修改文件夹名字

视觉代码python/tracker.py

@@ -0,0 +1,56 @@
+import cv2
+import numpy as np
+from 新建文件夹.config import KF_PROCESS_NOISE, KF_MEASUREMENT_NOISE
+
+class KalmanFilter:
+    """卡尔曼滤波器：平滑并预测装甲板位置"""
+    def __init__(self):
+        self.kf = cv2.KalmanFilter(4, 2)  # 4状态(x,y,dx,dy)，2测量(x,y)
+        self._init_params()
+        self.initialized = False
+        self.last_measurement = None
+        self.last_prediction = None
+
+    def _init_params(self):
+        """初始化卡尔曼参数"""
+        self.kf.transitionMatrix = np.array([
+            [1, 0, 1, 0],
+            [0, 1, 0, 1],
+            [0, 0, 1, 0],
+            [0, 0, 0, 1]
+        ], np.float32)
+
+        self.kf.measurementMatrix = np.array([
+            [1, 0, 0, 0],
+            [0, 1, 0, 0]
+        ], np.float32)
+
+        self.kf.processNoiseCov = np.eye(4, dtype=np.float32) * KF_PROCESS_NOISE
+        self.kf.measurementNoiseCov = np.eye(2, dtype=np.float32) * KF_MEASUREMENT_NOISE
+        self.kf.errorCovPost = np.eye(4, dtype=np.float32)
+
+    def update(self, measurement):
+        """用测量值更新滤波器"""
+        measurement = np.array([[np.float32(measurement[0])], [np.float32(measurement[1])]])
+
+        if not self.initialized:
+            self.kf.statePost = np.array([
+                [measurement[0, 0]],
+                [measurement[1, 0]],
+                [0.0],
+                [0.0]
+            ], np.float32)
+            self.initialized = True
+        else:
+            self.kf.correct(measurement)
+
+        self.last_measurement = (measurement[0, 0], measurement[1, 0])
+
+    def predict(self):
+        """预测下一帧位置"""
+        if not self.initialized:
+            return None
+
+        prediction = self.kf.predict()
+        self.last_prediction = (prediction[0, 0], prediction[1, 0])
+        return self.last_prediction