Kalman Desktop
A tool to implement and understand Kalman Filters.
Kalman Desktop along with Kalman Mobile is a Server-Client pair that reads the accelerometer readings from an Android device and sends them over to a desktop application over websockets. It then moves the cursor on the screen according to the change in acceleration of the mobile device.
A DataObject is recieved which contains acceleration along x, y and z in m/s2 and a timestamp in nanoseconds (time since the device has been on).
Note
Kalman mobile reads Sensor.TYPE_ACCELEROMETER and not Sensor.TYPE_ACCELEROMETER_UNCALIBRATED. Meaning it is bias compensated.
TODO
- Implement Kalman filter
- Host index.html with JS client for easy testing
Moving the cursor
Robot robot = new Robot();
Point2D p = robot.getMousePosition();
robot.mouseMove(p.getX() + acc_x, p.getY() + acc_y);Websocket Compatibility
| Server | Client |
|---|---|
| Netty-socketio v1.7.19 | Socket.IO-client Java v1.0.1 |
References for Kalman filter
License
GNU General Public License
App icon stolen from kalmanfilter.net