Added Kalman Filter example

samples/ocvKalman/include/Resources.h

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+#pragma once
+#include "cinder/CinderResources.h"
+
+//#define RES_MY_RES			CINDER_RESOURCE( ../resources/, image_name.png, 128, IMAGE )
+
+
+
+
+
+
+
+
+

samples/ocvKalman/src/ocvKalmanApp.cpp

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+#include "cinder/app/App.h"
+#include "cinder/app/RendererGl.h"
+#include "cinder/gl/gl.h"
+
+#include "CinderOpenCV.h"
+
+using namespace ci;
+using namespace ci::app;
+using namespace std;
+
+class ocvKalmanApp : public App {
+  public:
+	void setup() override;
+	void mouseDrag( MouseEvent event ) override;
+	void update() override;
+	void draw() override;
+
+    class KalmanFilter {
+
+      protected:
+        cv::KalmanFilter    mKF;
+        cv::Mat_<float>     mMeasurement;
+        cv::Point           mPrediction;
+
+      public:
+
+        KalmanFilter( cv::Point initialPt )
+        {
+            mKF = cv::KalmanFilter( 4, 2, 0 );
+            mKF.transitionMatrix = ( cv::Mat_<float>(4, 4) << 1,0,1,0,   0,1,0,1,  0,0,1,0,  0,0,0,1 );
+            mMeasurement = cv::Mat_<float>( 2, 1 );
+            mMeasurement.setTo( cv::Scalar( 0 ) );
+
+            // init...
+            mKF.statePre.at<float>( 0 ) = initialPt.x;
+            mKF.statePre.at<float>( 1 ) = initialPt.y;
+            mKF.statePre.at<float>( 2 ) = 0;
+            mKF.statePre.at<float>( 3 ) = 0;
+            setIdentity( mKF.measurementMatrix );
+            setIdentity( mKF.processNoiseCov, cv::Scalar::all( 1e-4 ) );
+            setIdentity( mKF.measurementNoiseCov, cv::Scalar::all( 1e-1 ) );
+            setIdentity( mKF.errorCovPost, cv::Scalar::all( .1 ));
+
+            mPrediction = initialPt;
+
+            // prime the filter, otherwise it thinks it's at 0,0
+            correct( initialPt );
+        }
+
+        cv::Point updatePrediction()
+        {
+            cv::Mat prediction = mKF.predict();
+            mPrediction = cv::Point( prediction.at<float>(0), prediction.at<float>( 1 ) );
+
+            return mPrediction;
+        }
+
+        cv::Point correct( cv::Point pt )
+        {
+            // update point
+            mMeasurement( 0 ) = pt.x;
+            mMeasurement( 1 ) = pt.y;
+
+            cv::Point measPt( mMeasurement( 0 ), mMeasurement( 1 ) );
+
+            // The "correct" phase that is going to use the predicted value and our measurement
+            cv::Mat estimated = mKF.correct( mMeasurement );
+            cv::Point statePt( estimated.at<float>( 0 ), estimated.at<float>( 1 ) );
+
+            mPrediction = statePt;
+
+            return mPrediction;
+        }
+    }; // class KalmanFilter
+
+    KalmanFilter *mFilter;
+    vector<vec2> mMousePoints;
+    vector<vec2> mKalmanPoints;
+
+};  // class ocvKalmanApp
+
+
+void ocvKalmanApp::setup()
+{
+    setFrameRate( 30.0f );
+}
+
+void ocvKalmanApp::mouseDrag( MouseEvent event )
+{
+    mMousePoints.push_back( event.getPos() );
+
+    if( mKalmanPoints.empty() ) {
+        mFilter = new KalmanFilter( toOcv( event.getPos() ) );
+        mKalmanPoints.push_back( event.getPos() );
+    } else {
+        mFilter->correct( toOcv( event.getPos() ) );
+        mKalmanPoints.push_back( fromOcv( mFilter->updatePrediction() ) );
+        console() << mKalmanPoints.back() << endl;
+    }
+}
+
+void ocvKalmanApp::update()
+{
+}
+
+void ocvKalmanApp::draw()
+{
+	gl::clear( Color( 0, 0, 0 ) );
+
+    gl::color( 1.0f, 0.0f, 0.0f );
+    gl::begin( GL_LINE_STRIP );
+    for( const vec2 &point : mMousePoints ) {
+        gl::vertex( point );
+    }
+    gl::end();
+
+    gl::color( 1.0f, 1.0f, 0.0f );
+    gl::begin( GL_LINE_STRIP );
+    for( const vec2 &point : mKalmanPoints ) {
+        gl::vertex( point );
+    }
+    gl::end();
+}
+
+CINDER_APP( ocvKalmanApp, RendererGl )

samples/ocvKalman/vc2013/Resources.rc

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+#include "../include/Resources.h"
+
+1	ICON	"..\\resources\\cinder_app_icon.ico"

samples/ocvKalman/vc2013/ocvKalman.sln

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+
+Microsoft Visual Studio Solution File, Format Version 12.00
+# Visual Studio 2013
+Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "ocvKalman", "ocvKalman.vcxproj", "{2A74E0BA-B60B-49C2-8142-EC9C70554A17}"
+EndProject
+Global
+	GlobalSection(SolutionConfigurationPlatforms) = preSolution
+		Debug|x64 = Debug|x64
+		Release|x64 = Release|x64
+	EndGlobalSection
+	GlobalSection(ProjectConfigurationPlatforms) = postSolution
+		{2A74E0BA-B60B-49C2-8142-EC9C70554A17}.Debug|x64.ActiveCfg = Debug|x64
+		{2A74E0BA-B60B-49C2-8142-EC9C70554A17}.Debug|x64.Build.0 = Debug|x64
+		{2A74E0BA-B60B-49C2-8142-EC9C70554A17}.Release|x64.ActiveCfg = Release|x64
+		{2A74E0BA-B60B-49C2-8142-EC9C70554A17}.Release|x64.Build.0 = Release|x64
+	EndGlobalSection
+	GlobalSection(SolutionProperties) = preSolution
+		HideSolutionNode = FALSE
+	EndGlobalSection
+EndGlobal

samples/ocvKalman/vc2013/ocvKalman.vcxproj

@@ -0,0 +1,112 @@
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+    <ProjectConfiguration Include="Release|x64">
+      <Configuration>Release</Configuration>
+      <Platform>x64</Platform>
+    </ProjectConfiguration>
+  </ItemGroup>
+  <PropertyGroup Label="Globals">
+    <ProjectGuid>{2A74E0BA-B60B-49C2-8142-EC9C70554A17}</ProjectGuid>
+    <RootNamespace>ocvKalman</RootNamespace>
+    <Keyword>Win32Proj</Keyword>
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+  <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
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+    <ResourceCompile>
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+      <AdditionalLibraryDirectories>"..\..\..\..\..\lib\msw\$(PlatformTarget)"</AdditionalLibraryDirectories>
+      <GenerateDebugInformation>true</GenerateDebugInformation>
+      <SubSystem>Windows</SubSystem>
+      <RandomizedBaseAddress>false</RandomizedBaseAddress>
+      <DataExecutionPrevention />
+      <IgnoreSpecificDefaultLibraries>LIBCMT;LIBCPMT</IgnoreSpecificDefaultLibraries>
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+  <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
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+      <RuntimeLibrary>MultiThreaded</RuntimeLibrary>
+      <PrecompiledHeader />
+      <WarningLevel>Level3</WarningLevel>
+      <DebugInformationFormat>ProgramDatabase</DebugInformationFormat>
+      <MultiProcessorCompilation>true</MultiProcessorCompilation>
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+    <ProjectReference>
+      <LinkLibraryDependencies>true</LinkLibraryDependencies>
+    </ProjectReference>
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+      <AdditionalLibraryDirectories>"..\..\..\..\..\lib\msw\$(PlatformTarget)"</AdditionalLibraryDirectories>
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+      <GenerateMapFile>true</GenerateMapFile>
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+      <DataExecutionPrevention />
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+  </ItemDefinitionGroup>
+  <ItemGroup>
+    <ResourceCompile Include="Resources.rc" />
+  </ItemGroup>
+  <ItemGroup />
+  <ItemGroup />
+  <ItemGroup>
+    <ClCompile Include="..\src\ocvKalmanApp.cpp" />
+  </ItemGroup>
+  <ItemGroup>
+    <ClInclude Include="..\include\Resources.h" />
+    <ClInclude Include="..\..\..\include\CinderOpenCV.h" />
+  </ItemGroup>
+  <Import Project="$(VCTargetsPath)\Microsoft.Cpp.targets" />
+  <ImportGroup Label="ExtensionTargets" />
+</Project>

samples/ocvKalman/vc2013/ocvKalman.vcxproj.filters

@@ -0,0 +1,49 @@
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samples/ocvKalman/xcode/Info.plist

@@ -0,0 +1,34 @@
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+<plist version="1.0">
+<dict>
+	<key>CFBundleDevelopmentRegion</key>
+	<string>en</string>
+	<key>CFBundleExecutable</key>
+	<string>${EXECUTABLE_NAME}</string>
+	<key>CFBundleIconFile</key>
+	<string>CinderApp.icns</string>
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+	<key>LSMinimumSystemVersion</key>
+	<string>${MACOSX_DEPLOYMENT_TARGET}</string>
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