Detailed Description

Simple state estimator using a Kalman filter with a constant velocity model.

Definition at line 72 of file sources/libs/nvmultiobjecttracker/include/modules/Estimatorv2/SimpleEstimator2.hpp.

Inheritance diagram for SimpleEstimator2:

Collaboration diagram for SimpleEstimator2:

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Public Member Functions
	SimpleEstimator2 (const std::string &configFilePath, const int numTotalStates=6, const int numObservStates=4, const float processNoiseScale=1.0, const float measurementNoiseScale=1.0)
	Construct a Kalman-filter state estimator from configuration. More...

	~SimpleEstimator2 ()
	Destroy the simple 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...

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

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

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

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

	SimpleEstimator2 (const std::string &configFilePath, const int numTotalStates=6, const int numObservStates=4, const float processNoiseScale=1.0, const float measurementNoiseScale=1.0)
	Construct a Kalman-filter state estimator from configuration. More...

	~SimpleEstimator2 ()
	Destroy the simple 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...

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

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

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

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

Protected Types
enum	MEASUREMENT_NOISE_OPTION { UNCHANGED, DETECTOR, TRACKER, UNCHANGED, DETECTOR, TRACKER }
	Options to set constant measurement noise. More...

enum	MEASUREMENT_NOISE_OPTION { UNCHANGED, DETECTOR, TRACKER, UNCHANGED, DETECTOR, TRACKER }
	Options to set constant measurement noise. More...

Protected Member Functions
void	initStates (const Eigen::VectorXd &meas)
	Initialize the target state from a measurement. More...

void	setTransitionMatrix (const float dT=1)
	Set the transition matrix based on the input time interval. More...

void	setMeasurementNoiseMatrix (const Eigen::VectorXd &meas, const MEASUREMENT_NOISE_OPTION option=MEASUREMENT_NOISE_OPTION::UNCHANGED)
	Set measurement noise matrix. More...

void	setProcessNoiseMatrix (const Eigen::VectorXd &meas, const bool isInit=false)
	Set process noise matrix. More...

void	predict (const float dT=1)
	Predict the states for a time interval. More...

void	initStates (const Eigen::VectorXd &meas)
	Initialize the target state from a measurement. More...

void	setTransitionMatrix (const float dT=1)
	Set the transition matrix based on the input time interval. More...

void	setMeasurementNoiseMatrix (const Eigen::VectorXd &meas, const MEASUREMENT_NOISE_OPTION option=MEASUREMENT_NOISE_OPTION::UNCHANGED)
	Set measurement noise matrix. More...

void	setProcessNoiseMatrix (const Eigen::VectorXd &meas, const bool isInit=false)
	Set process noise matrix. More...

void	predict (const float dT=1)
	Predict the states for a time interval. More...

Protected Attributes
SimpleEstimatorParams2	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

Eigen::VectorXd	m_X_pred
	Estimated and predicted states. More...

Eigen::MatrixXd	m_A
	Transition matrix. More...

Eigen::MatrixXd	m_Q
	Process noise covariance matrix. More...

Eigen::MatrixXd	m_P

Eigen::MatrixXd	m_P_pred
	Estimate and prediction error covariance. More...

Eigen::MatrixXd	m_H
	Measurement matrix. More...

Eigen::MatrixXd	m_R
	Measurement noise covariance matrix. More...

Eigen::MatrixXd	m_I
	Identity matrix. More...

Eigen::MatrixXd	m_K
	Kalman gain. More...

uint32_t	m_age
	Counts estimator updates. More...

bool	m_useDynamicCov
	Indicates whether measurements provide dynamic covariance. More...

Eigen::IOFormat	m_CommaInitFmt
	Eigen output format used for debug. More...

Member Enumeration Documentation

◆ MEASUREMENT_NOISE_OPTION [1/2]

enum SimpleEstimator2::MEASUREMENT_NOISE_OPTION

protected

Options to set constant measurement noise.

Enumerator
UNCHANGED	Keeps the current measurement noise.
DETECTOR	Uses detector measurement noise.
TRACKER	Uses tracker measurement noise.
UNCHANGED	Keeps the current measurement noise.
DETECTOR	Uses detector measurement noise.
TRACKER	Uses tracker measurement noise.

Definition at line 180 of file sources/libs/nvmultiobjecttracker/include/modules/Estimatorv2/SimpleEstimator2.hpp.

◆ MEASUREMENT_NOISE_OPTION [2/2]

enum SimpleEstimator2::MEASUREMENT_NOISE_OPTION

protected

Options to set constant measurement noise.

Enumerator
UNCHANGED	Keeps the current measurement noise.
DETECTOR	Uses detector measurement noise.
TRACKER	Uses tracker measurement noise.
UNCHANGED	Keeps the current measurement noise.
DETECTOR	Uses detector measurement noise.
TRACKER	Uses tracker measurement noise.

Definition at line 180 of file 9.2/sources/libs/nvmultiobjecttracker/include/modules/Estimatorv2/SimpleEstimator2.hpp.

Constructor & Destructor Documentation

◆ SimpleEstimator2() [1/2]

SimpleEstimator2::SimpleEstimator2	(	const std::string &	configFilePath,
		const int	numTotalStates = `6`,
		const int	numObservStates = `4`,
		const float	processNoiseScale = `1.0`,
		const float	measurementNoiseScale = `1.0`
	)

Construct a Kalman-filter 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.
[in]	processNoiseScale	Scale applied to the location, size, and velocity process-noise variances.
[in]	measurementNoiseScale	Scale applied to the detector and tracker measurement-noise variances.

◆ ~SimpleEstimator2() [1/2]

SimpleEstimator2::~SimpleEstimator2 ( )

Destroy the simple state estimator.

◆ SimpleEstimator2() [2/2]

SimpleEstimator2::SimpleEstimator2	(	const std::string &	configFilePath,
		const int	numTotalStates = `6`,
		const int	numObservStates = `4`,
		const float	processNoiseScale = `1.0`,
		const float	measurementNoiseScale = `1.0`
	)

Construct a Kalman-filter 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.
[in]	processNoiseScale	Scale applied to the location, size, and velocity process-noise variances.
[in]	measurementNoiseScale	Scale applied to the detector and tracker measurement-noise variances.

◆ ~SimpleEstimator2() [2/2]

SimpleEstimator2::~SimpleEstimator2 ( )

Destroy the simple state estimator.

Member Function Documentation

◆ getAge() [1/2]

uint32_t SimpleEstimator2::getAge ( ) const

inlineoverridevirtual

Return the number of estimator updates.

Implements IEstimator2.

Definition at line 154 of file sources/libs/nvmultiobjecttracker/include/modules/Estimatorv2/SimpleEstimator2.hpp.

References m_age.

◆ getAge() [2/2]

uint32_t SimpleEstimator2::getAge ( ) const

inlineoverridevirtual

Return the number of estimator updates.

Implements IEstimator2.

Definition at line 154 of file 9.2/sources/libs/nvmultiobjecttracker/include/modules/Estimatorv2/SimpleEstimator2.hpp.

References m_age.

◆ getMeasurementNoiseCovariance() [1/2]

Eigen::MatrixXd SimpleEstimator2::getMeasurementNoiseCovariance ( ) const

inlineoverridevirtual

Return the measurement-noise covariance matrix.

Implements IEstimator2.

Definition at line 121 of file sources/libs/nvmultiobjecttracker/include/modules/Estimatorv2/SimpleEstimator2.hpp.

References m_R.

◆ getMeasurementNoiseCovariance() [2/2]

Eigen::MatrixXd SimpleEstimator2::getMeasurementNoiseCovariance ( ) const

inlineoverridevirtual

Return the measurement-noise covariance matrix.

Implements IEstimator2.

Definition at line 121 of file 9.2/sources/libs/nvmultiobjecttracker/include/modules/Estimatorv2/SimpleEstimator2.hpp.

References m_R.

◆ getPredictedMeasurementsWithCov() [1/2]

std::tuple<Eigen::VectorXd, Eigen::MatrixXd> SimpleEstimator2::getPredictedMeasurementsWithCov ( const float dT = 1 )

overridevirtual

Predict measurements and covariance without modifying the current estimate.

Parameters

[in] dT The time step.

Implements IEstimator2.

◆ getPredictedMeasurementsWithCov() [2/2]

std::tuple<Eigen::VectorXd, Eigen::MatrixXd> SimpleEstimator2::getPredictedMeasurementsWithCov ( const float dT = 1 )

overridevirtual

Predict measurements and covariance without modifying the current estimate.

Parameters

[in] dT The time step.

Implements IEstimator2.

◆ getPredictedStates() [1/2]

Eigen::VectorXd SimpleEstimator2::getPredictedStates ( const float dT = 1 )

overridevirtual

Predict states without modifying the current estimate.

Parameters

[in] dT The time step.

Implements IEstimator2.

◆ getPredictedStates() [2/2]

Eigen::VectorXd SimpleEstimator2::getPredictedStates ( const float dT = 1 )

overridevirtual

Predict states without modifying the current estimate.

Parameters

[in] dT The time step.

Implements IEstimator2.

◆ getPredictedStatesWithCov() [1/2]

std::tuple<Eigen::VectorXd, Eigen::MatrixXd> SimpleEstimator2::getPredictedStatesWithCov ( const float dT = 1 )

overridevirtual

Predict states and covariance without modifying the current estimate.

Parameters

[in] dT The time step.

Implements IEstimator2.

◆ getPredictedStatesWithCov() [2/2]

std::tuple<Eigen::VectorXd, Eigen::MatrixXd> SimpleEstimator2::getPredictedStatesWithCov ( const float dT = 1 )

overridevirtual

Predict states and covariance without modifying the current estimate.

Parameters

[in] dT The time step.

Implements IEstimator2.

◆ getStateEstimatorType() [1/2]

const STATE_ESTIMATOR_TYPES SimpleEstimator2::getStateEstimatorType ( )

inlineoverridevirtual

Return the configured state-estimator type.

Implements IEstimator2.

Definition at line 160 of file sources/libs/nvmultiobjecttracker/include/modules/Estimatorv2/SimpleEstimator2.hpp.

References m_params, and SimpleEstimatorParams2::m_stateEstimatorType.

◆ getStateEstimatorType() [2/2]

const STATE_ESTIMATOR_TYPES SimpleEstimator2::getStateEstimatorType ( )

inlineoverridevirtual

Return the configured state-estimator type.

Implements IEstimator2.

Definition at line 160 of file 9.2/sources/libs/nvmultiobjecttracker/include/modules/Estimatorv2/SimpleEstimator2.hpp.

References m_params, and SimpleEstimatorParams2::m_stateEstimatorType.

◆ getStates() [1/2]

Eigen::VectorXd SimpleEstimator2::getStates ( ) const

inlineoverridevirtual

Return the current estimated states.

Implements IEstimator2.

Definition at line 112 of file sources/libs/nvmultiobjecttracker/include/modules/Estimatorv2/SimpleEstimator2.hpp.

References m_X.

◆ getStates() [2/2]

Eigen::VectorXd SimpleEstimator2::getStates ( ) const

inlineoverridevirtual

Return the current estimated states.

Implements IEstimator2.

Definition at line 112 of file 9.2/sources/libs/nvmultiobjecttracker/include/modules/Estimatorv2/SimpleEstimator2.hpp.

References m_X.

◆ getStatesWithCov() [1/2]

std::tuple<Eigen::VectorXd, Eigen::MatrixXd> SimpleEstimator2::getStatesWithCov ( ) const

inlineoverridevirtual

Return the current states and their covariance.

Implements IEstimator2.

Definition at line 124 of file 9.2/sources/libs/nvmultiobjecttracker/include/modules/Estimatorv2/SimpleEstimator2.hpp.

References m_P, and m_X.

◆ getStatesWithCov() [2/2]

std::tuple<Eigen::VectorXd, Eigen::MatrixXd> SimpleEstimator2::getStatesWithCov ( ) const

inlineoverridevirtual

Return the current states and their covariance.

Implements IEstimator2.

Definition at line 124 of file sources/libs/nvmultiobjecttracker/include/modules/Estimatorv2/SimpleEstimator2.hpp.

References m_P, and m_X.

◆ initStates() [1/2]

void SimpleEstimator2::initStates ( const Eigen::VectorXd & meas )

protected

Initialize the target state from a measurement.

Parameters

[in] meas The initial measurement.

◆ initStates() [2/2]

void SimpleEstimator2::initStates ( const Eigen::VectorXd & meas )

protected

Initialize the target state from a measurement.

Parameters

[in] meas The initial measurement.

◆ overrideState() [1/2]

void SimpleEstimator2::overrideState	(	const Eigen::Vector2d &	position,
		const Eigen::Vector2d &	velocity
	)

inlineoverridevirtual

Overwrite the position and velocity components for a location estimator.

Parameters

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

Implements IEstimator2.

Definition at line 143 of file sources/libs/nvmultiobjecttracker/include/modules/Estimatorv2/SimpleEstimator2.hpp.

References LOCATION_ESTIMATOR_PROJECTIVE, LOCATION_ESTIMATOR_SIMPLE, m_params, SimpleEstimatorParams2::m_stateEstimatorType, m_X, and m_X_pred.

◆ overrideState() [2/2]

void SimpleEstimator2::overrideState	(	const Eigen::Vector2d &	position,
		const Eigen::Vector2d &	velocity
	)

inlineoverridevirtual

Overwrite the position and velocity components for a location estimator.

Parameters

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

Implements IEstimator2.

Definition at line 143 of file 9.2/sources/libs/nvmultiobjecttracker/include/modules/Estimatorv2/SimpleEstimator2.hpp.

References LOCATION_ESTIMATOR_PROJECTIVE, LOCATION_ESTIMATOR_SIMPLE, m_params, SimpleEstimatorParams2::m_stateEstimatorType, m_X, and m_X_pred.

◆ predict() [1/2]

void SimpleEstimator2::predict ( const float dT = 1 )

protected

Predict the states for a time interval.

Parameters

[in] dT The time step.

◆ predict() [2/2]

void SimpleEstimator2::predict ( const float dT = 1 )

protected

Predict the states for a time interval.

Parameters

[in] dT The time step.

◆ reset() [1/2]

void SimpleEstimator2::reset ( )

overridevirtual

Reset the states and make the age to be zero.

Implements IEstimator2.

◆ reset() [2/2]

void SimpleEstimator2::reset ( )

overridevirtual

Reset the states and make the age to be zero.

Implements IEstimator2.

◆ setMeasurementNoiseMatrix() [1/2]

void SimpleEstimator2::setMeasurementNoiseMatrix	(	const Eigen::VectorXd &	meas,
		const MEASUREMENT_NOISE_OPTION	option = `MEASUREMENT_NOISE_OPTION::UNCHANGED`
	)

protected

Set measurement noise matrix.

Parameters

[in]	meas	Input measurement used when noise is proportional to box size.
[in]	option	Measurement-noise selection.

◆ setMeasurementNoiseMatrix() [2/2]

void SimpleEstimator2::setMeasurementNoiseMatrix	(	const Eigen::VectorXd &	meas,
		const MEASUREMENT_NOISE_OPTION	option = `MEASUREMENT_NOISE_OPTION::UNCHANGED`
	)

protected

Set measurement noise matrix.

Parameters

[in]	meas	Input measurement used when noise is proportional to box size.
[in]	option	Measurement-noise selection.

◆ setProcessNoiseMatrix() [1/2]

void SimpleEstimator2::setProcessNoiseMatrix	(	const Eigen::VectorXd &	meas,
		const bool	isInit = `false`
	)

protected

Set process noise matrix.

Parameters

[in]	meas	Input measurement used when noise is proportional to box size.
[in]	isInit	Whether the process-noise matrix is being initialized.

◆ setProcessNoiseMatrix() [2/2]

void SimpleEstimator2::setProcessNoiseMatrix	(	const Eigen::VectorXd &	meas,
		const bool	isInit = `false`
	)

protected

Set process noise matrix.

Parameters

[in]	meas	Input measurement used when noise is proportional to box size.
[in]	isInit	Whether the process-noise matrix is being initialized.

◆ setTransitionMatrix() [1/2]

void SimpleEstimator2::setTransitionMatrix ( const float dT = 1 )

protected

Set the transition matrix based on the input time interval.

Parameters

[in] dT The prediction time interval.

◆ setTransitionMatrix() [2/2]

void SimpleEstimator2::setTransitionMatrix ( const float dT = 1 )

protected

Set the transition matrix based on the input time interval.

Parameters

[in] dT The prediction time interval.

◆ update() [1/4]

Eigen::VectorXd SimpleEstimator2::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 SimpleEstimator2::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 SimpleEstimator2::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 SimpleEstimator2::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.