Detailed Description

Define the interface for state estimators.

Definition at line 29 of file sources/libs/nvmultiobjecttracker/include/modules/Estimatorv2/IEstimator2.hpp.

Inheritance diagram for IEstimator2:

Public Member Functions
virtual	~IEstimator2 ()
	Destroy the state-estimator interface. More...

virtual Eigen::VectorXd	update (const float dT=1)=0
	Update without any measurement, using the prediction only. More...

virtual Eigen::VectorXd	update (const std::vector< std::tuple< Eigen::VectorXd, Eigen::Matrix2d, bool > > &measurements, const float dT=1)=0
	Given a set of measurements and their covariances, update the estimator and returns the estimated states. More...

virtual void	reset ()=0
	Reset the states and make the age to be zero. More...

virtual Eigen::VectorXd	getStates () const =0
	Return the current estimated states. More...

virtual Eigen::VectorXd	getPredictedStates (const float dT=1)=0
	Predict states without modifying the current estimate. More...

virtual Eigen::MatrixXd	getMeasurementNoiseCovariance () const =0
	Return the measurement-noise covariance matrix. More...

virtual std::tuple< Eigen::VectorXd, Eigen::MatrixXd >	getStatesWithCov () const =0
	Return the current states and their covariance. More...

virtual std::tuple< Eigen::VectorXd, Eigen::MatrixXd >	getPredictedStatesWithCov (const float dT=1)=0
	Predict states and covariance without modifying the current estimate. More...

virtual std::tuple< Eigen::VectorXd, Eigen::MatrixXd >	getPredictedMeasurementsWithCov (const float dT=1)=0
	Predict measurements and covariance without modifying the current estimate. More...

virtual uint32_t	getAge () const =0
	Return the number of estimator updates. More...

virtual const STATE_ESTIMATOR_TYPES	getStateEstimatorType ()=0
	Return the configured state-estimator type. More...

virtual const bool	useAspectRatio () const =0
	Return whether the estimator represents size using aspect ratio. More...

virtual void	overrideState (const Eigen::Vector2d &position, const Eigen::Vector2d &velocity)=0
	Overwrite the position and velocity components. More...

virtual	~IEstimator2 ()
	Destroy the state-estimator interface. More...

virtual Eigen::VectorXd	update (const float dT=1)=0
	Update without any measurement, using the prediction only. More...

virtual Eigen::VectorXd	update (const std::vector< std::tuple< Eigen::VectorXd, Eigen::Matrix2d, bool > > &measurements, const float dT=1)=0
	Given a set of measurements and their covariances, update the estimator and returns the estimated states. More...

virtual void	reset ()=0
	Reset the states and make the age to be zero. More...

virtual Eigen::VectorXd	getStates () const =0
	Return the current estimated states. More...

virtual Eigen::VectorXd	getPredictedStates (const float dT=1)=0
	Predict states without modifying the current estimate. More...

virtual Eigen::MatrixXd	getMeasurementNoiseCovariance () const =0
	Return the measurement-noise covariance matrix. More...

virtual std::tuple< Eigen::VectorXd, Eigen::MatrixXd >	getStatesWithCov () const =0
	Return the current states and their covariance. More...

virtual std::tuple< Eigen::VectorXd, Eigen::MatrixXd >	getPredictedStatesWithCov (const float dT=1)=0
	Predict states and covariance without modifying the current estimate. More...

virtual std::tuple< Eigen::VectorXd, Eigen::MatrixXd >	getPredictedMeasurementsWithCov (const float dT=1)=0
	Predict measurements and covariance without modifying the current estimate. More...

virtual uint32_t	getAge () const =0
	Return the number of estimator updates. More...

virtual const STATE_ESTIMATOR_TYPES	getStateEstimatorType ()=0
	Return the configured state-estimator type. More...

virtual const bool	useAspectRatio () const =0
	Return whether the estimator represents size using aspect ratio. More...

virtual void	overrideState (const Eigen::Vector2d &position, const Eigen::Vector2d &velocity)=0
	Overwrite the position and velocity components. More...

Constructor & Destructor Documentation

◆ ~IEstimator2() [1/2]

virtual IEstimator2::~IEstimator2 ( )

inlinevirtual

Destroy the state-estimator interface.

Definition at line 33 of file sources/libs/nvmultiobjecttracker/include/modules/Estimatorv2/IEstimator2.hpp.

◆ ~IEstimator2() [2/2]

virtual IEstimator2::~IEstimator2 ( )

inlinevirtual

Destroy the state-estimator interface.

Definition at line 33 of file 9.2/sources/libs/nvmultiobjecttracker/include/modules/Estimatorv2/IEstimator2.hpp.

Member Function Documentation

◆ getAge() [1/2]

virtual uint32_t IEstimator2::getAge ( ) const

pure virtual

Return the number of estimator updates.

Implemented in SimpleEstimator2, SimpleEstimator2, DummyEstimator2, and DummyEstimator2.

◆ getAge() [2/2]

virtual uint32_t IEstimator2::getAge ( ) const

pure virtual

Return the number of estimator updates.

Implemented in SimpleEstimator2, SimpleEstimator2, DummyEstimator2, and DummyEstimator2.

◆ getMeasurementNoiseCovariance() [1/2]

virtual Eigen::MatrixXd IEstimator2::getMeasurementNoiseCovariance ( ) const

pure virtual

Return the measurement-noise covariance matrix.

Implemented in SimpleEstimator2, SimpleEstimator2, DummyEstimator2, and DummyEstimator2.

◆ getMeasurementNoiseCovariance() [2/2]

virtual Eigen::MatrixXd IEstimator2::getMeasurementNoiseCovariance ( ) const

pure virtual

Return the measurement-noise covariance matrix.

Implemented in SimpleEstimator2, SimpleEstimator2, DummyEstimator2, and DummyEstimator2.

◆ getPredictedMeasurementsWithCov() [1/2]

virtual std::tuple<Eigen::VectorXd, Eigen::MatrixXd> IEstimator2::getPredictedMeasurementsWithCov ( const float dT = 1 )

pure virtual

Predict measurements and covariance without modifying the current estimate.

Parameters

[in] dT The time step.

Implemented in SimpleEstimator2, SimpleEstimator2, DummyEstimator2, and DummyEstimator2.

◆ getPredictedMeasurementsWithCov() [2/2]

virtual std::tuple<Eigen::VectorXd, Eigen::MatrixXd> IEstimator2::getPredictedMeasurementsWithCov ( const float dT = 1 )

pure virtual

Predict measurements and covariance without modifying the current estimate.

Parameters

[in] dT The time step.

Implemented in SimpleEstimator2, SimpleEstimator2, DummyEstimator2, and DummyEstimator2.

◆ getPredictedStates() [1/2]

virtual Eigen::VectorXd IEstimator2::getPredictedStates ( const float dT = 1 )

pure virtual

Predict states without modifying the current estimate.

Parameters

[in] dT The time step.

Implemented in SimpleEstimator2, SimpleEstimator2, DummyEstimator2, and DummyEstimator2.

◆ getPredictedStates() [2/2]

virtual Eigen::VectorXd IEstimator2::getPredictedStates ( const float dT = 1 )

pure virtual

Predict states without modifying the current estimate.

Parameters

[in] dT The time step.

Implemented in SimpleEstimator2, SimpleEstimator2, DummyEstimator2, and DummyEstimator2.

◆ getPredictedStatesWithCov() [1/2]

virtual std::tuple<Eigen::VectorXd, Eigen::MatrixXd> IEstimator2::getPredictedStatesWithCov ( const float dT = 1 )

pure virtual

Predict states and covariance without modifying the current estimate.

Parameters

[in] dT The time step.

Implemented in SimpleEstimator2, SimpleEstimator2, DummyEstimator2, and DummyEstimator2.

◆ getPredictedStatesWithCov() [2/2]

virtual std::tuple<Eigen::VectorXd, Eigen::MatrixXd> IEstimator2::getPredictedStatesWithCov ( const float dT = 1 )

pure virtual

Predict states and covariance without modifying the current estimate.

Parameters

[in] dT The time step.

Implemented in SimpleEstimator2, SimpleEstimator2, DummyEstimator2, and DummyEstimator2.

◆ getStateEstimatorType() [1/2]

virtual const STATE_ESTIMATOR_TYPES IEstimator2::getStateEstimatorType ( )

pure virtual

Return the configured state-estimator type.

Implemented in SimpleEstimator2, SimpleEstimator2, DummyEstimator2, and DummyEstimator2.

◆ getStateEstimatorType() [2/2]

virtual const STATE_ESTIMATOR_TYPES IEstimator2::getStateEstimatorType ( )

pure virtual

Return the configured state-estimator type.

Implemented in SimpleEstimator2, SimpleEstimator2, DummyEstimator2, and DummyEstimator2.

◆ getStates() [1/2]

virtual Eigen::VectorXd IEstimator2::getStates ( ) const

pure virtual

Return the current estimated states.

Implemented in SimpleEstimator2, SimpleEstimator2, DummyEstimator2, and DummyEstimator2.

◆ getStates() [2/2]

virtual Eigen::VectorXd IEstimator2::getStates ( ) const

pure virtual

Return the current estimated states.

Implemented in SimpleEstimator2, SimpleEstimator2, DummyEstimator2, and DummyEstimator2.

◆ getStatesWithCov() [1/2]

virtual std::tuple<Eigen::VectorXd, Eigen::MatrixXd> IEstimator2::getStatesWithCov ( ) const

pure virtual

Return the current states and their covariance.

Implemented in SimpleEstimator2, SimpleEstimator2, DummyEstimator2, and DummyEstimator2.

◆ getStatesWithCov() [2/2]

virtual std::tuple<Eigen::VectorXd, Eigen::MatrixXd> IEstimator2::getStatesWithCov ( ) const

pure virtual

Return the current states and their covariance.

Implemented in SimpleEstimator2, SimpleEstimator2, DummyEstimator2, and DummyEstimator2.

◆ overrideState() [1/2]

virtual void IEstimator2::overrideState	(	const Eigen::Vector2d &	position,
		const Eigen::Vector2d &	velocity
	)

pure virtual

Overwrite the position and velocity components.

Parameters

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

Implemented in SimpleEstimator2, SimpleEstimator2, DummyEstimator2, and DummyEstimator2.

◆ overrideState() [2/2]

virtual void IEstimator2::overrideState	(	const Eigen::Vector2d &	position,
		const Eigen::Vector2d &	velocity
	)

pure virtual

Overwrite the position and velocity components.

Parameters

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

Implemented in SimpleEstimator2, SimpleEstimator2, DummyEstimator2, and DummyEstimator2.

◆ reset() [1/2]

virtual void IEstimator2::reset ( )

pure virtual

Reset the states and make the age to be zero.

Implemented in SimpleEstimator2, SimpleEstimator2, DummyEstimator2, and DummyEstimator2.

◆ reset() [2/2]

virtual void IEstimator2::reset ( )

pure virtual

Reset the states and make the age to be zero.

Implemented in SimpleEstimator2, SimpleEstimator2, DummyEstimator2, and DummyEstimator2.

◆ update() [1/4]

virtual Eigen::VectorXd IEstimator2::update ( const float dT = 1 )

pure virtual

Update without any measurement, using the prediction only.

Parameters

[in] dT The time step.

Returns: The estimated states.

Implemented in SimpleEstimator2, SimpleEstimator2, DummyEstimator2, and DummyEstimator2.

◆ update() [2/4]

virtual Eigen::VectorXd IEstimator2::update ( const float dT = 1 )

pure virtual

Update without any measurement, using the prediction only.

Parameters

[in] dT The time step.

Returns: The estimated states.

Implemented in SimpleEstimator2, SimpleEstimator2, DummyEstimator2, and DummyEstimator2.

◆ update() [3/4]

virtual Eigen::VectorXd IEstimator2::update	(	const std::vector< std::tuple< Eigen::VectorXd, Eigen::Matrix2d, bool > > &	measurements,
		const float	dT = `1`
	)

pure virtual

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.

Implemented in SimpleEstimator2, SimpleEstimator2, DummyEstimator2, and DummyEstimator2.

◆ update() [4/4]

virtual Eigen::VectorXd IEstimator2::update	(	const std::vector< std::tuple< Eigen::VectorXd, Eigen::Matrix2d, bool > > &	measurements,
		const float	dT = `1`
	)

pure virtual

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.

Implemented in SimpleEstimator2, SimpleEstimator2, DummyEstimator2, and DummyEstimator2.

◆ useAspectRatio() [1/2]

virtual const bool IEstimator2::useAspectRatio ( ) const

pure virtual

Return whether the estimator represents size using aspect ratio.

Implemented in SimpleEstimator2, SimpleEstimator2, DummyEstimator2, and DummyEstimator2.

◆ useAspectRatio() [2/2]

virtual const bool IEstimator2::useAspectRatio ( ) const

pure virtual

Return whether the estimator represents size using aspect ratio.

Implemented in SimpleEstimator2, SimpleEstimator2, DummyEstimator2, and DummyEstimator2.

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

sources/libs/nvmultiobjecttracker/include/modules/Estimatorv2/IEstimator2.hpp

NVIDIA DeepStream SDK API Reference

9.2 Release

Detailed Description

Public Member Functions

Constructor & Destructor Documentation

◆ ~IEstimator2() [1/2]

◆ ~IEstimator2() [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]

◆ 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]