Condensation algorithm in Python Version based on the original OpenCV
Based on the Legacy version on OpenCV and the Android version available here: https://android.googlesource.com/platform/external/opencv/+/android-5.1.1_r6/cv/src/cvcondens.cpp
For the GUI example it's based on the example: http://www.morethantechnical.com/2011/06/17/simple-kalman-filter-for-tracking-using-opencv-2-2-w-code/
For an introduction to particle filters read these before: http://www.anuncommonlab.com/articles/how-kalman-filters-work/