def particleFilter(parameters, state, dtext):
prediction = (0, 0, 0)
if state == 'init':
# Place initial particles
parameters['pfObject'] = alg.ParticleFilter(parameters)
dtext.append(
("Place particles", True)) # Display to console and overlay
(done, nump, avgw, keep, prediction) = parameters['pfObject'].pfData()
else:
(done, nump, avgw, keep,
prediction) = parameters['pfObject'].update(parameters, dtext)
dtext.append(("p=%d,%d" % (nump, keep), True))
dtext.append(("wavg=%2f" % avgw, True))
if prediction[2] > 0:
dtext.append(("L=%d,%d" % (prediction[0], prediction[1]), True))
return prediction
