"atomic bomb" commit. Reorganized OpenCV directory structure

2010-05-11 17:44:00 +00:00
commit 127d6649a1
1761 changed files with 1766340 additions and 0 deletions
--- a/samples/c/kalman.c
+++ b/samples/c/kalman.c
@@ -0,0 +1,113 @@
+/*
+   Tracking of rotating point.
+   Rotation speed is constant.
+   Both state and measurements vectors are 1D (a point angle),
+   Measurement is the real point angle + gaussian noise.
+   The real and the estimated points are connected with yellow line segment,
+   the real and the measured points are connected with red line segment.
+   (if Kalman filter works correctly,
+    the yellow segment should be shorter than the red one).
+   Pressing any key (except ESC) will reset the tracking with a different speed.
+   Pressing ESC will stop the program.
+*/
+
+#ifdef _CH_
+#pragma package <opencv>
+#endif
+
+#define CV_NO_BACKWARD_COMPATIBILITY
+
+#ifndef _EiC
+#include "cv.h"
+#include "highgui.h"
+#include <math.h>
+#endif
+
+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) */
+    CvMat* process_noise = cvCreateMat( 2, 1, CV_32FC1 );
+    CvMat* measurement = cvCreateMat( 1, 1, CV_32FC1 );
+    CvRNG rng = cvRNG(-1);
+    char code = -1;
+
+    cvZero( measurement );
+    cvNamedWindow( "Kalman", 1 );
+
+    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)))
+
+            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);
+            float measurement_angle;
+            CvPoint measurement_pt;
+
+            cvRandArr( &rng, measurement, CV_RAND_NORMAL, cvRealScalar(0),
+                       cvRealScalar(sqrt(kalman->measurement_noise_cov->data.fl[0])) );
+
+            /* generate measurement */
+            cvMatMulAdd( kalman->measurement_matrix, state, measurement, measurement );
+
+            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 ),                \
+                             cvPoint( center.x + d, center.y + d ), color, 1, CV_AA, 0); \
+                cvLine( img, cvPoint( center.x + d, center.y - d ),                \
+                             cvPoint( center.x - d, center.y + d ), color, 1, CV_AA, 0 )
+
+            cvZero( img );
+            draw_cross( state_pt, CV_RGB(255,255,255), 3 );
+            draw_cross( measurement_pt, CV_RGB(255,0,0), 3 );
+            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),
+                       cvRealScalar(sqrt(kalman->process_noise_cov->data.fl[0])));
+            cvMatMulAdd( kalman->transition_matrix, state, process_noise, state );
+
+            cvShowImage( "Kalman", img );
+            code = (char) cvWaitKey( 100 );
+
+            if( code > 0 )
+                break;
+        }
+        if( code == 27 || code == 'q' || code == 'Q' )
+            break;
+    }
+
+    cvDestroyWindow("Kalman");
+
+    return 0;
+}
+
+#ifdef _EiC
+main(1, "kalman.c");
+#endif