+++ /dev/null
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-//
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-// If you do not agree to this license, do not download, install,
-// copy or use the software.
-//
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-// Intel License Agreement
-//
-// Copyright (C) 2000, Intel Corporation, all rights reserved.
-// Third party copyrights are property of their respective owners.
-//
-// Redistribution and use in source and binary forms, with or without modification,
-// are permitted provided that the following conditions are met:
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-// * Redistribution's of source code must retain the above copyright notice,
-// this list of conditions and the following disclaimer.
-//
-// * Redistribution's in binary form must reproduce the above copyright notice,
-// this list of conditions and the following disclaimer in the documentation
-// and/or other materials provided with the distribution.
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-// * The name of Intel Corporation may not be used to endorse or promote products
-// derived from this software without specific prior written permission.
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-// loss of use, data, or profits; or business interruption) however caused
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-// the use of this software, even if advised of the possibility of such damage.
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-//M*/
-
-#include "_cvaux.h"
-
-/*======================= KALMAN FILTER AS TRACKER =========================*/
-/* State vector is (x,y,w,h,dx,dy,dw,dh). */
-/* Measurement is (x,y,w,h) */
-
-/* Dynamic matrix A: */
-const float A8[] = { 1, 0, 0, 0, 1, 0, 0, 0,
- 0, 1, 0, 0, 0, 1, 0, 0,
- 0, 0, 1, 0, 0, 0, 1, 0,
- 0, 0, 0, 1, 0, 0, 0, 1,
- 0, 0, 0, 0, 1, 0, 0, 0,
- 0, 0, 0, 0, 0, 1, 0, 0,
- 0, 0, 0, 0, 0, 0, 1, 0,
- 0, 0, 0, 0, 0, 0, 0, 1};
-
-/* Measurement matrix H: */
-const float H8[] = { 1, 0, 0, 0, 0, 0, 0, 0,
- 0, 1, 0, 0, 0, 0, 0, 0,
- 0, 0, 1, 0, 0, 0, 0, 0,
- 0, 0, 0, 1, 0, 0, 0, 0};
-
-/* Matices for zero size velocity: */
-/* Dynamic matrix A: */
-const float A6[] = { 1, 0, 0, 0, 1, 0,
- 0, 1, 0, 0, 0, 1,
- 0, 0, 1, 0, 0, 0,
- 0, 0, 0, 1, 0, 0,
- 0, 0, 0, 0, 1, 0,
- 0, 0, 0, 0, 0, 1};
-
-/* Measurement matrix H: */
-const float H6[] = { 1, 0, 0, 0, 0, 0,
- 0, 1, 0, 0, 0, 0,
- 0, 0, 1, 0, 0, 0,
- 0, 0, 0, 1, 0, 0};
-
-#define STATE_NUM 6
-#define A A6
-#define H H6
-class CvBlobTrackerOneKalman:public CvBlobTrackerOne
-{
-private:
- CvBlob m_Blob;
- CvKalman* m_pKalman;
- int m_Frame;
-
-public:
- CvBlobTrackerOneKalman()
- {
- m_Frame = 0;
- m_pKalman = cvCreateKalman(STATE_NUM,4);
- memcpy( m_pKalman->transition_matrix->data.fl, A, sizeof(A));
- memcpy( m_pKalman->measurement_matrix->data.fl, H, sizeof(H));
- cvSetIdentity( m_pKalman->process_noise_cov, cvRealScalar(1e-5) );
- cvSetIdentity( m_pKalman->measurement_noise_cov, cvRealScalar(1e-1) );
- // CV_MAT_ELEM(*m_pKalman->measurement_noise_cov, float, 2,2) *= (float)pow(20,2);
- // CV_MAT_ELEM(*m_pKalman->measurement_noise_cov, float, 3,3) *= (float)pow(20,2);
- cvSetIdentity( m_pKalman->error_cov_post, cvRealScalar(1));
- cvZero(m_pKalman->state_post);
- cvZero(m_pKalman->state_pre);
- }
-
- ~CvBlobTrackerOneKalman()
- {
- cvReleaseKalman(&m_pKalman);
- }
-
- virtual void Init(CvBlob* pBlob, IplImage* /*pImg*/, IplImage* /*pImgFG*/ = NULL)
- {
- m_Blob = pBlob[0];
- m_pKalman->state_post->data.fl[0] = CV_BLOB_X(pBlob);
- m_pKalman->state_post->data.fl[1] = CV_BLOB_Y(pBlob);
- m_pKalman->state_post->data.fl[2] = CV_BLOB_WX(pBlob);
- m_pKalman->state_post->data.fl[3] = CV_BLOB_WY(pBlob);
- }
-
- virtual CvBlob* Process(CvBlob* pBlob, IplImage* /*pImg*/, IplImage* /*pImgFG*/ = NULL)
- {
- CvBlob* pBlobRes = &m_Blob;
- float Z[4];
- CvMat Zmat = cvMat(4,1,CV_32F,Z);
- m_Blob = pBlob[0];
-
- if(m_Frame < 2)
- { /* First call: */
- m_pKalman->state_post->data.fl[0+4] = CV_BLOB_X(pBlob)-m_pKalman->state_post->data.fl[0];
- m_pKalman->state_post->data.fl[1+4] = CV_BLOB_Y(pBlob)-m_pKalman->state_post->data.fl[1];
- if(m_pKalman->DP>6)
- {
- m_pKalman->state_post->data.fl[2+4] = CV_BLOB_WX(pBlob)-m_pKalman->state_post->data.fl[2];
- m_pKalman->state_post->data.fl[3+4] = CV_BLOB_WY(pBlob)-m_pKalman->state_post->data.fl[3];
- }
- m_pKalman->state_post->data.fl[0] = CV_BLOB_X(pBlob);
- m_pKalman->state_post->data.fl[1] = CV_BLOB_Y(pBlob);
- m_pKalman->state_post->data.fl[2] = CV_BLOB_WX(pBlob);
- m_pKalman->state_post->data.fl[3] = CV_BLOB_WY(pBlob);
- memcpy(m_pKalman->state_pre->data.fl,m_pKalman->state_post->data.fl,sizeof(float)*STATE_NUM);
- }
- else
- { /* Another call: */
- Z[0] = CV_BLOB_X(pBlob);
- Z[1] = CV_BLOB_Y(pBlob);
- Z[2] = CV_BLOB_WX(pBlob);
- Z[3] = CV_BLOB_WY(pBlob);
- cvKalmanCorrect(m_pKalman,&Zmat);
- cvKalmanPredict(m_pKalman,0);
- cvMatMulAdd(m_pKalman->measurement_matrix, m_pKalman->state_pre, NULL, &Zmat);
- CV_BLOB_X(pBlobRes) = Z[0];
- CV_BLOB_Y(pBlobRes) = Z[1];
- CV_BLOB_WX(pBlobRes) = Z[2];
- CV_BLOB_WY(pBlobRes) = Z[3];
- }
- m_Frame++;
- return pBlobRes;
- }
- virtual void Release()
- {
- delete this;
- }
-}; /* class CvBlobTrackerOneKalman */
-
-static CvBlobTrackerOne* cvCreateModuleBlobTrackerOneKalman()
-{
- return (CvBlobTrackerOne*) new CvBlobTrackerOneKalman;
-}
-
-CvBlobTracker* cvCreateBlobTrackerKalman()
-{
- return cvCreateBlobTrackerList(cvCreateModuleBlobTrackerOneKalman);
-}
projects / opencv / blobdiff