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Normalize line endings and whitespace

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This commit is contained in:
OpenCV Buildbot
2012-10-17 03:18:30 +04:00
committed by Andrey Kamaev
parent 69020da607
commit 04384a71e4
1516 changed files with 258846 additions and 258162 deletions
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38
samples/python/kalman.py
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@@ -1,5 +1,5 @@
#!/usr/bin/python
"""
"""
Tracking of rotating point.
Rotation speed is constant.
Both state and measurements vectors are 1D (a point angle),
@@ -18,7 +18,7 @@ import sys
if __name__ == "__main__":
A = [ [1, 1], [0, 1] ]
img = cv.CreateImage((500, 500), 8, 3)
kalman = cv.CreateKalman(2, 1, 0)
state = cv.CreateMat(2, 1, cv.CV_32FC1) # (phi, delta_phi)
@@ -32,7 +32,7 @@ if __name__ == "__main__":
while True:
cv.RandArr(rng, state, cv.CV_RAND_NORMAL, cv.RealScalar(0), cv.RealScalar(0.1))
kalman.transition_matrix[0,0] = 1
kalman.transition_matrix[0,1] = 1
kalman.transition_matrix[1,0] = 0
@@ -43,34 +43,34 @@ if __name__ == "__main__":
cv.SetIdentity(kalman.measurement_noise_cov, cv.RealScalar(1e-1))
cv.SetIdentity(kalman.error_cov_post, cv.RealScalar(1))
cv.RandArr(rng, kalman.state_post, cv.CV_RAND_NORMAL, cv.RealScalar(0), cv.RealScalar(0.1))
while True:
def calc_point(angle):
return (cv.Round(img.width/2 + img.width/3*cos(angle)),
cv.Round(img.height/2 - img.width/3*sin(angle)))
cv.Round(img.height/2 - img.width/3*sin(angle)))
state_angle = state[0,0]
state_angle = state[0,0]
state_pt = calc_point(state_angle)
prediction = cv.KalmanPredict(kalman)
predict_angle = prediction[0, 0]
predict_angle = prediction[0, 0]
predict_pt = calc_point(predict_angle)
cv.RandArr(rng, measurement, cv.CV_RAND_NORMAL, cv.RealScalar(0),
cv.RealScalar(sqrt(kalman.measurement_noise_cov[0, 0])))
# generate measurement
# generate measurement
cv.MatMulAdd(kalman.measurement_matrix, state, measurement, measurement)
measurement_angle = measurement[0, 0]
measurement_pt = calc_point(measurement_angle)
# plot points
def draw_cross(center, color, d):
cv.Line(img, (center[0] - d, center[1] - d),
(center[0] + d, center[1] + d), color, 1, cv.CV_AA, 0)
cv.Line(img, (center[0] + d, center[1] - d),
# plot points
def draw_cross(center, color, d):
cv.Line(img, (center[0] - d, center[1] - d),
(center[0] + d, center[1] + d), color, 1, cv.CV_AA, 0)
cv.Line(img, (center[0] + d, center[1] - d),
(center[0] - d, center[1] + d), color, 1, cv.CV_AA, 0)
cv.Zero(img)
@@ -79,7 +79,7 @@ if __name__ == "__main__":
draw_cross(predict_pt, cv.CV_RGB(0, 255, 0), 3)
cv.Line(img, state_pt, measurement_pt, cv.CV_RGB(255, 0,0), 3, cv. CV_AA, 0)
cv.Line(img, state_pt, predict_pt, cv.CV_RGB(255, 255, 0), 3, cv. CV_AA, 0)
cv.KalmanCorrect(kalman, measurement)
cv.RandArr(rng, process_noise, cv.CV_RAND_NORMAL, cv.RealScalar(0),
@@ -87,12 +87,12 @@ if __name__ == "__main__":
cv.MatMulAdd(kalman.transition_matrix, state, process_noise, state)
cv.ShowImage("Kalman", img)
code = cv.WaitKey(100) % 0x100
if code != -1:
break
if code in [27, ord('q'), ord('Q')]:
break
cv.DestroyWindow("Kalman")