opencv中kalman使用例子
时间: 2023-12-06 14:37:42 浏览: 41
以下是一个使用OpenCV中Kalman滤波器的例子:
```python
import cv2
import numpy as np
# 创建一个空帧,定义(700,700,3)画图区域
frame = np.zeros((700,700,3), np.uint8)
# 初始化测量坐标和鼠标运动预测的数组
last_measurement = current_measurement = np.array((2, 1), np.float32)
last_prediction = current_prediction = np.zeros((2, 1), np.float32)
# 定义鼠标回调函数,用来绘制跟踪结果
def mousemove(event, x, y, s, p):
global frame, current_measurement, last_measurement, current_prediction, last_prediction
last_prediction = current_prediction
last_measurement = current_measurement
current_measurement = np.array([[np.float32(x)], [np.float32(y)]])
# 调用kalman滤波器
kalman.correct(current_measurement)
current_prediction = kalman.predict()
# 绘制跟踪线和预测线
lmx, lmy = last_measurement[0], last_measurement[1]
cmx, cmy = current_measurement[0], current_measurement[1]
lpx, lpy = last_prediction[0], last_prediction[1]
cpx, cpy = current_prediction[0], current_prediction[1]
cv2.line(frame, (lmx, lmy), (cmx, cmy), (255, 0, 0))
cv2.line(frame, (lpx, lpy), (cpx, cpy), (0, 255, 0))
# 创建Kalman滤波器
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
# 创建窗口并绑定鼠标事件
cv2.namedWindow("kalman_tracker")
cv2.setMouseCallback("kalman_tracker", mousemove)
# 开始循环,不断绘制跟踪结果
while True:
cv2.imshow("kalman_tracker", frame)
if cv2.waitKey(30) & 0xFF == 27:
break
cv2.destroyAllWindows()
```
该例子演示了如何使用Kalman滤波器跟踪鼠标移动。在每次鼠标移动时,Kalman滤波器会根据当前的测量值进行修正,并预测下一次的位置。最后,程序会绘制出跟踪线和预测线。
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