//Initialse Kalman Filter and Timers
private void Start_BTN_Click(object sender, EventArgs e)
{
if (Start_BTN.Text == "Start")
{
MouseTrackingArea.Refresh();
InitialiseTimers(100);
Start_BTN.Text = "Stop";
}
else
{
StopTimers();
Start_BTN.Text = "Start";
}
}
private void KalmanFilterRunner(object sender, EventArgs e)
{
//Graphics G = Graphics.FromImage(pictureBox1.Image);
//Image<Bgr, Byte> gridx = grid; //Not needed
PointF inp = new PointF(ix, iy);
oup = new PointF[2];
oup = filterPoints(inp);
PointF[] pts = oup;
MouseCorrected_LBL.Text = "Mouse Position Corrected- X:" + cx.ToString() + " Y:" + cy.ToString();
MousePredicted_LBL.Text = "Mouse Position Predicted- X:" + px.ToString() + " Y:" + py.ToString();
Graphics G = MouseTrackingArea.CreateGraphics();
G.FillEllipse(Brushes.Magenta, cx, cy, 5, 5);
G.FillEllipse(Brushes.Cyan, px, py, 5, 5);
G.FillEllipse(Brushes.Blue, ix, iy, 5, 5);
// Action<PointF, Bgr> drawCross =
// delegate(PointF point, Bgr color)
// {
// gridx.Draw(new Cross2DF(point, 15, 15), color, 1);
//};
//drawCross(inp, new Bgr(Color.Black)); //draw current state in White
// drawCross(oup[1], new Bgr(Color.Red)); //draw the measurement in Red
// drawCross(oup[0], new Bgr(Color.Blue)); //draw the prediction (the next state) in green
//gridx.Draw(new LineSegment2DF(inp, oup[0]), new Bgr(Color.Magenta), 1); //Draw a line between the current position and prediction of next position
//pictureBox1.Image = gridx.ToBitmap();
}
