* moved DIS optical flow from opencv_contrib to opencv, moved TVL1 from opencv to opencv_contrib
* fixed compile warning
* TVL1 optical flow example moved to opencv_contrib
More accurate pinhole camera calibration with imperfect planar target (#12772)
43 commits:
* Add derivatives with respect to object points
Add an output parameter to calculate derivatives of image points with
respect to 3D coordinates of object points. The output jacobian matrix
is a 2Nx3N matrix where N is the number of points.
This commit introduces incompatibility to old function signature.
* Set zero for dpdo matrix before using
dpdo is a sparse matrix with only non-zero value close to major
diagonal. Set it to zero because only elements near major diagonal are
computed.
* Add jacobian columns to projectPoints()
The output jacobian matrix of derivatives with respect to coordinates of
3D object points are added. This might break callers who assume the
columns of jacobian matrix.
* Adapt test code to updated project functions
The test cases for projectPoints() and cvProjectPoints2() are updated to
fit new function signatures.
* Add accuracy test code for dpdo
* Add badarg test for dpdo
* Add new enum item for new calibration method
CALIB_RELEASE_OBJECT is used to whether to release 3D coordinates of
object points. The method was proposed in: K. H. Strobl and G. Hirzinger.
"More Accurate Pinhole Camera Calibration with Imperfect Planar Target".
In Proceedings of the IEEE International Conference on Computer Vision
(ICCV 2011), 1st IEEE Workshop on Challenges and Opportunities in Robot
Perception, Barcelona, Spain, pp. 1068-1075, November 2011.
* Add releasing object method into internal function
It's a simple extension of the standard calibration scheme. We choose to
fix the first and last object point and a user-selected fixed point.
* Add interfaces for extended calibration method
* Refine document for calibrateCamera()
When releasing object points, only the z coordinates of the
objectPoints[0].back is fixed.
* Add link to strobl2011iccv paper
* Improve documentation for calibrateCamera()
* Add implementations of wrapping calibrateCamera()
* Add checking for params of new calibration method
If input parameters are not qualified, then fall back to standard
calibration method.
* Add camera calibration method of releasing object
The current implementation is equal to or better than
https://github.com/xoox/calibrel
* Update doc for CALIB_RELEASE_OBJECT
CALIB_USE_QR or CALIB_USE_LU could be used for faster calibration with
potentially less precise and less stable in some rare cases.
* Add RELEASE_OBJECT calibration to tutorial code
To select the calibration method of releasing object points, a command
line parameter `-d=<number>` should be provided.
* Update tutorial doc for camera_calibration
If the method of releasing object points is merged into OpenCV. It will
be expected to be firstly released in 4.1, I think.
* Reduce epsilon for cornerSubPix()
Epsilon of 0.1 is a bigger one. Preciser corner positions are required
with calibration method of releasing object.
* Refine camera calibration tutorial
The hypothesis coordinates are used to indicate which distance must be
measured between two specified object points.
* Update sample calibration code method selection
Similar to camera_calibration tutorial application, a command line
argument `-dt=<number>` is used to select the calibration method.
* Add guard to flags of cvCalibrateCamera2()
cvCalibrateCamera2() doesn't accept CALIB_RELEASE_OBJECT unless overload
interface is added in the future.
* Simplify fallback when iFixedPoint is out of range
* Refactor projectPoints() to keep compatibilities
* Fix arg string "Bad rvecs header"
* Read calibration flags from test data files
Instead of being hard coded into source file, the calibration flags will
be read from test data files.
opencv_extra/testdata/cv/cameracalibration/calib?.dat must be sync with
the test code.
* Add new C interface of cvCalibrateCamera4()
With this new added C interface, the extended calibration method with
CALIB_RELEASE_OBJECT can be called by C API.
* Add regression test of extended calibration method
It has been tested with new added test data in xoox:calib-release-object
branch of opencv_extra.
* Fix assertion in test_cameracalibration.cpp
The total number of refined 3D object coordinates is checked.
* Add checker for iFixedPoint in cvCalibrateCamera4
If iFixedPoint is out of rational range, fall back to standard method.
* Fix documentation for overloaded calibrateCamera()
* Remove calibration flag of CALIB_RELEASE_OBJECT
The method selection is based on the range of the index of fixed point.
For minus values, standard calibration method will be chosen. Values in
a rational range will make the object-releasing calibration method
selected.
* Use new interfaces instead of function overload
Existing interfaces are preserved and new interfaces are added. Since
most part of the code base are shared, calibrateCamera() is now a
wrapper function of calibrateCameraRO().
* Fix exported name of calibrateCameraRO()
* Update documentation for calibrateCameraRO()
The circumstances where this method is mostly helpful are described.
* Add note on the rigidity of the calibration target
* Update documentation for calibrateCameraRO()
It is clarified that iFixedPoint is used as a switch to select
calibration method. If input data are not qualified, exceptions will be
thrown instead of fallback scheme.
* Clarify iFixedPoint as switch and remove fallback
iFixedPoint is now used as a switch for calibration method selection. No
fallback scheme is utilized anymore. If the input data are not
qualified, exceptions will be thrown.
* Add badarg test for object-releasing method
* Fix document format of sample list
List items of same level should be indented the same way. Otherwise they
will be formatted as nested lists by Doxygen.
* Add brief intro for objectPoints and imagePoints
* Sync tutorial to sample calibration code
* Update tutorial compatibility version to 4.0
- accepts script parameter (allows drag & drop from 'explorer')
- use script dir instead of current dir (can launch samples from 'samples/dnn')
- added 'pause' to show error messages (about missing numpy) instead of instant closing
* Remove a forward method in dnn::Layer
* Add a test
* Fix tests
* Mark multiple dnn::Layer::finalize methods as deprecated
* Replace back dnn's inputBlobs to vector of pointers
* Remove Layer::forward_fallback from CV_OCL_RUN scopes
In this tutorial you will learn:
- what is a degradation image model
- what is a PSF of an out-of-focus image
- how to restore a blurred image
- what is the Wiener filter
Mser sample improvments (#12032)
* Fixed bug in detect_mser sample
Wrong number of colors used to generate the synthetic images
* Formatting improvements
* Using safer casts
* Improved readability of legend generation
* Various readability fixes in detect_mser sample
* Include ELA example
* Include ELA example
* Include ELA example
* Include ELA example
* Include ELA example
* Include ELA example
* Include ELA example
* Include ELA example
* Include ELA example
* Include ELA example
* Include ELA example
* did some code cleanup
* fixed compile error
- show capturing information: width / height / fps
- show average FPS for cap.read()+imshow() via cv::getTickCount()
- optional frame processing code path
* Added ResizeBilinear op for tf
Combined ResizeNearestNeighbor and ResizeBilinear layers into Resize (with an interpolation param).
Minor changes to tf_importer and resize layer to save some code lines
Minor changes in init.cpp
Minor changes in tf_importer.cpp
* Replaced implementation of a custom ResizeBilinear layer to all layers
* Use Mat::ptr. Replace interpolation flags
* Rewrite polar transformations
- A new wrapPolar function encapsulate both linear and semi-log remap
- Destination size is a parameter or calculated automatically to keep objects size between remapping
- linearPolar and logPolar has been deprecated
* Fix build warning and error in accuracy test
* Fix function name to warpPolar
* Explicitly specify the mapping mode, so we retain all the parameters as non-optional.
Introduces WarpPolarMode enum to specify the mapping mode in flags
* resolves performance warning on windows build
* removed duplicated logPolar and linearPolar implementations
In line 104 `if ( full_neg_lst[i].cols >= box.width && full_neg_lst[i].rows >= box.height )` removed '=' as it causes divide By Zero Error in line 106 and 107 `box.x = rand() % ( full_neg_lst[i].cols - size_x );` when full_neg_lst[i].cols = size_x or full_neg_lst[i].rows - size_y
- Recommended compiler checks:
- GCC: CV_GCC
- Clang: CV_CLANG
- fixed problem with CMAKE_CXX_COMPILER_ID=Clang/AppleClang mess on MacOSX
Details: cmake --help-policy CMP0025
- do not declare Clang as GCC compiler
- allow installing samples sources on all platforms
even if BUILD_EXAMPLES is disabled, fixed minor
issues in sources installation process
- use 'example_<group>_<name>' scheme for target and binary file naming
- use single function for sample executable creation
* fix faster_rcnn sample crashed at PoolingInvoker operator() of pooling_layer.
* find_odj onmouse bug about find matched point status.
* reverted AutoBuffer back to std::vector
* Add a new interface for hough transform
* Fixed warning code
* Fix HoughLinesUsingSetOfPoints based on HoughLinesStandard
* Delete memset
* Rename HoughLinesUsingSetOfPoints and add common function
* Fix test error
* Change static function name
* Change using CV_Assert instead of if-block and add integer test case
* I solve the conflict and delete 'std :: tr1' and changed it to use 'tuple'
* I deleted std::tr1::get and changed int to use 'get'
* Fixed sample code
* revert test_main.cpp
* Delete sample code in comment and add snippets
* Change file name
* Delete static function
* Fixed build error
- removed tr1 usage (dropped in C++17)
- moved includes of vector/map/iostream/limits into ts.hpp
- require opencv_test + anonymous namespace (added compile check)
- fixed norm() usage (must be from cvtest::norm for checks) and other conflict functions
- added missing license headers
* Simulated Annealing for ANN_MLP training method
* EXPECT_LT
* just to test new data
* manage RNG
* Try again
* Just run buildbot with new data
* try to understand
* Test layer
* New data- new test
* Force RNG in backprop
* Use Impl to avoid virtual method
* reset all weights
* try to solve ABI
* retry
* ABI solved?
* till problem with dynamic_cast
* Something is wrong
* Solved?
* disable backprop test
* remove ANN_MLP_ANNEALImpl
* Disable weight in varmap
* Add example for SimulatedAnnealing
Following were the errors in the digits_video.py
1 ) The code was not working because data type of x was float however in "cv2.rectangle" we require integer .
2 ) After pressing the "esc" button the image windows did not destroy
So I amended following things:
1 ) ~converted data type of x to int.~ Used Python integer division (//)
2 ) used cv2.destroyAllWindows() to close all windows after the press of "esc" by user.
Adds fitEllipseDirect to imgproc: The Direct least square (Direct) method by Fitzgibbon1999.
New Tests are included for the methods.
fitEllipseAMS Tests
fitEllipseDirect Tests
Comparative examples are added to fitEllipse.cpp in Samples.
Added gradiantSize param into goodFeaturesToTrack API (#9618)
* Added gradiantSize param into goodFeaturesToTrack API
Removed hardcode value 3 in goodFeaturesToTrack API, and
added new param 'gradinatSize' in this API so that user can
pass any gradiant size as 3, 5 or 7.
Signed-off-by: Vipin Anand <anand.vipin@gmail.com>
Signed-off-by: Nilaykumar Patel<nilay.nilpat@gmail.com>
Signed-off-by: Prashanth Voora <prashanthx85@gmail.com>
* fixed compilation error for java test
Signed-off-by: Vipin Anand <anand.vipin@gmail.com>
* Modifying code for previous binary compatibility and fixing other warnings
fixed ABI break issue
resolved merged conflict
compilation error fix
Signed-off-by: Vipin Anand <anand.vipin@gmail.com>
Signed-off-by: Patel, Nilaykumar K <nilay.nilpat@gmail.com>
The class `App` appears to have two unused methods: `message` and `checkRectSimilarity`. The is no definition or use of either of these methods. This appears to be dead code.
Add constructors taking initializer_list for some of OpenCV data types (#9034)
* Add a constructor taking initializer_list for Matx
* Add a constructor taking initializer list for Mat and Mat_
* Add one more method to initialize Mat to the corresponding tutorial
* Add a note how to initialize Matx
* CV_CXX_11->CV_CXX11
Remove unnecessary Non-ASCII characters from source code (#9075)
* Remove unnecessary Non-ASCII characters from source code
Remove unnecessary Non-ASCII characters and replace them with ASCII
characters
* Remove dashes in the @param statement
Remove dashes and place single space in the @param statement to keep
coding style
* misc: more fixes for non-ASCII symbols
* misc: fix non-ASCII symbol in CMake file
*Fixing typos;
*Making codes more similar to the main one, in C++;
*Adding Grayscale option to the Python and Java codes;
*Fixing python identation, whitespaces and redundancies.
compute() for BP and CSBP output 32-bit floating-point mat, and in cv::imshow() 32-bit floating-point is recognized as [0,1] and maped to [0,255], that causes gray window for BP and CSBP.
* Extending template_matching tutorial with Java
* adding mask to java version of the tutorial
* adding the python toggle and code
* updating table of content
* adding py and java to table of content
* adding mask to python
* going back to markdown with duplicated text
* non duplicated text
The docstring for one of the Python sample programs includes a link to the research paper describing the main algorithm. That link is no longer valid (results in a 404 error) so this update replaces it with another link from the same institution which is currently valid.
If-condition was always true (alpha = 0.5 is set in Line 19).
Now the user input is checked to be between 0 and 1.
This is correct in the tutorial code for OpenCV 2.4.
Fix error usage in HitMiss tutorial, and improved the visualization results (#7978)
* Fix error usage in HitMiss tutorial, and improved the visualization results
Fix error usage in HitMiss tutorial, and improved the visualization results
* Update HitMiss.cpp
* Update HitMiss.cpp
* GSoC 2016 - Adding toggle files to be used by tutorials.
Add a toggle option for tutorials.
* adds a button on the HTML tutorial pages to switch between blocks
* the default option is for languages: one can write a block
for C++ and another one for Python without re-writing the tutorial
Add aliases to the doxyfile.
* adding alises to make a link to previous and next tutorial.
* adding alias to specify the toggle options in the tutorials index.
* adding alias to add a youtube video directly from link.
Add a sample tutorial (mat_mask_opertaions) using the developed aliases:
* youtube alias
* previous and next tutorial alias
* buttons
* languages info for tutorial table of content
* code referances with snippets (and associated sample code files)
* Removing the automatic ordering.
Adding specific toggles for cpp, java and python.
Move all the code to the footer / header and Doxyfile.
Updating documentation.
modules/objectdetect/src/detection_based_tracker.cpp: made unique_lock<mutex> local to each function
samples/cpp/dbt_face_detection.cpp: fixed warnings on loop in Visual Studio
[GSOC] New camera model for stitching pipeline
* implement estimateAffine2D
estimates affine transformation using robust RANSAC method.
* uses RANSAC framework in calib3d
* includes accuracy test
* uses SVD decomposition for solving 3 point equation
* implement estimateAffinePartial2D
estimates limited affine transformation
* includes accuracy test
* stitching: add affine matcher
initial version of matcher that estimates affine transformation
* stitching: added affine transform estimator
initial version of estimator that simply chain transformations in homogeneous coordinates
* calib3d: rename estimateAffine3D test
test Calib3d_EstimateAffineTransform rename to Calib3d_EstimateAffine3D. This is more descriptive and prevents confusion with estimateAffine2D tests.
* added perf test for estimateAffine functions
tests both estimateAffine2D and estimateAffinePartial2D
* calib3d: compare error in square in estimateAffine2D
* incorporates fix from #6768
* rerun affine estimation on inliers
* stitching: new API for parallel feature finding
due to ABI breakage new functionality is added to `FeaturesFinder2`, `SurfFeaturesFinder2` and `OrbFeaturesFinder2`
* stitching: add tests for parallel feature find API
* perf test (about linear speed up)
* accuracy test compares results with serial version
* stitching: use dynamic_cast to overcome ABI issues
adding parallel API to FeaturesFinder breaks ABI. This commit uses dynamic_cast and hardcodes thread-safe finders to avoid breaking ABI.
This should be replaced by proper method similar to FeaturesMatcher on next ABI break.
* use estimateAffinePartial2D in AffineBestOf2NearestMatcher
* add constructor to AffineBestOf2NearestMatcher
* allows to choose between full affine transform and partial affine transform. Other params are the as for BestOf2NearestMatcher
* added protected field
* samples: stitching_detailed support affine estimator and matcher
* added new flags to choose matcher and estimator
* stitching: rework affine matcher
represent transformation in homogeneous coordinates
affine matcher: remove duplicite code
rework flow to get rid of duplicite code
affine matcher: do not center points to (0, 0)
it is not needed for affine model. it should not affect estimation in any way.
affine matcher: remove unneeded cv namespacing
* stitching: add stub bundle adjuster
* adds stub bundle adjuster that does nothing
* can be used in place of standard bundle adjusters to omit bundle adjusting step
* samples: stitching detailed, support no budle adjust
* uses new NoBundleAdjuster
* added affine warper
* uses R to get whole affine transformation and propagates rotation and translation to plane warper
* add affine warper factory class
* affine warper: compensate transformation
* samples: stitching_detailed add support for affine warper
* add Stitcher::create method
this method follows similar constructor methods and returns smart pointer. This allows constructing Stitcher according to OpenCV guidelines.
* supports multiple stitcher configurations (PANORAMA and SCANS) for convenient setup
* returns cv::Ptr
* stitcher: dynamicaly determine correct estimator
we need to use affine estimator for affine matcher
* preserves ABI (but add hints for ABI 4)
* uses dynamic_cast hack to inject correct estimator
* sample stitching: add support for multiple modes
shows how to use different configurations of stitcher easily (panorama stitching and scans affine model)
* stitcher: find features in parallel
use new FeatureFinder API to find features in parallel. Parallelized using TBB.
* stitching: disable parallel feature finding for OCL
it does not bring much speedup to run features finder in parallel when OpenCL is enabled, because finder needs to wait for OCL device.
Also, currently ORB is not thread-safe when OCL is enabled.
* stitching: move matcher tests
move matchers tests perf_stich.cpp -> perf_matchers.cpp
* stitching: add affine stiching integration test
test basic affine stitching (SCANS mode of stitcher) with images that have only translation between them
* enable surf for stitching tests
stitching.b12 test was failing with surf
investigated the issue, surf is producing good result. Transformation is only slightly different from ORB, so that resulting pano does not exactly match ORB's result. That caused sanity check to fail.
* added size checks similar to other tests
* sanity check will be applied only for ORB
* stitching: fix wrong estimator choice
if case was exactly wrong, estimators were chosen wrong
added logging for estimated transformation
* enable surf for matchers stitching tests
* enable SURF
* rework sanity checking. Check estimated transform instead of matches. Est. transform should be more stable and comparable between SURF and ORB.
* remove regression checking for VectorFeatures tests. It has a lot if data andtest is the same as previous except it test different vector size for performance, so sanity checking does not add any value here. Added basic sanity asserts instead.
* stitching tests: allow relative error for transform
* allows .01 relative error for estimated homography sanity check in stitching matchers tests
* fix VS warning
stitching tests: increase relative error
increase relative error to make it pass on all platforms (results are still good).
stitching test: allow bigger relative error
transformation can differ in small values (with small absolute difference, but large relative difference). transformation output still looks usable for all platforms. This difference affects only mac and windows, linux passes fine with small difference.
* stitching: add tests for affine matcher
uses s1, s2 images. added also new sanity data.
* stitching tests: use different data for matchers tests
this data should yeild more stable transformation (it has much more matches, especially for surf). Sanity data regenerated.
* stitching test: rework tests for matchers
* separated rotation and translations as they are different by scale.
* use appropriate absolute error for them separately. (relative error does not work for values near zero.)
* stitching: fix affine warper compensation
calculation of rotation and translation extracted for plane warper was wrong
* stitching test: enable surf for opencl integration tests
* enable SURF with correct guard (HAVE_OPENCV_XFEATURES2D)
* add OPENCL guard and correct namespace as usual for opencl tests
* stitching: add ocl accuracy test for affine warper
test consistent results with ocl on and off
* stitching: add affine warper ocl perf test
add affine warper to existing warper perf tests. Added new sanity data.
* stitching: do not overwrite inliers in affine matcher
* estimation is run second time on inliers only, inliers produces in second run will not be therefore correct for all matches
* calib3d: add Levenberg–Marquardt refining to estimateAffine2D* functions
this adds affine Levenberg–Marquardt refining to estimateAffine2D functions similar to what is done in findHomography.
implements Levenberg–Marquardt refinig for both full affine and partial affine transformations.
* stitching: remove reestimation step in affine matcher
reestimation step is not needed. estimateAffine2D* functions are running their own reestimation on inliers using the Levenberg-Marquardt algorithm, which is better than simply rerunning RANSAC on inliers.
* implement partial affine bundle adjuster
bundle adjuster that expect affine transform with 4DOF. Refines parameters for all cameras together.
stitching: fix bug in BundleAdjusterAffinePartial
* use the invers properly
* use static buffer for invers to speed it up
* samples: add affine bundle adjuster option to stitching_detailed
* add support for using affine bundle adjuster with 4DOF
* improve logging of initial intristics
* sttiching: add affine bundle adjuster test
* fix build warnings
* stitching: increase limit on sanity check
prevents spurious test failures on mac. values are still pretty fine.
* stitching: set affine bundle adjuster for SCANS mode
* fix bug with AffineBestOf2NearestMatcher (we want to select affine partial mode)
* select right bundle adjuster
* stitching: increase error bound for matcher tests
* this prevents failure on mac. tranformation is still ok.
* stitching: implement affine bundle adjuster
* implements affine bundle adjuster that is using full affine transform
* existing test case modified to test both affinePartial an full affine bundle adjuster
* add stitching tutorial
* show basic usage of stitching api (Stitcher class)
* stitching: add more integration test for affine stitching
* added new datasets to existing testcase
* removed unused include
* calib3d: move `haveCollinearPoints` to common header
* added comment to make that this also checks too close points
* calib3d: redone checkSubset for estimateAffine* callback
* use common function to check collinearity
* this also ensures that point will not be too close to each other
* calib3d: change estimateAffine* functions API
* more similar to `findHomography`, `findFundamentalMat`, `findEssentialMat` and similar
* follows standard recommended semantic INPUTS, OUTPUTS, FLAGS
* allows to disable refining
* supported LMEDS robust method (tests yet to come) along with RANSAC
* extended docs with some tips
* calib3d: rewrite estimateAffine2D test
* rewrite in googletest style
* parametrize to test both robust methods (RANSAC and LMEDS)
* get rid of boilerplate
* calib3d: rework estimateAffinePartial2D test
* rework in googletest style
* add testing for LMEDS
* calib3d: rework estimateAffine*2D perf test
* test for LMEDS speed
* test with/without Levenberg-Marquart
* remove sanity checking (this is covered by accuracy tests)
* calib3d: improve estimateAffine*2D tests
* test transformations in loop
* improves test by testing more potential transformations
* calib3d: rewrite kernels for estimateAffine*2D functions
* use analytical solution instead of SVD
* this version is faster especially for smaller amount of points
* calib3d: tune up perf of estimateAffine*2D functions
* avoid copying inliers
* avoid converting input points if not necessary
* check only `from` point for collinearity, as `to` does not affect stability of transform
* tutorials: add commands examples to stitching tutorials
* add some examples how to run stitcher sample code
* mention stitching_detailed.cpp
* calib3d: change computeError for estimateAffine*2D
* do error computing in floats instead of doubles
this have required precision + we were storing the result in float anyway. This make code faster and allows auto-vectorization by smart compilers.
* documentation: mention estimateAffine*2D function
* refer to new functions on appropriate places
* prefer estimateAffine*2D over estimateRigidTransform
* stitching: add camera models documentations
* mention camera models in module documentation to give user a better overview and reduce confusion
I noticed that I missed the fact that `cimg` is used in the second `imshow()` call. Changed the scope of the second function call to be within the if-statement. Otherwise in cases where have not been detected the second `imshow()` will attempt to use `cimg` which will be empty leading to an error.
In the C++ equivalent of this example a check is made whether the vector (here in Python we have a list) actually has any lines in it that is whether the Hough lines function has managed to find any in the given image. This check is missing for the Python example and if no lines are found the application breaks.
In the C++ equivalent of this example a check is made whether the vector (here in Python we have a list) actually has any circles in it that is whether the Hough circles function has managed to find any in the given image. This check is missing for the Python example and if no circles are found the application breaks.
All of these: (performance) Prefer prefix ++/-- operators for non-primitive types.
[modules/calib3d/src/fundam.cpp:1049] -> [modules/calib3d/src/fundam.cpp:1049]: (style) Same expression on both sides of '&&'.
Commits:
67fe57a add fixed video
db0ae2c Restore 2.4 source branch for bug fix 6317.
97ac59c Fix a memory leak indirectly caused by cvDestroyWindow
eb40afa Add a workaround for FFmpeg's color conversion accessing past the end of the buffer
421fcf9 Rearrange CvVideoWriter_FFMPEG::writeFrame for better readability
912592d Remove "INSTALL_NAME_DIR lib" target property
bb1c2d7 fix bug on border at pyrUp
1. Following condition is True on each iteration becuase -1 % 0xFF is 255 not -1
code = cv2.waitKey(100) % 0x100
if code != -1:
break
this were resetting point position on each cycle not on key press as intended
2. Previous small bug were masking serious bug with matrix operation on matrices of incorrect size.
As the result on 2nd iteration of internal cycle program has crushed.
I have fixed it too, matrix operation was taken from examples/cpp/kalman.cpp where it looks like
randn( processNoise, Scalar(0), Scalar::all(sqrt(KF.processNoiseCov.at<float>(0, 0))));
which is something totally different from previous code here.
Example behave as it should now, i.e. point moving by circle trajectory as in C++ example.
