kalman.cpp

#include "opencv2/highgui/highgui.hpp"
#include "opencv2/video/tracking.hpp"
#include <Windows.h>
 
#define drawCross( center, color, d )                                 \
line( img, Point( center.x - d, center.y - d ), Point( center.x + d, center.y + d ), color, 2, CV_AA, 0); \
line( img, Point( center.x + d, center.y - d ), Point( center.x - d, center.y + d ), color, 2, CV_AA, 0 )
 
using namespace cv;
using namespace std;
  
int main( )
{ 
 
KalmanFilter KF(4, 2, 0);
POINT mousePos;
GetCursorPos(&mousePos);
 
// intialization of KF...
KF.transitionMatrix = (Mat_<float>(4, 4) << 1,0,1,0,   0,1,0,1,  0,0,1,0,  0,0,0,1);
Mat_<float> measurement(2,1); measurement.setTo(Scalar(0));
 
KF.statePre.at<float>(0) = mousePos.x;
KF.statePre.at<float>(1) = mousePos.y;
KF.statePre.at<float>(2) = 0;
KF.statePre.at<float>(3) = 0;
setIdentity(KF.measurementMatrix);
setIdentity(KF.processNoiseCov, Scalar::all(1e-4));
setIdentity(KF.measurementNoiseCov, Scalar::all(10));
setIdentity(KF.errorCovPost, Scalar::all(.1));
// Image to show mouse tracking
Mat img(600, 800, CV_8UC3);
vector<Point> mousev,kalmanv;
mousev.clear();
kalmanv.clear();
 
while(1)
{
 // First predict, to update the internal statePre variable
 Mat prediction = KF.predict();
 Point predictPt(prediction.at<float>(0),prediction.at<float>(1));
              
 // Get mouse point
 GetCursorPos(&mousePos);
 measurement(0) = mousePos.x;
 measurement(1) = mousePos.y; 
  
 // The update phase 
 Mat estimated = KF.correct(measurement);
 
 Point statePt(estimated.at<float>(0),estimated.at<float>(1));
 Point measPt(measurement(0),measurement(1));
    // plot points
    imshow("mouse kalman", img);
    img = Scalar::all(0);
 
    mousev.push_back(measPt);
    kalmanv.push_back(statePt);
    drawCross( statePt, Scalar(255,255,255), 5 );
    drawCross( measPt, Scalar(0,0,255), 5 );
 
    for (int i = 0; i < mousev.size()-1; i++) 
     line(img, mousev[i], mousev[i+1], Scalar(255,255,0), 1);
     
    for (int i = 0; i < kalmanv.size()-1; i++) 
     line(img, kalmanv[i], kalmanv[i+1], Scalar(0,155,255), 1);
     
 waitKey(10);  
}
                                           
    return 0;
}