kalman_filter.py 文件源码

def __init__(self):
        """Initialize variable used by Kalman Filter class
        Args:
            None
        Return:
            None
        """
        self.dt = 0.005  # delta time

        self.A = np.array([[1, 0], [0, 1]])  # matrix in observation equations
        self.u = np.zeros((2, 1))  # previous state vector

        # (x,y) tracking object center
        self.b = np.array([[0], [255]])  # vector of observations

        self.P = np.diag((3.0, 3.0))  # covariance matrix
        self.F = np.array([[1.0, self.dt], [0.0, 1.0]])  # state transition mat

        self.Q = np.eye(self.u.shape[0])  # process noise matrix
        self.R = np.eye(self.b.shape[0])  # observation noise matrix
        self.lastResult = np.array([[0], [255]])