Merge pull request #449 from Audenrith:EnableAccessToUKFErrorCovariance

modules/tracking/include/opencv2/tracking/kalman_filters.hpp

@@ -80,6 +80,11 @@ public:
     */
     virtual Mat getMeasurementNoiseCov() const = 0;
 
+    /**
+    * @return the error cross-covariance matrix.
+    */
+    virtual Mat getErrorCov() const = 0;
+
     /**
     * @return the current estimate of the state.
     */

modules/tracking/src/augmented_unscented_kalman.cpp

@@ -195,6 +195,7 @@ public:
 
     Mat getProcessNoiseCov() const;
     Mat getMeasurementNoiseCov() const;
+    Mat getErrorCov() const;
 
     Mat getState() const;
 
@@ -425,6 +426,11 @@ Mat AugmentedUnscentedKalmanFilterImpl::getMeasurementNoiseCov() const
     return measurementNoiseCov.clone();
 }
 
+Mat AugmentedUnscentedKalmanFilterImpl::getErrorCov() const
+{
+    return errorCov.clone();
+}
+
 Mat AugmentedUnscentedKalmanFilterImpl::getState() const
 {
     return state.clone();

modules/tracking/src/unscented_kalman.cpp

@@ -189,6 +189,7 @@ public:
 //  Get system parameters
     Mat getProcessNoiseCov() const;
     Mat getMeasurementNoiseCov() const;
+    Mat getErrorCov() const;
 
 //  Get the state estimate
     Mat getState() const;
@@ -400,6 +401,11 @@ Mat UnscentedKalmanFilterImpl::getMeasurementNoiseCov() const
     return measurementNoiseCov.clone();
 }
 
+Mat UnscentedKalmanFilterImpl::getErrorCov() const
+{
+    return errorCov.clone();
+}
+
 Mat UnscentedKalmanFilterImpl::getState() const
 {
     return state.clone();