OpenCV KalmanFilter Python3 ne fonctionnera pas

Question

J'essaie d'utiliser le filtre de Kalman de cv ouvert en python. Il se bloque chaque fois que j'appelle la fonction "correcte". Je pense que le code ci-dessous est explicite.

Est-ce moi? OpenCV? Les liaisons python (c'est-à-dire cela fonctionnerait-il en C++)?

Toute aide bienvenue. code fictif et de sortie sont inférieures ou on github

#!/usr/bin/env python3 
import numpy as np 
import cv2, numpy as np 
kalman = cv2.KalmanFilter(3,3,3,cv2.CV_64F)  #Declare 3 dynamical   parameter 3 state parameter 3 control parameter 
kalman.transitionMatrix=1.0*np.eye(3)   #Transition set to identity only the control and the noise are changing the state 
#Dummy measurement matrix, 3 measurement each times ! 
kalman.measurementMatrix=np.matrix([[1.0,2.2,3.10], 
       [1.1,2.2,3.30], 
       [1.2,2.4,3.70], 
       [1.3,2.430,3.50], 
       [1.5,2.50,3.340], 
       [1.5,2.60,3.70], 
       [1.7,2.0,3.30], 
       [1.9,2.30,3.20], 
       [1.0,2.40,3.50], 
       [1.3,2.60,3.60], 
       [1.4,2.20,3.20], 
       [1.6,2.0,3.20]]) 

kalman.measurementNoiseCov=1.1*np.eye(3) 
kalman.processNoiseCov=1.2*np.eye(3) 
kalman.controlMatrix=1.0*np.eye(3) 

uk=np.matrix([[0.0], 
    [1.2], 
    [1.4]]) 

print("Now checking") 
print("Measurement Matrix") 
print(kalman.measurementMatrix) 
print("Transition Matrix") 
print(kalman.transitionMatrix) 
print("MeasurementNoiseCov") 
print(kalman.measurementNoiseCov) 
print("ProcessNoiseCov") 
print(kalman.processNoiseCov) 
print("ControlMatrix") 
print(kalman.controlMatrix) 

print("Now attempted to make use of the underdocumented kalman filter in opencv with python ;)") 
predicted=kalman.predict(uk) 
print("Predicted:") 
print(predicted) 
print("Will (try to) correct by feeding directly the predicted to correction") 
print("So here OpenCV is telling me that KF can not correct its own prediction even though the KF here has same number of dynamical,state and control parameters ?\n...") 
estimated=kalman.correct(predicted) 

sortie (juste la ligne de plantage)

OpenCV Error: Assertion failed (C.type() == type && (((flags&GEMM_3_T) == 0 && C.rows == d_size.height && C.cols == d_size.width) || ((flags&GEMM_3_T) != 0 && C.rows == d_size.width && C.cols == d_size.height))) in gemm, file /io/opencv/modules/core/src/matmul.cpp, line 1588 
Traceback (most recent call last): 
    File "./opencvhorror.py", line 46, in <module> 
estimated=kalman.correct(predicted) 
cv2.error: /io/opencv/modules/core/src/matmul.cpp:1588: error: (-215) C.type() == type && (((flags&GEMM_3_T) == 0 && C.rows == d_size.height && C.cols == d_size.width) || ((flags&GEMM_3_T) != 0 && C.rows == d_size.width && C.cols == d_size.height)) in function gemm 

Answer 1

Ok mon erreur idiote ... je confondais la matrice de mesure et des mesures ... Ainsi, la taille de la matrice n'était pas correcte