From b8569f8bc14031681ee0c36f56aac839f4b2033a Mon Sep 17 00:00:00 2001 From: alvin113 Date: Tue, 10 Jan 2017 17:12:13 +0800 Subject: [PATCH] Add files via upload --- CMakeCache.txt | 338 +++++++ CMakeLists.txt | 8 + Makefile | 166 ++++ TriangleSolveData.txt | 197 ++++ WriteFile.txt | 5 + _114_0_3_11_14_11.txt | 1798 ++++++++++++++++++++++++++++++++++++ _Matrix.h | 447 +++++++++ cmake_install.cmake | 44 + design of EKF_location.txt | 83 ++ design_EKF | 85 ++ ekf.hpp | 222 +++++ ekf_main.cpp | 589 ++++++++++++ newdata1.txt | 279 ++++++ newdata_1_position.txt | 197 ++++ newdata_1_position2.txt | 197 ++++ newdata_1_position3.txt | 197 ++++ surfTest.cpp | 139 +++ 17 files changed, 4991 insertions(+) create mode 100644 CMakeCache.txt create mode 100644 CMakeLists.txt create mode 100644 Makefile create mode 100644 TriangleSolveData.txt create mode 100644 WriteFile.txt create mode 100644 _114_0_3_11_14_11.txt create mode 100644 _Matrix.h create mode 100644 cmake_install.cmake create mode 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221.364601 33.851228 0 0 320 240 0 0 320 240 1.613679 1.272942 -3.53595 -0.482175 0 0 +20140103111657798 1.84055166 221.965191 0.623154372 1.85351793 221.364601 33.851228 0 0 320 240 0 0 320 240 1.613679 1.272942 -3.53595 -0.482175 0 0 +20140103111657879 1.84055166 221.965191 0.623154372 1.85351793 221.364601 33.851228 0 0 320 240 0 0 320 240 1.613679 1.272942 -3.53595 -0.482175 0 0 +20140103111657961 1.84055166 221.965191 0.623154372 1.85351793 221.364601 33.851228 0 0 320 240 0 0 320 240 1.613679 1.272942 -3.53595 -0.482175 0 0 diff --git a/_Matrix.h b/_Matrix.h new file mode 100644 index 0000000..9aa5dbb --- /dev/null +++ b/_Matrix.h @@ -0,0 +1,447 @@ + #ifndef _MATRIX_H + #define _MATRIX_H + + //头文件 + #include + #include + + //矩阵数据结构 + //二维矩阵 + class _Matrix + { + private: + public: + int m; + int n; + float *arr; + + //初始化 + _Matrix(int mm = 0,int nn = 0); + //设置m + void set_m(int mm); + //设置n + void set_n(int nn); + //初始化 + void init_matrix(); + //释放 + void free_matrix(); + //读取i,j坐标的数据 + //失败返回-31415,成功返回值 + float read(int i,int j); + //写入i,j坐标的数据 + //失败返回-1,成功返回1 + int write(int i,int j,float val); + }; + + //二维运算类 + class _Matrix_Calc + { + private: + public: + // _Matrix_Calc(); + //C = A + B + //成功返回1,失败返回-1 + int add(_Matrix *A,_Matrix *B,_Matrix *C); + //C = A - B + //成功返回1,失败返回-1 + int subtract(_Matrix *A,_Matrix *B,_Matrix *C); + //C = A * B + //成功返回1,失败返回-1 + int multiply(_Matrix *A,_Matrix *B,_Matrix *C); + //行列式的值,只能计算2 * 2,3 * 3 + //失败返回-31415,成功返回值 + // float _Matrix_Calc::det(_Matrix *A); + float det(_Matrix *A); + //求转置矩阵,B = AT + //成功返回1,失败返回-1 + int transpos(_Matrix *A,_Matrix *B); + //求逆矩阵,B = A^(-1) + //成功返回1,失败返回-1 + int inverse(_Matrix *A,_Matrix *B); + }; + + + + + + _Matrix::_Matrix(int mm,int nn) + { + m = mm; + n = nn; + } + + //设置m + void _Matrix::set_m(int mm) + { + m = mm; + } + + //设置n + void _Matrix::set_n(int nn) + { + n = nn; + } + + //初始化 + void _Matrix::init_matrix() + { + arr = new float[m * n]; + } + + //释放 + void _Matrix::free_matrix() + { + delete []arr; + } + + //读取i,j坐标的数据 + //失败返回-31415,成功返回值 + float _Matrix::read(int i,int j) + { + if (i >= m || j >= n) + { + return -31415; + } + + return *(arr + i * n + j); + } + + //写入i,j坐标的数据 + //失败返回-1,成功返回1 + int _Matrix::write(int i,int j,float val) + { + if (i >= m || j >= n) + { + return -1; + } + + *(arr + i * n + j) = val; + return 1; + } + + //矩阵运算类方法 + //初始化 + // _Matrix_Calc::_Matrix_Calc(void) + //{ + //} + + //C = A + B + //成功返回1,失败返回-1 + int _Matrix_Calc::add(_Matrix *A,_Matrix *B,_Matrix *C) + { + int i = 0; + int j = 0; + + //判断是否可以运算 + if (A->m != B->m || A->n != B->n || A->m != C->m || A->n != C->n) + { + return -1; + } + //运算 + for (i = 0;i < C->m;i++) + { + for (j = 0;j < C->n;j++) + { + C->write(i,j,A->read(i,j) + B->read(i,j)); + } + } + + return 1; + } + + //C = A - B + //成功返回1,失败返回-1 + int _Matrix_Calc::subtract(_Matrix *A,_Matrix *B,_Matrix *C) + { + int i = 0; + int j = 0; + + //判断是否可以运算 + if (A->m != B->m || A->n != B->n || A->m != C->m || A->n != C->n) + { + return -1; + } + //运算 + for (i = 0;i < C->m;i++) + { + for (j = 0;j < C->n;j++) + { + C->write(i,j,A->read(i,j) - B->read(i,j)); + } + } + + return 1; + } + + //C = A * B + //成功返回1,失败返回-1 + int _Matrix_Calc::multiply(_Matrix *A,_Matrix *B,_Matrix *C) + { + int i = 0; + int j = 0; + int k = 0; + float temp = 0; + + //判断是否可以运算 + if (A->m != C->m || B->n != C->n || A->n != B->m) + { + return -1; + } + //运算 + for (i = 0;i < C->m;i++) + { + for (j = 0;j < C->n;j++) + { + temp = 0; + for (k = 0;k < A->n;k++) + { + temp += A->read(i,k) * B->read(k,j); + } + C->write(i,j,temp); + } + } + + return 1; + } + + //行列式的值,只能计算2 * 2,3 * 3 + //失败返回-31415,成功返回值 + float _Matrix_Calc::det(_Matrix *A) + { + float value = 0; + + //判断是否可以运算 + if (A->m != A->n || (A->m != 2 && A->m != 3)) + { + return -31415; + } + //运算 + if (A->m == 2) + { + value = A->read(0,0) * A->read(1,1) - A->read(0,1) * A->read(1,0); + } + else + { + value = A->read(0,0) * A->read(1,1) * A->read(2,2) + + A->read(0,1) * A->read(1,2) * A->read(2,0) + + A->read(0,2) * A->read(1,0) * A->read(2,1) - + A->read(0,0) * A->read(1,2) * A->read(2,1) - + A->read(0,1) * A->read(1,0) * A->read(2,2) - + A->read(0,2) * A->read(1,1) * A->read(2,0); + } + + return value; + } + + //求转置矩阵,B = AT + //成功返回1,失败返回-1 + int _Matrix_Calc::transpos(_Matrix *A,_Matrix *B) + { + int i = 0; + int j = 0; + + //判断是否可以运算 + if (A->m != B->n || A->n != B->m) + { + return -1; + } + //运算 + for (i = 0;i < B->m;i++) + { + for (j = 0;j < B->n;j++) + { + B->write(i,j,A->read(j,i)); + } + } + + return 1; + } + + //打印2维矩阵 + void printff_matrix(_Matrix *A) + { + int i = 0; + int j = 0; + int m = 0; + int n = 0; + + m = A->m; + n = A->n; + for (i = 0;i < m;i++) + { + for (j = 0;j < n;j++) + { + printf("%f ",A->read(i,j)); + } + printf("\n"); + } + } + + //求逆矩阵,B = A^(-1) + //成功返回1,失败返回-1 + int _Matrix_Calc::inverse(_Matrix *A,_Matrix *B) + { + int i = 0; + int j = 0; + int k = 0; + _Matrix m(A->m,2 * A->m); + float temp = 0; + float b = 0; + + //判断是否可以运算 + if (A->m != A->n || B->m != B->n || A->m != B->m) + { + return -1; + } + + /* + //如果是2维或者3维求行列式判断是否可逆 + if (A->m == 2 || A->m == 3) + { + if (det(A) == 0) + { + return -1; + } + } + */ + + //增广矩阵m = A | B初始化 + m.init_matrix(); + for (i = 0;i < m.m;i++) + { + for (j = 0;j < m.n;j++) + { + if (j <= A->n - 1) + { + m.write(i,j,A->read(i,j)); + } + else + { + if (i == j - A->n) + { + m.write(i,j,1); + } + else + { + m.write(i,j,0); + } + } + } + } + + //高斯消元 + //变换下三角 + for (k = 0;k < m.m - 1;k++) + { + //如果坐标为k,k的数为0,则行变换 + if (m.read(k,k) == 0) + { + for (i = k + 1;i < m.m;i++) + { + if (m.read(i,k) != 0) + { + break; + } + } + if (i >= m.m) + { + return -1; + } + else + { + //交换行 + for (j = 0;j < m.n;j++) + { + temp = m.read(k,j); + m.write(k,j,m.read(k + 1,j)); + m.write(k + 1,j,temp); + } + } + } + + //消元 + for (i = k + 1;i < m.m;i++) + { + //获得倍数 + b = m.read(i,k) / m.read(k,k); + //行变换 + for (j = 0;j < m.n;j++) + { + temp = m.read(i,j) - b * m.read(k,j); + m.write(i,j,temp); + } + } + } + //变换上三角 + for (k = m.m - 1;k > 0;k--) + { + //如果坐标为k,k的数为0,则行变换 + if (m.read(k,k) == 0) + { + for (i = k + 1;i < m.m;i++) + { + if (m.read(i,k) != 0) + { + break; + } + } + if (i >= m.m) + { + return -1; + } + else + { + //交换行 + for (j = 0;j < m.n;j++) + { + temp = m.read(k,j); + m.write(k,j,m.read(k + 1,j)); + m.write(k + 1,j,temp); + } + } + } + + //消元 + for (i = k - 1;i >= 0;i--) + { + //获得倍数 + b = m.read(i,k) / m.read(k,k); + //行变换 + for (j = 0;j < m.n;j++) + { + temp = m.read(i,j) - b * m.read(k,j); + m.write(i,j,temp); + } + } + } + //将左边方阵化为单位矩阵 + for (i = 0;i < m.m;i++) + { + if (m.read(i,i) != 1) + { + //获得倍数 + b = 1 / m.read(i,i); + //行变换 + for (j = 0;j < m.n;j++) + { + temp = m.read(i,j) * b; + m.write(i,j,temp); + } + } + } + //求得逆矩阵 + for (i = 0;i < B->m;i++) + { + for (j = 0;j < B->m;j++) + { + B->write(i,j,m.read(i,j + m.m)); + } + } + //释放增广矩阵 + m.free_matrix(); + + return 1; + } + + + #endif diff --git a/cmake_install.cmake b/cmake_install.cmake new file mode 100644 index 0000000..e1c0ec7 --- /dev/null +++ b/cmake_install.cmake @@ -0,0 +1,44 @@ +# Install script for directory: /home/alvin/myProject/kalmanROI/EKF_location + +# Set the install prefix +if(NOT DEFINED CMAKE_INSTALL_PREFIX) + set(CMAKE_INSTALL_PREFIX "/usr/local") +endif() +string(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}") + +# Set the install configuration name. +if(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME) + if(BUILD_TYPE) + string(REGEX REPLACE "^[^A-Za-z0-9_]+" "" + CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}") + else() + set(CMAKE_INSTALL_CONFIG_NAME "") + endif() + message(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"") +endif() + +# Set the component getting installed. +if(NOT CMAKE_INSTALL_COMPONENT) + if(COMPONENT) + message(STATUS "Install component: \"${COMPONENT}\"") + set(CMAKE_INSTALL_COMPONENT "${COMPONENT}") + else() + set(CMAKE_INSTALL_COMPONENT) + endif() +endif() + +# Install shared libraries without execute permission? +if(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE) + set(CMAKE_INSTALL_SO_NO_EXE "1") +endif() + +if(CMAKE_INSTALL_COMPONENT) + set(CMAKE_INSTALL_MANIFEST "install_manifest_${CMAKE_INSTALL_COMPONENT}.txt") +else() + set(CMAKE_INSTALL_MANIFEST "install_manifest.txt") +endif() + +string(REPLACE ";" "\n" CMAKE_INSTALL_MANIFEST_CONTENT + "${CMAKE_INSTALL_MANIFEST_FILES}") +file(WRITE "/home/alvin/myProject/kalmanROI/EKF_location/${CMAKE_INSTALL_MANIFEST}" + "${CMAKE_INSTALL_MANIFEST_CONTENT}") diff --git a/design of EKF_location.txt b/design of EKF_location.txt new file mode 100644 index 0000000..01bec4b --- /dev/null +++ b/design of EKF_location.txt @@ -0,0 +1,83 @@ + + X_0=[x,y,z,vx,vy,vz]' + y_0=[ul_0,vl_0,ur_0,vr_0]' + + + A = [1 0 0 delt_T 0 0 ; + 0 1 0 0 delt_T 0 ; + 0 0 1 0 0 delt_T ; + 0 0 0 1 0 0 ; + 0 0 0 0 1 0 ; + 0 0 0 0 0 1 ] ; + + + R = [1 0 0 0 ; + 0 1 0 0 ; + 0 0 1 0 ; + 0 0 0 1 ;]; + + + Q = [1 0 0 0 0 0; + 0 1 0 0 0 0; + 0 0 1 0 0 0; + 0 0 0 0.001 0 0; + 0 0 0 0 0.001 0; + 0 0 0 0 0 0.001]; + + + + p_0 = [0.1 0 0 0 0 0; + 0 0.1 0 0 0 0; + 0 0 0.1 0 0 0; + 0 0 0 0.1 0 0; + 0 0 0 0 0.1 0; + 0 0 0 0 0 0.1]; + + + +当前时刻 k,上一时刻，k-1 + +ekf初始 +根据前两帧的x,y,z估计 k-1时刻的vx,vy,vz +vx = x[1]-x[0]; +vy = y[1]-y[0]; +vz = z[1]-z[0]; + +(1)状态更新 +if ID ==1 {};//第一帧不更新 +else +{ +e = y(k) - y(k-1) +X(k) = x(k)+K(k-1)e +} + +(2)协方差阵更新 +if ID ==1 {};//第一帧不更新 +else +P=[I-KH]P + +(3)状态一步预测 +X = FX + +(4)协方差阵预测 +P = FPF(T)+Q; + +(5)滤波增益矩阵 +H 雅克比矩阵求出： +// +// +// +// +// +K = PH(T)[HPH(T)+R](-1) + + +（6）ROI区域估计 + [ul_p,vl_p,ur_p,vr_p]=h(x,y,z) + 保存到文档 + 返回跟踪算法 + + + + + diff --git a/design_EKF b/design_EKF new file mode 100644 index 0000000..75a41bc --- /dev/null +++ b/design_EKF @@ -0,0 +1,85 @@ + + X_0=[x,y,z,vx,vy,vz]' + y_0=[ul_0,vl_0,ur_0,vr_0]' + + + A = [1 0 0 delt_T 0 0 ; + 0 1 0 0 delt_T 0 ; + 0 0 1 0 0 delt_T ; + 0 0 0 1 0 0 ; + 0 0 0 0 1 0 ; + 0 0 0 0 0 1 ] ; + + + R = [1 0 0 0 ; + 0 1 0 0 ; + 0 0 1 0 ; + 0 0 0 1 ;]; + + + Q = [1 0 0 0 0 0; + 0 1 0 0 0 0; + 0 0 1 0 0 0; + 0 0 0 0.001 0 0; + 0 0 0 0 0.001 0; + 0 0 0 0 0 0.001]; + + + + p_0 = [0.1 0 0 0 0 0; + 0 0.1 0 0 0 0; + 0 0 0.1 0 0 0; + 0 0 0 0.1 0 0; + 0 0 0 0 0.1 0; + 0 0 0 0 0 0.1]; + + + +当前时刻 k,上一时刻，k-1 + +ekf初始 +根据前两帧的x,y,z估计 k-1时刻的vx,vy,vz +vx = x[1]-x[0]; +vy = y[1]-y[0]; +vz = z[1]-z[0]; + + +(1)状态更新 +if ID ==1 {};//第一帧不更新 +else +{ +读取 Y(k)(TT时刻) + +e = Y(k) - y(k) +X(k) = x(k)+K(k-1)e +} + +(2)协方差阵更新 +if ID ==1 {};//第一帧不更新 +else +P=[I-KH]P + + +(3)状态一步预测 +X = FX + +(4)协方差阵预测 +P = FPF(T)+Q; + +(5)滤波增益矩阵 +H 雅克比矩阵求出： +// +// +// +// +// +K = PH(T)[HPH(T)+R](-1) + + +（6）ROI区域估计 + y(k) + [ul_p,vl_p,ur_p,vr_p]=h(x,y,z) （TT时刻） + 保存到文档 + 返回跟踪算法 + (延时20ms) + diff --git a/ekf.hpp b/ekf.hpp new file mode 100644 index 0000000..36a90e3 --- /dev/null +++ b/ekf.hpp @@ -0,0 +1,222 @@ +#include +#include +#include +#include "_Matrix.h" + +#define PI 3.14159265358979 //// +class DataPara +{ +public: + int ReadDataPara(void); + int WriteDataPara(void); + + int sysT; + double xGPS; + double yGPS; + double zGPS; + long double yawLeft; //left negative + long double pitchLeft; //up positave + long double yawRight; + long double pitchRight; + int ul; + int vl; + int ur; + int vr; +private: + +}data1; + +class TriAngle +{ +public: + ////void LineSolve(); + void LineSolve(int i); + double Pan_2_l; //horizontal direction angle with optical axis + double Title_2_l; //vertical direction angle with optical axis + double Pan_2_r; + double Title_2_r; + + double pitch_l; //pitch angle with horizontal + double yaw_l; //yaw angle with runway + double pitch_r; + double yaw_r; + + double x; + double y; + double z; +}triangle1; + +class EKF +{ +public: + /* + void stateTransF(void); + void ROIestimate(void); + void covariationPredictP(void); + void filterGainPredictK(void); + void stateUpdateF(void); + void covariationUpdate(void); + */ + void calculateHh(long double left_pan,long double left_tilt,long double right_pan,long double right_tilt, + long double x1,long double y1,long double z1, long double* ul,long double* vl,long double *ur,long double* vr, + _Matrix* H); + + //state variable s + long double vx; + long double vy; + long double vz; + long double x; + long double y; + long double z; + //predicted the position of Target + long double ul; + long double vl; + long double ur; + long double vr; + + double delt_T; + + private: + +}ekf; + +////camera inier parameters +int left_dx = 18935; +int left_dy = 18936; +int left_u0 = 0; +int left_v0 = 0; + +int right_dx = 18935; +int right_dy = 18936; +int right_u0 = 0; +int right_v0 = 0; + + //camera position in world coordinate system +double left_xc = 0.0; +double left_yc = 0.0; +double left_zc = 33.33; +double right_xc= 10.77; +double right_yc= 0.0; +double right_zc= 33.33; + + +double delt_Time = 0; + + +/*initial parameters*/ + +double w=0.5; //used to estimate the uav position in the world coordinate + +double D = 10.77; // distance between two camera + +double FieldView_Pan_l = 1.9364*PI/180.00;//yaw field angle of left camera +double FieldView_Tile_l = 1.4523*PI/180.00;// pitch field angle of left camera + +double FieldView_Pan_r = 1.9364*PI/180.00;//yaw field angle of right camera +double FieldView_Tile_r = 1.4523*PI/180.00;// pitch field angle of right camera + +double m_PanDrift = 0; +double m_TitleDrift = 0; +double m_PanRightDrift = 0; +double m_TitleRightDrift = 0; +//the angle is according to north and sky +double m_Pan_Left_Calibration = -30.5155922628; +double m_Title_Left_Calibration = -1.11477175698; +double m_Pan_Right_Calibration = -32.8400377433; +double m_Title_Right_Calibration = 0.648704812335; + +//calculate the initial pitch and yaw angle of left and right PTU +double Initial_angle_Pan_l = m_Pan_Left_Calibration + m_PanDrift; +double Initial_angle_Tile_l = m_Title_Left_Calibration - m_TitleDrift; +double Initial_angle_Pan_r = m_Pan_Right_Calibration + m_PanRightDrift; +double Initial_angle_Tile_r = m_Title_Right_Calibration - m_TitleRightDrift; + +double Left2Right_angle = -121.61578245; //the angle between line that connects two camera and north + +////here is the angle according to runway and sky(Y axis and Z axis in the world coordinate) +/* +double delt_Pan_l=Left2Right_angle-Initial_angle_Pan_l+90; +double delt_Tile_l=Initial_angle_Tile_l; +double delt_Pan_r=Left2Right_angle-Initial_angle_Pan_r+90; +double delt_Tile_r=Initial_angle_Tile_r; +*/ +double delt_Pan_l =-1.1002; +double delt_Tile_l =-1.1148; +double delt_Pan_r =1.2243; +double delt_Tile_r =0.6487; + +/* +void calH2(double left_pan, double left_tilt, double right_pan, double + right_tilt, double x1, double b_y1, double z1, double *ul, double *vl, + double *ur, double *vr) +*/ +void calculateHh(double left_pan,double left_tilt,double right_pan,double right_tilt, + double x1,double y1, double z1, double* ul,double* vl,double *ur,double* vr, + _Matrix* H) +{ + double h[4][6]; + double ekf_ul,ekf_vl,ekf_ur,ekf_vr; + + *ul = (18935*x1*cos(left_pan - 2767291362382745/144115188075855872) - 18935*y1*sin(left_pan - 2767291362382745/144115188075855872))/(sin(left_tilt - 5607936318665237/288230376151711744)*(z1 - 3333/100) + y1*cos(left_pan - 2767291362382745/144115188075855872)*cos(left_tilt - 5607936318665237/288230376151711744) + x1*sin(left_pan - 2767291362382745/144115188075855872)*cos(left_tilt - 5607936318665237/288230376151711744)) + 320; + *vl = (18936*y1*cos(left_pan - 2767291362382745/144115188075855872)*sin(left_tilt - 5607936318665237/288230376151711744) - 18936*cos(left_tilt - 5607936318665237/288230376151711744)*(z1 - 3333/100) + 18936*x1*sin(left_pan - 2767291362382745/144115188075855872)*sin(left_tilt - 5607936318665237/288230376151711744))/(sin(left_tilt - 5607936318665237/288230376151711744)*(z1 - 3333/100) + y1*cos(left_pan - 2767291362382745/144115188075855872)*cos(left_tilt - 5607936318665237/288230376151711744) + x1*sin(left_pan - 2767291362382745/144115188075855872)*cos(left_tilt - 5607936318665237/288230376151711744)) + 240; + *ur = 320 - (18935*y1*sin(right_pan + 6158700809943851/288230376151711744) - 18935*cos(right_pan + 6158700809943851/288230376151711744)*(x1 - 1077/100))/(sin(right_tilt + 6526708726531955/576460752303423488)*(z1 - 3333/100) + y1*cos(right_tilt + 6526708726531955/576460752303423488)*cos(right_pan + 6158700809943851/288230376151711744) + cos(right_tilt + 6526708726531955/576460752303423488)*sin(right_pan + 6158700809943851/288230376151711744)*(x1 - 1077/100)); + *vr = (18936*y1*sin(right_tilt + 6526708726531955/576460752303423488)*cos(right_pan + 6158700809943851/288230376151711744) - 18936*cos(right_tilt + 6526708726531955/576460752303423488)*(z1 - 3333/100) + 18936*sin(right_tilt + 6526708726531955/576460752303423488)*sin(right_pan + 6158700809943851/288230376151711744)*(x1 - 1077/100))/(sin(right_tilt + 6526708726531955/576460752303423488)*(z1 - 3333/100) + y1*cos(right_tilt + 6526708726531955/576460752303423488)*cos(right_pan + 6158700809943851/288230376151711744) + cos(right_tilt + 6526708726531955/576460752303423488)*sin(right_pan + 6158700809943851/288230376151711744)*(x1 - 1077/100)) + 240; + + printf("ekf.ul !!!! = %lf\n",*ul); + printf("ekf.vl !!!! = %lf\n",*vl); + printf("ekf.ur !!!! = %lf\n",*ur); + printf("ekf.vr !!!! = %lf\n",*vr); + + //h[0][0] = (18935*cos(left_pan - 2767291362382745/144115188075855872))/(sin(left_tilt - 5607936318665237/288230376151711744)*(z1 - 3333/100) + y1*cos(left_pan - 2767291362382745/144115188075855872)*cos(left_tilt - 5607936318665237/288230376151711744) + x1*sin(left_pan - 2767291362382745/144115188075855872)*cos(left_tilt - 5607936318665237/288230376151711744)) - (sin(left_pan - 2767291362382745/144115188075855872)*cos(left_tilt - 5607936318665237/288230376151711744)*(18935*x1*cos(left_pan - 2767291362382745/144115188075855872) - 18935*y1*sin(left_pan - 2767291362382745/144115188075855872)))/(！！！sin(left_tilt - 5607936318665237/288230376151711744)*(z1 - 3333/100) + y1*cos(left_pan - 2767291362382745/144115188075855872)*cos(left_tilt - 5607936318665237/288230376151711744) + x1*sin(left_pan - 2767291362382745/144115188075855872)*cos(left_tilt - 5607936318665237/288230376151711744))！！！^2; + h[0][0] = (18935*cos(left_pan - 2767291362382745/144115188075855872))/(sin(left_tilt - 5607936318665237/288230376151711744)*(z1 - 3333/100) + y1*cos(left_pan - 2767291362382745/144115188075855872)*cos(left_tilt - 5607936318665237/288230376151711744) + x1*sin(left_pan - 2767291362382745/144115188075855872)*cos(left_tilt - 5607936318665237/288230376151711744)) - (sin(left_pan - 2767291362382745/144115188075855872)*cos(left_tilt - 5607936318665237/288230376151711744)*(18935*x1*cos(left_pan - 2767291362382745/144115188075855872) - 18935*y1*sin(left_pan - 2767291362382745/144115188075855872)))/((sin(left_tilt - 5607936318665237/288230376151711744)*(z1 - 3333/100) + y1*cos(left_pan - 2767291362382745/144115188075855872)*cos(left_tilt - 5607936318665237/288230376151711744) + x1*sin(left_pan - 2767291362382745/144115188075855872)*cos(left_tilt - 5607936318665237/288230376151711744))*(sin(left_tilt - 5607936318665237/288230376151711744)*(z1 - 3333/100) + y1*cos(left_pan - 2767291362382745/144115188075855872)*cos(left_tilt - 5607936318665237/288230376151711744) + x1*sin(left_pan - 2767291362382745/144115188075855872)*cos(left_tilt - 5607936318665237/288230376151711744))); + //h[0][1] = - (18935*sin(left_pan - 2767291362382745/144115188075855872))/(sin(left_tilt - 5607936318665237/288230376151711744)*(z1 - 3333/100) + y1*cos(left_pan - 2767291362382745/144115188075855872)*cos(left_tilt - 5607936318665237/288230376151711744) + x1*sin(left_pan - 2767291362382745/144115188075855872)*cos(left_tilt - 5607936318665237/288230376151711744)) - (cos(left_pan - 2767291362382745/144115188075855872)*cos(left_tilt - 5607936318665237/288230376151711744)*(18935*x1*cos(left_pan - 2767291362382745/144115188075855872) - 18935*y1*sin(left_pan - 2767291362382745/144115188075855872)))/(！！！sin(left_tilt - 5607936318665237/288230376151711744)*(z1 - 3333/100) + y1*cos(left_pan - 2767291362382745/144115188075855872)*cos(left_tilt - 5607936318665237/288230376151711744) + x1*sin(left_pan - 2767291362382745/144115188075855872)*cos(left_tilt - 5607936318665237/288230376151711744))！！！^2; + h[0][1] = - (18935*sin(left_pan - 2767291362382745/144115188075855872))/(sin(left_tilt - 5607936318665237/288230376151711744)*(z1 - 3333/100) + y1*cos(left_pan - 2767291362382745/144115188075855872)*cos(left_tilt - 5607936318665237/288230376151711744) + x1*sin(left_pan - 2767291362382745/144115188075855872)*cos(left_tilt - 5607936318665237/288230376151711744)) - (cos(left_pan - 2767291362382745/144115188075855872)*cos(left_tilt - 5607936318665237/288230376151711744)*(18935*x1*cos(left_pan - 2767291362382745/144115188075855872) - 18935*y1*sin(left_pan - 2767291362382745/144115188075855872)))/((sin(left_tilt - 5607936318665237/288230376151711744)*(z1 - 3333/100) + y1*cos(left_pan - 2767291362382745/144115188075855872)*cos(left_tilt - 5607936318665237/288230376151711744) + x1*sin(left_pan - 2767291362382745/144115188075855872)*cos(left_tilt - 5607936318665237/288230376151711744))*(sin(left_tilt - 5607936318665237/288230376151711744)*(z1 - 3333/100) + y1*cos(left_pan - 2767291362382745/144115188075855872)*cos(left_tilt - 5607936318665237/288230376151711744) + x1*sin(left_pan - 2767291362382745/144115188075855872)*cos(left_tilt - 5607936318665237/288230376151711744))); + //h[0][2] = -(sin(left_tilt - 5607936318665237/288230376151711744)*(18935*x1*cos(left_pan - 2767291362382745/144115188075855872) - 18935*y1*sin(left_pan - 2767291362382745/144115188075855872)))/(！！！sin(left_tilt - 5607936318665237/288230376151711744)*(z1 - 3333/100) + y1*cos(left_pan - 2767291362382745/144115188075855872)*cos(left_tilt - 5607936318665237/288230376151711744) + x1*sin(left_pan - 2767291362382745/144115188075855872)*cos(left_tilt - 5607936318665237/288230376151711744))！！！^2; + h[0][2] = -(sin(left_tilt - 5607936318665237/288230376151711744)*(18935*x1*cos(left_pan - 2767291362382745/144115188075855872) - 18935*y1*sin(left_pan - 2767291362382745/144115188075855872)))/((sin(left_tilt - 5607936318665237/288230376151711744)*(z1 - 3333/100) + y1*cos(left_pan - 2767291362382745/144115188075855872)*cos(left_tilt - 5607936318665237/288230376151711744) + x1*sin(left_pan - 2767291362382745/144115188075855872)*cos(left_tilt - 5607936318665237/288230376151711744))*(sin(left_tilt - 5607936318665237/288230376151711744)*(z1 - 3333/100) + y1*cos(left_pan - 2767291362382745/144115188075855872)*cos(left_tilt - 5607936318665237/288230376151711744) + x1*sin(left_pan - 2767291362382745/144115188075855872)*cos(left_tilt - 5607936318665237/288230376151711744))); + h[0][3] = 0; + h[0][4] = 0; + h[0][5] = 0; + + + //h[1][0] = (18936*sin(left_pan - 2767291362382745/144115188075855872)*sin(left_tilt - 5607936318665237/288230376151711744))/(sin(left_tilt - 5607936318665237/288230376151711744)*(z1 - 3333/100) + y1*cos(left_pan - 2767291362382745/144115188075855872)*cos(left_tilt - 5607936318665237/288230376151711744) + x1*sin(left_pan - 2767291362382745/144115188075855872)*cos(left_tilt - 5607936318665237/288230376151711744)) - (sin(left_pan - 2767291362382745/144115188075855872)*cos(left_tilt - 5607936318665237/288230376151711744)*(18936*y1*cos(left_pan - 2767291362382745/144115188075855872)*sin(left_tilt - 5607936318665237/288230376151711744) - 18936*cos(left_tilt - 5607936318665237/288230376151711744)*(z1 - 3333/100) + 18936*x1*sin(left_pan - 2767291362382745/144115188075855872)*sin(left_tilt - 5607936318665237/288230376151711744)))/(！！！sin(left_tilt - 5607936318665237/288230376151711744)*(z1 - 3333/100) + y1*cos(left_pan - 2767291362382745/144115188075855872)*cos(left_tilt - 5607936318665237/288230376151711744) + x1*sin(left_pan - 2767291362382745/144115188075855872)*cos(left_tilt - 5607936318665237/288230376151711744))！！！^2; + h[1][0] = (18936*sin(left_pan - 2767291362382745/144115188075855872)*sin(left_tilt - 5607936318665237/288230376151711744))/(sin(left_tilt - 5607936318665237/288230376151711744)*(z1 - 3333/100) + y1*cos(left_pan - 2767291362382745/144115188075855872)*cos(left_tilt - 5607936318665237/288230376151711744) + x1*sin(left_pan - 2767291362382745/144115188075855872)*cos(left_tilt - 5607936318665237/288230376151711744)) - (sin(left_pan - 2767291362382745/144115188075855872)*cos(left_tilt - 5607936318665237/288230376151711744)*(18936*y1*cos(left_pan - 2767291362382745/144115188075855872)*sin(left_tilt - 5607936318665237/288230376151711744) - 18936*cos(left_tilt - 5607936318665237/288230376151711744)*(z1 - 3333/100) + 18936*x1*sin(left_pan - 2767291362382745/144115188075855872)*sin(left_tilt - 5607936318665237/288230376151711744)))/((sin(left_tilt - 5607936318665237/288230376151711744)*(z1 - 3333/100) + y1*cos(left_pan - 2767291362382745/144115188075855872)*cos(left_tilt - 5607936318665237/288230376151711744) + x1*sin(left_pan - 2767291362382745/144115188075855872)*cos(left_tilt - 5607936318665237/288230376151711744))*(sin(left_tilt - 5607936318665237/288230376151711744)*(z1 - 3333/100) + y1*cos(left_pan - 2767291362382745/144115188075855872)*cos(left_tilt - 5607936318665237/288230376151711744) + x1*sin(left_pan - 2767291362382745/144115188075855872)*cos(left_tilt - 5607936318665237/288230376151711744))); + //h[1][1] = (18936*cos(left_pan - 2767291362382745/144115188075855872)*sin(left_tilt - 5607936318665237/288230376151711744))/(sin(left_tilt - 5607936318665237/288230376151711744)*(z1 - 3333/100) + y1*cos(left_pan - 2767291362382745/144115188075855872)*cos(left_tilt - 5607936318665237/288230376151711744) + x1*sin(left_pan - 2767291362382745/144115188075855872)*cos(left_tilt - 5607936318665237/288230376151711744)) - (cos(left_pan - 2767291362382745/144115188075855872)*cos(left_tilt - 5607936318665237/288230376151711744)*(18936*y1*cos(left_pan - 2767291362382745/144115188075855872)*sin(left_tilt - 5607936318665237/288230376151711744) - 18936*cos(left_tilt - 5607936318665237/288230376151711744)*(z1 - 3333/100) + 18936*x1*sin(left_pan - 2767291362382745/144115188075855872)*sin(left_tilt - 5607936318665237/288230376151711744)))/(！！！sin(left_tilt - 5607936318665237/288230376151711744)*(z1 - 3333/100) + y1*cos(left_pan - 2767291362382745/144115188075855872)*cos(left_tilt - 5607936318665237/288230376151711744) + x1*sin(left_pan - 2767291362382745/144115188075855872)*cos(left_tilt - 5607936318665237/288230376151711744))！！！^2; + h[1][1] = (18936*cos(left_pan - 2767291362382745/144115188075855872)*sin(left_tilt - 5607936318665237/288230376151711744))/(sin(left_tilt - 5607936318665237/288230376151711744)*(z1 - 3333/100) + y1*cos(left_pan - 2767291362382745/144115188075855872)*cos(left_tilt - 5607936318665237/288230376151711744) + x1*sin(left_pan - 2767291362382745/144115188075855872)*cos(left_tilt - 5607936318665237/288230376151711744)) - (cos(left_pan - 2767291362382745/144115188075855872)*cos(left_tilt - 5607936318665237/288230376151711744)*(18936*y1*cos(left_pan - 2767291362382745/144115188075855872)*sin(left_tilt - 5607936318665237/288230376151711744) - 18936*cos(left_tilt - 5607936318665237/288230376151711744)*(z1 - 3333/100) + 18936*x1*sin(left_pan - 2767291362382745/144115188075855872)*sin(left_tilt - 5607936318665237/288230376151711744)))/((sin(left_tilt - 5607936318665237/288230376151711744)*(z1 - 3333/100) + y1*cos(left_pan - 2767291362382745/144115188075855872)*cos(left_tilt - 5607936318665237/288230376151711744) + x1*sin(left_pan - 2767291362382745/144115188075855872)*cos(left_tilt - 5607936318665237/288230376151711744))* (sin(left_tilt - 5607936318665237/288230376151711744)*(z1 - 3333/100) + y1*cos(left_pan - 2767291362382745/144115188075855872)*cos(left_tilt - 5607936318665237/288230376151711744) + x1*sin(left_pan - 2767291362382745/144115188075855872)*cos(left_tilt - 5607936318665237/288230376151711744))); + //h[1][2] = - (18936*cos(left_tilt - 5607936318665237/288230376151711744))/(sin(left_tilt - 5607936318665237/288230376151711744)*(z1 - 3333/100) + y1*cos(left_pan - 2767291362382745/144115188075855872)*cos(left_tilt - 5607936318665237/288230376151711744) + x1*sin(left_pan - 2767291362382745/144115188075855872)*cos(left_tilt - 5607936318665237/288230376151711744)) - (sin(left_tilt - 5607936318665237/288230376151711744)*(18936*y1*cos(left_pan - 2767291362382745/144115188075855872)*sin(left_tilt - 5607936318665237/288230376151711744) - 18936*cos(left_tilt - 5607936318665237/288230376151711744)*(z1 - 3333/100) + 18936*x1*sin(left_pan - 2767291362382745/144115188075855872)*sin(left_tilt - 5607936318665237/288230376151711744)))/(！！！sin(left_tilt - 5607936318665237/288230376151711744)*(z1 - 3333/100) + y1*cos(left_pan - 2767291362382745/144115188075855872)*cos(left_tilt - 5607936318665237/288230376151711744) + x1*sin(left_pan - 2767291362382745/144115188075855872)*cos(left_tilt - 5607936318665237/288230376151711744))！！！^2; + h[1][2] = - (18936*cos(left_tilt - 5607936318665237/288230376151711744))/(sin(left_tilt - 5607936318665237/288230376151711744)*(z1 - 3333/100) + y1*cos(left_pan - 2767291362382745/144115188075855872)*cos(left_tilt - 5607936318665237/288230376151711744) + x1*sin(left_pan - 2767291362382745/144115188075855872)*cos(left_tilt - 5607936318665237/288230376151711744)) - (sin(left_tilt - 5607936318665237/288230376151711744)*(18936*y1*cos(left_pan - 2767291362382745/144115188075855872)*sin(left_tilt - 5607936318665237/288230376151711744) - 18936*cos(left_tilt - 5607936318665237/288230376151711744)*(z1 - 3333/100) + 18936*x1*sin(left_pan - 2767291362382745/144115188075855872)*sin(left_tilt - 5607936318665237/288230376151711744)))/((sin(left_tilt - 5607936318665237/288230376151711744)*(z1 - 3333/100) + y1*cos(left_pan - 2767291362382745/144115188075855872)*cos(left_tilt - 5607936318665237/288230376151711744) + x1*sin(left_pan - 2767291362382745/144115188075855872)*cos(left_tilt - 5607936318665237/288230376151711744))*(sin(left_tilt - 5607936318665237/288230376151711744)*(z1 - 3333/100) + y1*cos(left_pan - 2767291362382745/144115188075855872)*cos(left_tilt - 5607936318665237/288230376151711744) + x1*sin(left_pan - 2767291362382745/144115188075855872)*cos(left_tilt - 5607936318665237/288230376151711744))); + + h[1][3] = 0; + h[1][4] = 0; + h[1][5] = 0; + + //h[2][0] = (18935*cos(right_pan + 6158700809943851/288230376151711744))/(sin(right_tilt + 6526708726531955/576460752303423488)*(z1 - 3333/100) + y1*cos(right_tilt + 6526708726531955/576460752303423488)*cos(right_pan + 6158700809943851/288230376151711744) + cos(right_tilt + 6526708726531955/576460752303423488)*sin(right_pan + 6158700809943851/288230376151711744)*(x1 - 1077/100)) + (cos(right_tilt + 6526708726531955/576460752303423488)*sin(right_pan + 6158700809943851/288230376151711744)*(18935*y1*sin(right_pan + 6158700809943851/288230376151711744) - 18935*cos(right_pan + 6158700809943851/288230376151711744)*(x1 - 1077/100)))/(！！！sin(right_tilt + 6526708726531955/576460752303423488)*(z1 - 3333/100) + y1*cos(right_tilt + 6526708726531955/576460752303423488)*cos(right_pan + 6158700809943851/288230376151711744) + cos(right_tilt + 6526708726531955/576460752303423488)*sin(right_pan + 6158700809943851/288230376151711744)*(x1 - 1077/100))！！！^2; + h[2][0] = (18935*cos(right_pan + 6158700809943851/288230376151711744))/(sin(right_tilt + 6526708726531955/576460752303423488)*(z1 - 3333/100) + y1*cos(right_tilt + 6526708726531955/576460752303423488)*cos(right_pan + 6158700809943851/288230376151711744) + cos(right_tilt + 6526708726531955/576460752303423488)*sin(right_pan + 6158700809943851/288230376151711744)*(x1 - 1077/100)) + (cos(right_tilt + 6526708726531955/576460752303423488)*sin(right_pan + 6158700809943851/288230376151711744)*(18935*y1*sin(right_pan + 6158700809943851/288230376151711744) - 18935*cos(right_pan + 6158700809943851/288230376151711744)*(x1 - 1077/100)))/((sin(right_tilt + 6526708726531955/576460752303423488)*(z1 - 3333/100) + y1*cos(right_tilt + 6526708726531955/576460752303423488)*cos(right_pan + 6158700809943851/288230376151711744) + cos(right_tilt + 6526708726531955/576460752303423488)*sin(right_pan + 6158700809943851/288230376151711744)*(x1 - 1077/100))*(sin(right_tilt + 6526708726531955/576460752303423488)*(z1 - 3333/100) + y1*cos(right_tilt + 6526708726531955/576460752303423488)*cos(right_pan + 6158700809943851/288230376151711744) + cos(right_tilt + 6526708726531955/576460752303423488)*sin(right_pan + 6158700809943851/288230376151711744)*(x1 - 1077/100))); + //h[2][1] = (cos(right_tilt + 6526708726531955/576460752303423488)*cos(right_pan + 6158700809943851/288230376151711744)*(18935*y1*sin(right_pan + 6158700809943851/288230376151711744) - 18935*cos(right_pan + 6158700809943851/288230376151711744)*(x1 - 1077/100)))/(!!!(sin(right_tilt + 6526708726531955/576460752303423488)*(z1 - 3333/100) + y1*cos(right_tilt + 6526708726531955/576460752303423488)*cos(right_pan + 6158700809943851/288230376151711744) + cos(right_tilt + 6526708726531955/576460752303423488)*sin(right_pan + 6158700809943851/288230376151711744)*(x1 - 1077/100))!!!^2 - (18935*sin(right_pan + 6158700809943851/288230376151711744))/(sin(right_tilt + 6526708726531955/576460752303423488)*(z1 - 3333/100) + y1*cos(right_tilt + 6526708726531955/576460752303423488)*cos(right_pan + 6158700809943851/288230376151711744) + cos(right_tilt + 6526708726531955/576460752303423488)*sin(right_pan + 6158700809943851/288230376151711744)*(x1 - 1077/100)); + h[2][1] = (cos(right_tilt + 6526708726531955/576460752303423488)*cos(right_pan + 6158700809943851/288230376151711744)*(18935*y1*sin(right_pan + 6158700809943851/288230376151711744) - 18935*cos(right_pan + 6158700809943851/288230376151711744)*(x1 - 1077/100)))/((sin(right_tilt + 6526708726531955/576460752303423488)*(z1 - 3333/100) + y1*cos(right_tilt + 6526708726531955/576460752303423488)*cos(right_pan + 6158700809943851/288230376151711744) + cos(right_tilt + 6526708726531955/576460752303423488)*sin(right_pan + 6158700809943851/288230376151711744)*(x1 - 1077/100))*(sin(right_tilt + 6526708726531955/576460752303423488)*(z1 - 3333/100) + y1*cos(right_tilt + 6526708726531955/576460752303423488)*cos(right_pan + 6158700809943851/288230376151711744) + cos(right_tilt + 6526708726531955/576460752303423488)*sin(right_pan + 6158700809943851/288230376151711744)*(x1 - 1077/100))) - (18935*sin(right_pan + 6158700809943851/288230376151711744))/(sin(right_tilt + 6526708726531955/576460752303423488)*(z1 - 3333/100) + y1*cos(right_tilt + 6526708726531955/576460752303423488)*cos(right_pan + 6158700809943851/288230376151711744) + cos(right_tilt + 6526708726531955/576460752303423488)*sin(right_pan + 6158700809943851/288230376151711744)*(x1 - 1077/100)); + //h[2][2] = (sin(right_tilt + 6526708726531955/576460752303423488)*(18935*y1*sin(right_pan + 6158700809943851/288230376151711744) - 18935*cos(right_pan + 6158700809943851/288230376151711744)*(x1 - 1077/100)))/(!!!sin(right_tilt + 6526708726531955/576460752303423488)*(z1 - 3333/100) + y1*cos(right_tilt + 6526708726531955/576460752303423488)*cos(right_pan + 6158700809943851/288230376151711744) + cos(right_tilt + 6526708726531955/576460752303423488)*sin(right_pan + 6158700809943851/288230376151711744)*(x1 - 1077/100))！！！^2; + h[2][2] = (sin(right_tilt + 6526708726531955/576460752303423488)*(18935*y1*sin(right_pan + 6158700809943851/288230376151711744) - 18935*cos(right_pan + 6158700809943851/288230376151711744)*(x1 - 1077/100)))/((sin(right_tilt + 6526708726531955/576460752303423488)*(z1 - 3333/100) + y1*cos(right_tilt + 6526708726531955/576460752303423488)*cos(right_pan + 6158700809943851/288230376151711744) + cos(right_tilt + 6526708726531955/576460752303423488)*sin(right_pan + 6158700809943851/288230376151711744)*(x1 - 1077/100))*(sin(right_tilt + 6526708726531955/576460752303423488)*(z1 - 3333/100) + y1*cos(right_tilt + 6526708726531955/576460752303423488)*cos(right_pan + 6158700809943851/288230376151711744) + cos(right_tilt + 6526708726531955/576460752303423488)*sin(right_pan + 6158700809943851/288230376151711744)*(x1 - 1077/100))); + h[2][3] = 0; + h[2][4] = 0; + h[2][5] = 0; + + //h[3][0] = (18936*sin(right_tilt + 6526708726531955/576460752303423488)*sin(right_pan + 6158700809943851/288230376151711744))/(sin(right_tilt + 6526708726531955/576460752303423488)*(z1 - 3333/100) + y1*cos(right_tilt + 6526708726531955/576460752303423488)*cos(right_pan + 6158700809943851/288230376151711744) + cos(right_tilt + 6526708726531955/576460752303423488)*sin(right_pan + 6158700809943851/288230376151711744)*(x1 - 1077/100)) - (cos(right_tilt + 6526708726531955/576460752303423488)*sin(right_pan + 6158700809943851/288230376151711744)*(18936*y1*sin(right_tilt + 6526708726531955/576460752303423488)*cos(right_pan + 6158700809943851/288230376151711744) - 18936*cos(right_tilt + 6526708726531955/576460752303423488)*(z1 - 3333/100) + 18936*sin(right_tilt + 6526708726531955/576460752303423488)*sin(right_pan + 6158700809943851/288230376151711744)*(x1 - 1077/100)))/(！！！sin(right_tilt + 6526708726531955/576460752303423488)*(z1 - 3333/100) + y1*cos(right_tilt + 6526708726531955/576460752303423488)*cos(right_pan + 6158700809943851/288230376151711744) + cos(right_tilt + 6526708726531955/576460752303423488)*sin(right_pan + 6158700809943851/288230376151711744)*(x1 - 1077/100))！！！^2; + h[3][0] = (18936*sin(right_tilt + 6526708726531955/576460752303423488)*sin(right_pan + 6158700809943851/288230376151711744))/(sin(right_tilt + 6526708726531955/576460752303423488)*(z1 - 3333/100) + y1*cos(right_tilt + 6526708726531955/576460752303423488)*cos(right_pan + 6158700809943851/288230376151711744) + cos(right_tilt + 6526708726531955/576460752303423488)*sin(right_pan + 6158700809943851/288230376151711744)*(x1 - 1077/100)) - (cos(right_tilt + 6526708726531955/576460752303423488)*sin(right_pan + 6158700809943851/288230376151711744)*(18936*y1*sin(right_tilt + 6526708726531955/576460752303423488)*cos(right_pan + 6158700809943851/288230376151711744) - 18936*cos(right_tilt + 6526708726531955/576460752303423488)*(z1 - 3333/100) + 18936*sin(right_tilt + 6526708726531955/576460752303423488)*sin(right_pan + 6158700809943851/288230376151711744)*(x1 - 1077/100)))/((sin(right_tilt + 6526708726531955/576460752303423488)*(z1 - 3333/100) + y1*cos(right_tilt + 6526708726531955/576460752303423488)*cos(right_pan + 6158700809943851/288230376151711744) + cos(right_tilt + 6526708726531955/576460752303423488)*sin(right_pan + 6158700809943851/288230376151711744)*(x1 - 1077/100))*(sin(right_tilt + 6526708726531955/576460752303423488)*(z1 - 3333/100) + y1*cos(right_tilt + 6526708726531955/576460752303423488)*cos(right_pan + 6158700809943851/288230376151711744) + cos(right_tilt + 6526708726531955/576460752303423488)*sin(right_pan + 6158700809943851/288230376151711744)*(x1 - 1077/100))); + //h[3][1] = (18936*sin(right_tilt + 6526708726531955/576460752303423488)*cos(right_pan + 6158700809943851/288230376151711744))/(sin(right_tilt + 6526708726531955/576460752303423488)*(z1 - 3333/100) + y1*cos(right_tilt + 6526708726531955/576460752303423488)*cos(right_pan + 6158700809943851/288230376151711744) + cos(right_tilt + 6526708726531955/576460752303423488)*sin(right_pan + 6158700809943851/288230376151711744)*(x1 - 1077/100)) - (cos(right_tilt + 6526708726531955/576460752303423488)*cos(right_pan + 6158700809943851/288230376151711744)*(18936*y1*sin(right_tilt + 6526708726531955/576460752303423488)*cos(right_pan + 6158700809943851/288230376151711744) - 18936*cos(right_tilt + 6526708726531955/576460752303423488)*(z1 - 3333/100) + 18936*sin(right_tilt + 6526708726531955/576460752303423488)*sin(right_pan + 6158700809943851/288230376151711744)*(x1 - 1077/100)))/(！！！sin(right_tilt + 6526708726531955/576460752303423488)*(z1 - 3333/100) + y1*cos(right_tilt + 6526708726531955/576460752303423488)*cos(right_pan + 6158700809943851/288230376151711744) + cos(right_tilt + 6526708726531955/576460752303423488)*sin(right_pan + 6158700809943851/288230376151711744)*(x1 - 1077/100))！！！^2; + h[3][1] = (18936*sin(right_tilt + 6526708726531955/576460752303423488)*cos(right_pan + 6158700809943851/288230376151711744))/(sin(right_tilt + 6526708726531955/576460752303423488)*(z1 - 3333/100) + y1*cos(right_tilt + 6526708726531955/576460752303423488)*cos(right_pan + 6158700809943851/288230376151711744) + cos(right_tilt + 6526708726531955/576460752303423488)*sin(right_pan + 6158700809943851/288230376151711744)*(x1 - 1077/100)) - (cos(right_tilt + 6526708726531955/576460752303423488)*cos(right_pan + 6158700809943851/288230376151711744)*(18936*y1*sin(right_tilt + 6526708726531955/576460752303423488)*cos(right_pan + 6158700809943851/288230376151711744) - 18936*cos(right_tilt + 6526708726531955/576460752303423488)*(z1 - 3333/100) + 18936*sin(right_tilt + 6526708726531955/576460752303423488)*sin(right_pan + 6158700809943851/288230376151711744)*(x1 - 1077/100)))/((sin(right_tilt + 6526708726531955/576460752303423488)*(z1 - 3333/100) + y1*cos(right_tilt + 6526708726531955/576460752303423488)*cos(right_pan + 6158700809943851/288230376151711744) + cos(right_tilt + 6526708726531955/576460752303423488)*sin(right_pan + 6158700809943851/288230376151711744)*(x1 - 1077/100))*(sin(right_tilt + 6526708726531955/576460752303423488)*(z1 - 3333/100) + y1*cos(right_tilt + 6526708726531955/576460752303423488)*cos(right_pan + 6158700809943851/288230376151711744) + cos(right_tilt + 6526708726531955/576460752303423488)*sin(right_pan + 6158700809943851/288230376151711744)*(x1 - 1077/100))); + //h[3][2] = - (18936*cos(right_tilt + 6526708726531955/576460752303423488))/(sin(right_tilt + 6526708726531955/576460752303423488)*(z1 - 3333/100) + y1*cos(right_tilt + 6526708726531955/576460752303423488)*cos(right_pan + 6158700809943851/288230376151711744) + cos(right_tilt + 6526708726531955/576460752303423488)*sin(right_pan + 6158700809943851/288230376151711744)*(x1 - 1077/100)) - (sin(right_tilt + 6526708726531955/576460752303423488)*(18936*y1*sin(right_tilt + 6526708726531955/576460752303423488)*cos(right_pan + 6158700809943851/288230376151711744) - 18936*cos(right_tilt + 6526708726531955/576460752303423488)*(z1 - 3333/100) + 18936*sin(right_tilt + 6526708726531955/576460752303423488)*sin(right_pan + 6158700809943851/288230376151711744)*(x1 - 1077/100)))/(！！！sin(right_tilt + 6526708726531955/576460752303423488)*(z1 - 3333/100) + y1*cos(right_tilt + 6526708726531955/576460752303423488)*cos(right_pan + 6158700809943851/288230376151711744) + cos(right_tilt + 6526708726531955/576460752303423488)*sin(right_pan + 6158700809943851/288230376151711744)*(x1 - 1077/100))！！！^2; + h[3][2] = - (18936*cos(right_tilt + 6526708726531955/576460752303423488))/(sin(right_tilt + 6526708726531955/576460752303423488)*(z1 - 3333/100) + y1*cos(right_tilt + 6526708726531955/576460752303423488)*cos(right_pan + 6158700809943851/288230376151711744) + cos(right_tilt + 6526708726531955/576460752303423488)*sin(right_pan + 6158700809943851/288230376151711744)*(x1 - 1077/100)) - (sin(right_tilt + 6526708726531955/576460752303423488)*(18936*y1*sin(right_tilt + 6526708726531955/576460752303423488)*cos(right_pan + 6158700809943851/288230376151711744) - 18936*cos(right_tilt + 6526708726531955/576460752303423488)*(z1 - 3333/100) + 18936*sin(right_tilt + 6526708726531955/576460752303423488)*sin(right_pan + 6158700809943851/288230376151711744)*(x1 - 1077/100)))/((sin(right_tilt + 6526708726531955/576460752303423488)*(z1 - 3333/100) + y1*cos(right_tilt + 6526708726531955/576460752303423488)*cos(right_pan + 6158700809943851/288230376151711744) + cos(right_tilt + 6526708726531955/576460752303423488)*sin(right_pan + 6158700809943851/288230376151711744)*(x1 - 1077/100))*(sin(right_tilt + 6526708726531955/576460752303423488)*(z1 - 3333/100) + y1*cos(right_tilt + 6526708726531955/576460752303423488)*cos(right_pan + 6158700809943851/288230376151711744) + cos(right_tilt + 6526708726531955/576460752303423488)*sin(right_pan + 6158700809943851/288230376151711744)*(x1 - 1077/100))); + h[3][3] = 0; + h[3][4] = 0; + h[3][5] = 0; + + + for (int i = 0;i < H->m;i++) + { + for (int j = 0;j < H->n;j++) + { + H->write(i,j,h[i][j]); + } + } + +} + diff --git a/ekf_main.cpp b/ekf_main.cpp new file mode 100644 index 0000000..a181421 --- /dev/null +++ b/ekf_main.cpp @@ -0,0 +1,589 @@ +//#include "stdafx.h" +#include +#include +#include +#include +#include "opencv2/core/core.hpp" +//#include "opencv2/features2d/features2d.hpp" +#include "opencv2/highgui/highgui.hpp" +//#include +//#include +#include "ekf.hpp" +#include "_Matrix.h" + +using namespace cv; +using namespace std; + + +FILE *fpTarget = NULL; +FILE *fpRecord = NULL; +FILE *fpEkfReord = NULL; +/* +double x0; +double y0; +double z0; +double t0; + +double x1; +double y1; +*/ +double ekf_init[2][4]; +double t_prev; + + +/* +_Matrix A(6,6); +_Matrix R(4,4); +_Matrix Q(6,6); +_Matrix P(6,6); +_Matrix M(6,1); + + //初始化内存 +A.init_matrix(); +R.init_matrix(); +Q.init_matrix(); +P.init_matrix(); +M.init_matrix(); +ekf.delt_T = 0.1; +*/ +long TotalLines = 0; +int dataNum = 0; + +int WriteTest(char *filename) +{ + ofstream file; + file.open (filename); // + + for(int i=0;i<5;i++) + { + file << i<<"\n"; + } + cout << "successfully write data to " < +#include +#include +using namespace cv; +using namespace std; +//int i=0; + +int main( ) +{ + + + + + Mat srcImage = imread("137.jpg"); + imshow("original image",srcImage); + + Mat grayImage; + cvtColor(srcImage, grayImage, CV_BGR2GRAY); + + +//------------------detect SURF points and extract descripter ---------------------- + + + + + + int minHessian = 240; + SurfFeatureDetector detector( minHessian ); + vector keyPoint1, keyPoint2; + detector.detect( grayImage, keyPoint1 ); + + // + SurfDescriptorExtractor extractor; + Mat descriptors1, descriptors2; + extractor.compute( grayImage, keyPoint1, descriptors1 ); + + // + BruteForceMatcher< L2 > matcher; + vector< DMatch > matches; + // + Mat captureImage, captureImage_gray;// + while(1) + { + double time0 = static_cast(getTickCount( ));// + + captureImage = imread("138.jpg"); + imshow("image captured",captureImage); + cvtColor(captureImage, captureImage_gray, CV_BGR2GRAY); + + detector.detect( captureImage_gray, keyPoint2 ); + // + extractor.compute( captureImage_gray, keyPoint2, descriptors2 ); + // + + matcher.match( descriptors1, descriptors2, matches ); + + Mat imgMatches; + drawMatches( srcImage, keyPoint1, captureImage_gray, keyPoint2, matches, imgMatches );// + imshow("matched window", imgMatches); + + cout << ">帧率= " << getTickFrequency() / (getTickCount() - time0) << endl; + cout << "matches.size()=" << matches.size()<< endl; + cout << "keyPoint2.size()=" << keyPoint2.size()<< endl; + // cout << "matches.distance=" << matches[1].distance<< endl; + //.queryIdx + + //vectorvecMyHouse; + cv::Point testPoint; + int size = keyPoint1.size(); //获得keyPoint1 已有数据个数 + for(int i=0;i(getTickCount( ));// + Mat srcImage1 = imread("51.jpg",1); + Mat srcImage2 = imread("52.jpg",1); + if( !srcImage1.data || !srcImage2.data ) + { printf("¶Áȡ͌ƬŽíÎó£¬ÇëÈ·¶šÄ¿ÂŒÏÂÊÇ·ñÓÐimreadº¯ÊýÖž¶šµÄ͌ƬŽæÔÚ~£¡ \n"); return false; } + + //¡Ÿ2¡¿Ê¹ÓÃSURFËã×ÓŒì²â¹ØŒüµã + int minHessian = 400;//SURFËã·šÖеÄhessianãÐÖµ + SurfFeatureDetector detector( minHessian );//¶šÒåÒ»žöSurfFeatureDetector£šSURF£© ÌØÕ÷Œì²âÀà¶ÔÏó + std::vector keyPoint1, keyPoints2;//vectorÄ£°åÀ࣬Žæ·ÅÈÎÒâÀàÐ͵Ķ¯Ì¬Êý×é + + //¡Ÿ3¡¿µ÷ÓÃdetectº¯ÊýŒì²â³öSURFÌØÕ÷¹ØŒüµã£¬±£ŽæÔÚvectorÈÝÆ÷ÖÐ + detector.detect( srcImage1, keyPoint1 ); + detector.detect( srcImage2, keyPoints2 ); + + //¡Ÿ4¡¿ŒÆËãÃèÊö·û£šÌØÕ÷ÏòÁ¿£© + SurfDescriptorExtractor extractor; + Mat descriptors1, descriptors2; + extractor.compute( srcImage1, keyPoint1, descriptors1 ); + extractor.compute( srcImage2, keyPoints2, descriptors2 ); + + //¡Ÿ5¡¿Ê¹ÓÃBruteForceœøÐÐÆ¥Åä + // ʵÀý»¯Ò»žöÆ¥ÅäÆ÷ + BruteForceMatcher< L2 > matcher; + std::vector< DMatch > matches; + //Æ¥ÅäÁœ·ùÍŒÖеÄÃèÊö×Ó£šdescriptors£© + + + matcher.match( descriptors1, descriptors2, matches ); + + //¡Ÿ6¡¿»æÖÆŽÓÁœžöÍŒÏñÖÐÆ¥Åä³öµÄ¹ØŒüµã + Mat imgMatches; + drawMatches( srcImage1, keyPoint1, srcImage2, keyPoints2, matches, imgMatches );//œøÐлæÖÆ + + //¡Ÿ7¡¿ÏÔʟЧ¹ûÍŒ + imshow("Æ¥ÅäÍŒ", imgMatches ); + cout << ">Ö¡ÂÊ= " << getTickFrequency() / (getTickCount() - time0) << endl; + + waitKey(0); + return 0; +} + +*/