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44 class CV_KalmanTest : public CvTest
53 CV_KalmanTest::CV_KalmanTest():
54 CvTest( "kalman", "cvKalmanPredict, cvKalmanCorrect" )
56 support_testing_modes = CvTS::CORRECTNESS_CHECK_MODE;
59 void CV_KalmanTest::run( int )
63 const int Steps = 100;
64 const double max_init = 1;
65 const double max_noise = 0.1;
67 const double EPSILON = 1.000;
68 CvRNG* rng = ts->get_rng();
72 CvMat* Sample = cvCreateMat(Dim,1,CV_32F);
73 CvMat* Temp = cvCreateMat(Dim,1,CV_32F);
75 Kalm = cvCreateKalman(Dim, Dim);
76 CvMat Dyn = cvMat(Dim,Dim,CV_32F,Kalm->DynamMatr);
77 CvMat Mes = cvMat(Dim,Dim,CV_32F,Kalm->MeasurementMatr);
78 CvMat PNC = cvMat(Dim,Dim,CV_32F,Kalm->PNCovariance);
79 CvMat MNC = cvMat(Dim,Dim,CV_32F,Kalm->MNCovariance);
80 CvMat PriErr = cvMat(Dim,Dim,CV_32F,Kalm->PriorErrorCovariance);
81 CvMat PostErr = cvMat(Dim,Dim,CV_32F,Kalm->PosterErrorCovariance);
82 CvMat PriState = cvMat(Dim,1,CV_32F,Kalm->PriorState);
83 CvMat PostState = cvMat(Dim,1,CV_32F,Kalm->PosterState);
85 cvSetIdentity(&PriErr);
86 cvSetIdentity(&PostErr);
89 cvSetZero(&PostState);
92 cvRandArr(rng, Sample, CV_RAND_UNI, cvScalarAll(-max_init), cvScalarAll(max_init));
93 cvKalmanCorrect(Kalm, Sample);
94 for(i = 0; i<Steps; i++)
96 cvKalmanPredict(Kalm);
97 for(j = 0; j<Dim; j++)
100 for(int k=0; k<Dim; k++)
102 t += Dyn.data.fl[j*Dim+k]*Sample->data.fl[k];
104 Temp->data.fl[j]= (float)(t+(cvTsRandReal(rng)*2-1)*max_noise);
106 cvCopy( Temp, Sample );
107 cvKalmanCorrect(Kalm,Temp);
110 code = cvTsCmpEps2( ts, Sample, Kalm->state_post, EPSILON, false, "The final estimated state" );
112 cvReleaseMat(&Sample);
114 cvReleaseKalman(&Kalm);
117 ts->set_failed_test_info( code );
120 CV_KalmanTest kalman_test;