《学习opencv》kalman.c详细注释

// Example 10-2. Kalman filter sample code
//
//  Use Kalman Filter to model particle in circular trajectory.

//
#include "cv.h"
#include "highgui.h"
#include "cvx_defs.h"

#define phi2xy(mat)                                                  \
  cvPoint( cvRound(img->width/2 + img->width/3*cos(mat->data.fl[0])),\
    cvRound( img->height/2 - img->width/3*sin(mat->data.fl[0])) )

int main(int argc, char** argv) {

    // Initialize, create Kalman Filter object, window, random number
    // generator etc.
    //
    cvNamedWindow( "Kalman", 1 );
    CvRandState rng;
    //typedef struct CvRandState
    //{
    //CvRNG     state;    /* RNG state (the current seed and carry)*/
    //int       disttype; /* distribution type */
    //CvScalar  param[2]; /* parameters of RNG */
    //} CvRandState;
    cvRandInit( &a