OpenCV KalmanFilter Python3は動作しません

Question

私は、オープンcvのカルマンフィルタをPythonで利用しようとしています。私が "正しい"機能を呼び出すたびにクラッシュします。 ここのコードは自明だと思います。

私ですか？ OpenCV？ Pythonバインディング（つまり、C++で動作しますか？）

助けてください。 ダミーコードと出力を下回っているかon github

#!/usr/bin/env python3 
import numpy as np 
import cv2, numpy as np 
kalman = cv2.KalmanFilter(3,3,3,cv2.CV_64F)  #Declare 3 dynamical   parameter 3 state parameter 3 control parameter 
kalman.transitionMatrix=1.0*np.eye(3)   #Transition set to identity only the control and the noise are changing the state 
#Dummy measurement matrix, 3 measurement each times ! 
kalman.measurementMatrix=np.matrix([[1.0,2.2,3.10], 
       [1.1,2.2,3.30], 
       [1.2,2.4,3.70], 
       [1.3,2.430,3.50], 
       [1.5,2.50,3.340], 
       [1.5,2.60,3.70], 
       [1.7,2.0,3.30], 
       [1.9,2.30,3.20], 
       [1.0,2.40,3.50], 
       [1.3,2.60,3.60], 
       [1.4,2.20,3.20], 
       [1.6,2.0,3.20]]) 

kalman.measurementNoiseCov=1.1*np.eye(3) 
kalman.processNoiseCov=1.2*np.eye(3) 
kalman.controlMatrix=1.0*np.eye(3) 

uk=np.matrix([[0.0], 
    [1.2], 
    [1.4]]) 

print("Now checking") 
print("Measurement Matrix") 
print(kalman.measurementMatrix) 
print("Transition Matrix") 
print(kalman.transitionMatrix) 
print("MeasurementNoiseCov") 
print(kalman.measurementNoiseCov) 
print("ProcessNoiseCov") 
print(kalman.processNoiseCov) 
print("ControlMatrix") 
print(kalman.controlMatrix) 

print("Now attempted to make use of the underdocumented kalman filter in opencv with python ;)") 
predicted=kalman.predict(uk) 
print("Predicted:") 
print(predicted) 
print("Will (try to) correct by feeding directly the predicted to correction") 
print("So here OpenCV is telling me that KF can not correct its own prediction even though the KF here has same number of dynamical,state and control parameters ?\n...") 
estimated=kalman.correct(predicted) 

OK出力（単にクラッシュライン）

OpenCV Error: Assertion failed (C.type() == type && (((flags&GEMM_3_T) == 0 && C.rows == d_size.height && C.cols == d_size.width) || ((flags&GEMM_3_T) != 0 && C.rows == d_size.width && C.cols == d_size.height))) in gemm, file /io/opencv/modules/core/src/matmul.cpp, line 1588 
Traceback (most recent call last): 
    File "./opencvhorror.py", line 46, in <module> 
estimated=kalman.correct(predicted) 
cv2.error: /io/opencv/modules/core/src/matmul.cpp:1588: error: (-215) C.type() == type && (((flags&GEMM_3_T) == 0 && C.rows == d_size.height && C.cols == d_size.width) || ((flags&GEMM_3_T) != 0 && C.rows == d_size.width && C.cols == d_size.height)) in function gemm 

Answer 1

私の愚かなミス... 私は計測行列と測定を混同... 。 したがって、行列のサイズが正しくありません