卡尔曼滤波实现鼠标追踪

import cv2
import numpy as np

# 先建立一个黑色的背景
img = np.zeros((800, 800, 3), np.uint8)

# 初始化卡尔曼滤波器
kalman = cv2.KalmanFilter(4, 2)  # 四个输入，需要预测两个
kalman.measurementMatrix = np.array([[1, 0, 0, 0],
                                     [0, 1, 0, 0]], np.float32)
kalman.transitionMatrix = np.array([[1, 0, 1, 0],
                                    [0, 1, 0, 1],
                                    [0, 0, 1, 0],
                                    [0, 0, 0, 1]], np.float32)  # 传递矩阵
kalman.processNoiseCov = np.array([[1, 0, 0, 0],
                                   [0, 1, 0, 0],
                                   [0, 0, 1, 0],
                                   [0, 0, 0, 1]], np.float32) * 0.03  # 噪声

# 保存实际测量值与预测的鼠标坐标
last_measurement = None
last_prediction = None


# 回调函数
def mouse_move(event, x, y, flags, param):
    # 设置为全局变量
    global img, kalman, last_prediction, last_measurement

    measurement = np.array([[x],