有cv2.KalmanFilter实现的示例吗?
发布于 2021-01-29 17:20:42
我正在尝试使用适用于OpenCV(cv2)的python包装器为2D对象构建简单的追踪器。
我只注意到3个功能:
- KalmanFilter(构造函数)
- Forecast ()
- .correct(测量)
我的想法是创建一个代码来检查kalman是否像这样工作:
kf = cv2.KalmanFilter(...)
# set initial position
cv2.predict()
corrected_position = cv2.correct([measurement_x, measurement_y])
我找到了一些使用cv包装器的示例,但是没有使用cv2 …
提前致谢!
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1 个回答
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如果您使用的是opencv2.4,那么这是个坏消息:KalmanFilter不可用,因为您无法设置过渡(或任何其他)矩阵。
对于opencv3.0,它可以正常工作,如下所示:
import cv2, numpy as np meas=[] pred=[] frame = np.zeros((400,400,3), np.uint8) # drawing canvas mp = np.array((2,1), np.float32) # measurement tp = np.zeros((2,1), np.float32) # tracked / prediction def onmouse(k,x,y,s,p): global mp,meas mp = np.array([[np.float32(x)],[np.float32(y)]]) meas.append((x,y)) def paint(): global frame,meas,pred for i in range(len(meas)-1): cv2.line(frame,meas[i],meas[i+1],(0,100,0)) for i in range(len(pred)-1): cv2.line(frame,pred[i],pred[i+1],(0,0,200)) def reset(): global meas,pred,frame meas=[] pred=[] frame = np.zeros((400,400,3), np.uint8) cv2.namedWindow("kalman") cv2.setMouseCallback("kalman",onmouse); kalman = cv2.KalmanFilter(4,2) kalman.measurementMatrix = np.array([[1,0,0,0],[0,1,0,0]],np.float32) kalman.transitionMatrix = np.array([[1,0,1,0],[0,1,0,1],[0,0,1,0],[0,0,0,1]],np.float32) kalman.processNoiseCov = np.array([[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],np.float32) * 0.03 #kalman.measurementNoiseCov = np.array([[1,0],[0,1]],np.float32) * 0.00003 while True: kalman.correct(mp) tp = kalman.predict() pred.append((int(tp[0]),int(tp[1]))) paint() cv2.imshow("kalman",frame) k = cv2.waitKey(30) &0xFF if k == 27: break if k == 32: reset()