXd> DummyEstimator2::getStatesWithCov ( ) const

inlineoverridevirtual

Return the current states and their covariance.

Implements IEstimator2.

Definition at line 104 of file 9.2/sources/libs/nvmultiobjecttracker/include/modules/Estimatorv2/DummyEstimator2.hpp.

References m_P, and m_X.

◆ getStatesWithCov() [2/2]

std::tuple<Eigen::VectorXd, Eigen::MatrixXd> DummyEstimator2::getStatesWithCov ( ) const

inlineoverridevirtual

Return the current states and their covariance.

Implements IEstimator2.

Definition at line 104 of file sources/libs/nvmultiobjecttracker/include/modules/Estimatorv2/DummyEstimator2.hpp.

References m_P, and m_X.

◆ initStates() [1/2]

void DummyEstimator2::initStates ( )

protected

Initialize all the target states.

◆ initStates() [2/2]

void DummyEstimator2::initStates ( )

protected

Initialize all the target states.

◆ overrideState() [1/2]

void DummyEstimator2::overrideState	(	const Eigen::Vector2d &	position,
		const Eigen::Vector2d &	velocity
	)

inlineoverridevirtual

Overwrite the position and velocity components.

Parameters

[in]	position	The replacement position.
[in]	velocity	The replacement velocity.

Implements IEstimator2.

Definition at line 138 of file sources/libs/nvmultiobjecttracker/include/modules/Estimatorv2/DummyEstimator2.hpp.

References m_X.

◆ overrideState() [2/2]

void DummyEstimator2::overrideState	(	const Eigen::Vector2d &	position,
		const Eigen::Vector2d &	velocity
	)

inlineoverridevirtual

Overwrite the position and velocity components.

Parameters

[in]	position	The replacement position.
[in]	velocity	The replacement velocity.

Implements IEstimator2.

Definition at line 138 of file 9.2/sources/libs/nvmultiobjecttracker/include/modules/Estimatorv2/DummyEstimator2.hpp.

References m_X.

◆ reset() [1/2]

void DummyEstimator2::reset ( )

overridevirtual

Reset the states and make the age to be zero.

Implements IEstimator2.

◆ reset() [2/2]

void DummyEstimator2::reset ( )

overridevirtual

Reset the states and make the age to be zero.

Implements IEstimator2.

◆ update() [1/4]

Eigen::VectorXd DummyEstimator2::update ( const float dT = 1 )

overridevirtual

Update without any measurement, using the prediction only.

Parameters

[in] dT The time step.

Returns: The estimated states.

Implements IEstimator2.

◆ update() [2/4]

Eigen::VectorXd DummyEstimator2::update ( const float dT = 1 )

overridevirtual

Update without any measurement, using the prediction only.

Parameters

[in] dT The time step.

Returns: The estimated states.

Implements IEstimator2.

◆ update() [3/4]

Eigen::VectorXd DummyEstimator2::update	(	const std::vector< std::tuple< Eigen::VectorXd, Eigen::Matrix2d, bool > > &	measurements,
		const float	dT = `1`
	)

overridevirtual

Given a set of measurements and their covariances, update the estimator and returns the estimated states.

Parameters

[in]	measurements	A set of (measurement, covariance, isFromDetector) tuples. Pass a negative identity covariance to select the default measurement noise. A positive covariance(0,0) uses the provided noise.
[in]	dT	The time step.

Returns: The estimated states.

Implements IEstimator2.

◆ update() [4/4]

Eigen::VectorXd DummyEstimator2::update	(	const std::vector< std::tuple< Eigen::VectorXd, Eigen::Matrix2d, bool > > &	measurements,
		const float	dT = `1`
	)

overridevirtual

Given a set of measurements and their covariances, update the estimator and returns the estimated states.

Parameters

[in]	measurements	A set of (measurement, covariance, isFromDetector) tuples. Pass a negative identity covariance to select the default measurement noise. A positive covariance(0,0) uses the provided noise.
[in]	dT	The time step.

Returns: The estimated states.

Implements IEstimator2.

◆ useAspectRatio() [1/2]

const bool DummyEstimator2::useAspectRatio ( ) const

inlineoverridevirtual

Return whether the estimator represents size using aspect ratio.

Implements IEstimator2.

Definition at line 131 of file sources/libs/nvmultiobjecttracker/include/modules/Estimatorv2/DummyEstimator2.hpp.

◆ useAspectRatio() [2/2]

const bool DummyEstimator2::useAspectRatio ( ) const

inlineoverridevirtual

Return whether the estimator represents size using aspect ratio.

Implements IEstimator2.

Definition at line 131 of file 9.2/sources/libs/nvmultiobjecttracker/include/modules/Estimatorv2/DummyEstimator2.hpp.

Field Documentation

◆ m_age

uint32_t DummyEstimator2::m_age

protected

Counts estimator updates.

Definition at line 151 of file sources/libs/nvmultiobjecttracker/include/modules/Estimatorv2/DummyEstimator2.hpp.

Referenced by getAge().

◆ m_numObservStates

const int DummyEstimator2::m_numObservStates

protected

Specifies the number of observed states.

Definition at line 146 of file sources/libs/nvmultiobjecttracker/include/modules/Estimatorv2/DummyEstimator2.hpp.

◆ m_numTotalStates

const int DummyEstimator2::m_numTotalStates

protected

Specifies the total number of estimated states.

Definition at line 145 of file sources/libs/nvmultiobjecttracker/include/modules/Estimatorv2/DummyEstimator2.hpp.

◆ m_P

Eigen::MatrixXd DummyEstimator2::m_P

protected

Estimate error covariance.

Definition at line 150 of file sources/libs/nvmultiobjecttracker/include/modules/Estimatorv2/DummyEstimator2.hpp.

Referenced by getMeasurementNoiseCovariance(), getPredictedMeasurementsWithCov(), getPredictedStatesWithCov(), and getStatesWithCov().

◆ m_params

DummyEstimatorParams2 DummyEstimator2::m_params

protected

Stores configuration parameters for the state-estimation module.

Definition at line 144 of file sources/libs/nvmultiobjecttracker/include/modules/Estimatorv2/DummyEstimator2.hpp.

Referenced by getStateEstimatorType().

◆ m_X

Eigen::VectorXd DummyEstimator2::m_X

protected

Estimated states.

Definition at line 149 of file sources/libs/nvmultiobjecttracker/include/modules/Estimatorv2/DummyEstimator2.hpp.

Referenced by getPredictedMeasurementsWithCov(), getPredictedStates(), getPredictedStatesWithCov(), getStates(), getStatesWithCov(), and overrideState().

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

sources/libs/nvmultiobjecttracker/include/modules/Estimatorv2/DummyEstimator2.hpp


NVIDIA DeepStream SDK API Reference	9.2 Release

NVIDIA DeepStream SDK API Reference

9.2 Release

Detailed Description

Public Member Functions

Protected Member Functions

Protected Attributes

Constructor & Destructor Documentation

◆ DummyEstimator2() [1/2]

◆ ~DummyEstimator2() [1/2]

◆ DummyEstimator2() [2/2]

◆ ~DummyEstimator2() [2/2]

Member Function Documentation

◆ getAge() [1/2]

◆ getAge() [2/2]

◆ getMeasurementNoiseCovariance() [1/2]

◆ getMeasurementNoiseCovariance() [2/2]

◆ getPredictedMeasurementsWithCov() [1/2]

◆ getPredictedMeasurementsWithCov() [2/2]

◆ getPredictedStates() [1/2]

◆ getPredictedStates() [2/2]

◆ getPredictedStatesWithCov() [1/2]

◆ getPredictedStatesWithCov() [2/2]

◆ getStateEstimatorType() [1/2]

◆ getStateEstimatorType() [2/2]

◆ getStates() [1/2]

◆ getStates() [2/2]

◆ getStatesWithCov() [1/2]

◆ getStatesWithCov() [2/2]

◆ initStates() [1/2]

◆ initStates() [2/2]

◆ overrideState() [1/2]

◆ overrideState() [2/2]

◆ reset() [1/2]

◆ reset() [2/2]

◆ update() [1/4]

◆ update() [2/4]

◆ update() [3/4]

◆ update() [4/4]

◆ useAspectRatio() [1/2]

◆ useAspectRatio() [2/2]

Field Documentation

◆ m_age

◆ m_numObservStates

◆ m_numTotalStates

◆ m_P

◆ m_params

◆ m_X