X-Git-Url: https://vcs.maemo.org/git/?a=blobdiff_plain;f=samples%2Fc%2Fkalman.c;h=5418c42a869696772c5d68c50dcb1281ffceff49;hb=e4c14cdbdf2fe805e79cd96ded236f57e7b89060;hp=fb18644765bcf717bf7ef315eeac4959ebdc5b45;hpb=454138ff8a20f6edb9b65a910101403d8b520643;p=opencv

diff --git a/samples/c/kalman.c b/samples/c/kalman.c
index fb18644..5418c42 100644
--- a/samples/c/kalman.c
+++ b/samples/c/kalman.c
@@ -1,4 +1,4 @@
-/* 
+/*
    Tracking of rotating point.
    Rotation speed is constant.
    Both state and measurements vectors are 1D (a point angle),
@@ -15,6 +15,8 @@
 #pragma package <opencv>
 #endif
 
+#define CV_NO_BACKWARD_COMPATIBILITY
+
 #ifndef _EiC
 #include "cv.h"
 #include "highgui.h"
@@ -24,7 +26,7 @@
 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) */
@@ -39,23 +41,23 @@ int main(int argc, char** argv)
     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);
@@ -70,7 +72,7 @@ int main(int argc, char** argv)
 
             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 ),                \
@@ -84,7 +86,7 @@ int main(int argc, char** argv)
             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),
@@ -93,14 +95,14 @@ int main(int argc, char** argv)
 
             cvShowImage( "Kalman", img );
             code = (char) cvWaitKey( 100 );
-            
+
             if( code > 0 )
                 break;
         }
         if( code == 27 || code == 'q' || code == 'Q' )
             break;
     }
-    
+
     cvDestroyWindow("Kalman");
 
     return 0;