+++ /dev/null
-#!/usr/bin/python
-"""
- Tracking of rotating point.
- Rotation speed is constant.
- Both state and measurements vectors are 1D (a point angle),
- Measurement is the real point angle + gaussian noise.
- The real and the estimated points are connected with yellow line segment,
- the real and the measured points are connected with red line segment.
- (if Kalman filter works correctly,
- the yellow segment should be shorter than the red one).
- Pressing any key (except ESC) will reset the tracking with a different speed.
- Pressing ESC will stop the program.
-"""
-from opencv.cv import *
-from opencv.highgui import *
-from math import cos, sin, sqrt
-
-if __name__ == "__main__":
- A = [ [1, 1], [0, 1] ];
-
- img = cvCreateImage( cvSize(500,500), 8, 3 );
- kalman = cvCreateKalman( 2, 1, 0 );
- state = cvCreateMat( 2, 1, CV_32FC1 ); # (phi, delta_phi)
- process_noise = cvCreateMat( 2, 1, CV_32FC1 );
- measurement = cvCreateMat( 1, 1, CV_32FC1 );
- rng = cvRNG(-1);
- code = -1;
-
- cvZero( measurement );
- cvNamedWindow( "Kalman", 1 );
-
- while True:
- cvRandArr( rng, state, CV_RAND_NORMAL, cvRealScalar(0), cvRealScalar(0.1) );
-
- kalman.transition_matrix[:] = A;
- cvSetIdentity( kalman.measurement_matrix, cvRealScalar(1) );
- cvSetIdentity( kalman.process_noise_cov, cvRealScalar(1e-5) );
- cvSetIdentity( kalman.measurement_noise_cov, cvRealScalar(1e-1) );
- cvSetIdentity( kalman.error_cov_post, cvRealScalar(1));
- cvRandArr( rng, kalman.state_post, CV_RAND_NORMAL, cvRealScalar(0), cvRealScalar(0.1) );
-
- while True:
- def calc_point(angle):
- return cvPoint( cvRound(img.width/2 + img.width/3*cos(angle)),
- cvRound(img.height/2 - img.width/3*sin(angle)))
-
- state_angle = state[0]
- state_pt = calc_point(state_angle);
-
- prediction = cvKalmanPredict( kalman );
- predict_angle = prediction[0,0]
- predict_pt = calc_point(predict_angle);
-
- cvRandArr( rng, measurement, CV_RAND_NORMAL, cvRealScalar(0),
- cvRealScalar(sqrt(kalman.measurement_noise_cov[0,0])) );
-
- # generate measurement
- cvMatMulAdd( kalman.measurement_matrix, state, measurement, measurement );
-
- measurement_angle = measurement[0,0];
- measurement_pt = calc_point(measurement_angle);
-
- # plot points
- def draw_cross( center, color, d ):
- cvLine( img, cvPoint( center.x - d, center.y - d ),
- cvPoint( center.x + d, center.y + d ), color, 1, CV_AA, 0);
- cvLine( img, cvPoint( center.x + d, center.y - d ),
- cvPoint( center.x - d, center.y + d ), color, 1, CV_AA, 0 )
-
- cvZero( img );
- draw_cross( state_pt, CV_RGB(255,255,255), 3 );
- draw_cross( measurement_pt, CV_RGB(255,0,0), 3 );
- draw_cross( predict_pt, CV_RGB(0,255,0), 3 );
- cvLine( img, state_pt, measurement_pt, CV_RGB(255,0,0), 3, CV_AA, 0 );
- cvLine( img, state_pt, predict_pt, CV_RGB(255,255,0), 3, CV_AA, 0 );
-
- cvKalmanCorrect( kalman, measurement );
-
- cvRandArr( rng, process_noise, CV_RAND_NORMAL, cvRealScalar(0),
- cvRealScalar(sqrt(kalman.process_noise_cov[0,0])));
- cvMatMulAdd( kalman.transition_matrix, state, process_noise, state );
-
- cvShowImage( "Kalman", img );
- code = cvWaitKey( 100 );
-
- if( code > 0 ):
- break;
-
- if( code == '\x1b' or code == 'q' or code == 'Q' ):
- break;
-
- cvDestroyWindow("Kalman");