-/*
+/*
Tracking of rotating point.
Rotation speed is constant.
Both state and measurements vectors are 1D (a point angle),
#pragma package <opencv>
#endif
+#define CV_NO_BACKWARD_COMPATIBILITY
+
#ifndef _EiC
#include "cv.h"
#include "highgui.h"
int main(int argc, char** argv)
{
const float A[] = { 1, 1, 0, 1 };
-
+
IplImage* img = cvCreateImage( cvSize(500,500), 8, 3 );
CvKalman* kalman = cvCreateKalman( 2, 1, 0 );
CvMat* state = cvCreateMat( 2, 1, CV_32FC1 ); /* (phi, delta_phi) */
for(;;)
{
cvRandArr( &rng, state, CV_RAND_NORMAL, cvRealScalar(0), cvRealScalar(0.1) );
-
+
memcpy( kalman->transition_matrix->data.fl, A, sizeof(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) );
-
+
for(;;)
{
#define calc_point(angle) \
cvPoint( cvRound(img->width/2 + img->width/3*cos(angle)), \
- cvRound(img->height/2 - img->width/3*sin(angle)))
+ cvRound(img->height/2 - img->width/3*sin(angle)))
float state_angle = state->data.fl[0];
CvPoint state_pt = calc_point(state_angle);
-
+
const CvMat* prediction = cvKalmanPredict( kalman, 0 );
float predict_angle = prediction->data.fl[0];
CvPoint predict_pt = calc_point(predict_angle);
measurement_angle = measurement->data.fl[0];
measurement_pt = calc_point(measurement_angle);
-
+
/* plot points */
#define draw_cross( center, color, d ) \
cvLine( img, cvPoint( center.x - d, center.y - d ), \
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),
cvShowImage( "Kalman", img );
code = (char) cvWaitKey( 100 );
-
+
if( code > 0 )
break;
}
if( code == 27 || code == 'q' || code == 'Q' )
break;
}
-
+
cvDestroyWindow("Kalman");
return 0;