memcpy( cvkalman->transition_matrix->data.fl, A, sizeof(A)); memcpy( cvkalman->measurement_matrix->data.fl, H, sizeof(H)); memcpy( cvkalman->process_noise_cov->data.fl, Q, sizeof(Q)); memcpy( cvkalman->error_cov_post->data.fl, P, sizeof(P));
memcpy( cvkalman->measurement_noise_cov->data.fl, R, sizeof(R)); //cvSetIdentity( cvkalman->process_noise_cov, cvRealScalar(1e-5) ); //cvSetIdentity( cvkalman->error_cov_post, cvRealScalar(1));
//cvSetIdentity( cvkalman->measurement_noise_cov, cvRealScalar(1e-1) );
/* choose initial state */
state->data.fl[0]=x; state->data.fl[1]=xv; state->data.fl[2]=y; state->data.fl[3]=yv;
cvkalman->state_post->data.fl[0]=x; cvkalman->state_post->data.fl[1]=xv; cvkalman->state_post->data.fl[2]=y; cvkalman->state_post->data.fl[3]=yv;
cvRandSetRange( &rng, 0, sqrt(cvkalman->process_noise_cov->data.fl[0]), 0 ); cvRand( &rng, process_noise );
}
CvPoint2D32f kalman::get_predict(float x, float y){
/* update state with current position */ state->data.fl[0]=x; state->data.fl[2]=y;
/* predict point position */ /* x'k=A鈥k+B鈥k P'k=A鈥k-1*AT + Q */
cvRandSetRange( &rng, 0, sqrt(cvkalman->measurement_noise_cov->data.fl[0]), 0 );
cvRand( &rng, measurement );
/* xk=A?xk-1+B?uk+wk */ cvMatMulAdd( cvkalman->transition_matrix, state, process_noise, cvkalman->state_post );
/* zk=H?xk+vk */ cvMatMulAdd( cvkalman->measurement_matrix, cvkalman->state_post, measurement, measurement );
/* adjust Kalman filter state */
/* Kk=P'k鈥T鈥?H鈥'k鈥T+R)-1 xk=x'k+Kk鈥?zk-H鈥'k) Pk=(I-Kk鈥)鈥'k */
cvKalmanCorrect( cvkalman, measurement );
float measured_value_x = measurement->data.fl[0]; float measured_value_y = measurement->data.fl[2];
const CvMat* prediction = cvKalmanPredict( cvkalman, 0 ); float predict_value_x = prediction->data.fl[0]; float predict_value_y = prediction->data.fl[2];
return(cvPoint2D32f(predict_value_x,predict_value_y)); }
void kalman::init_kalman(int x,int xv,int y,int yv) {
state->data.fl[0]=x;
state->data.fl[1]=xv; state->data.fl[2]=y; state->data.fl[3]=yv;
cvkalman->state_post->data.fl[0]=x; cvkalman->state_post->data.fl[1]=xv; cvkalman->state_post->data.fl[2]=y; cvkalman->state_post->data.fl[3]=yv; }