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43 /*======================= KALMAN FILTER =========================*/
44 /* State vector is (x,y,w,h,dx,dy,dw,dh). */
45 /* Measurement is (x,y,w,h). */
47 /* Dynamic matrix A: */
48 const float A8[] = { 1, 0, 0, 0, 1, 0, 0, 0,
49 0, 1, 0, 0, 0, 1, 0, 0,
50 0, 0, 1, 0, 0, 0, 1, 0,
51 0, 0, 0, 1, 0, 0, 0, 1,
52 0, 0, 0, 0, 1, 0, 0, 0,
53 0, 0, 0, 0, 0, 1, 0, 0,
54 0, 0, 0, 0, 0, 0, 1, 0,
55 0, 0, 0, 0, 0, 0, 0, 1};
57 /* Measurement matrix H: */
58 const float H8[] = { 1, 0, 0, 0, 0, 0, 0, 0,
59 0, 1, 0, 0, 0, 0, 0, 0,
60 0, 0, 1, 0, 0, 0, 0, 0,
61 0, 0, 0, 1, 0, 0, 0, 0};
63 /* Matrices for zero size velocity: */
64 /* Dinamic matrix A: */
65 const float A6[] = { 1, 0, 0, 0, 1, 0,
72 /* Measurement matrix H: */
73 const float H6[] = { 1, 0, 0, 0, 0, 0,
82 class CvBlobTrackPostProcKalman:public CvBlobTrackPostProcOne
91 float m_DataNoiseSize;
94 CvBlobTrackPostProcKalman();
95 ~CvBlobTrackPostProcKalman();
96 CvBlob* Process(CvBlob* pBlob);
98 virtual void ParamUpdate();
99 }; /* class CvBlobTrackPostProcKalman */
102 CvBlobTrackPostProcKalman::CvBlobTrackPostProcKalman()
104 m_ModelNoise = 1e-6f;
105 m_DataNoisePos = 1e-6f;
106 m_DataNoiseSize = 1e-1f;
109 m_DataNoiseSize *= (float)pow(20.,2.);
111 m_DataNoiseSize /= (float)pow(20.,2.);
114 AddParam("ModelNoise",&m_ModelNoise);
115 AddParam("DataNoisePos",&m_DataNoisePos);
116 AddParam("DataNoiseSize",&m_DataNoiseSize);
119 m_pKalman = cvCreateKalman(STATE_NUM,4);
120 memcpy( m_pKalman->transition_matrix->data.fl, A, sizeof(A));
121 memcpy( m_pKalman->measurement_matrix->data.fl, H, sizeof(H));
123 cvSetIdentity( m_pKalman->process_noise_cov, cvRealScalar(m_ModelNoise) );
124 cvSetIdentity( m_pKalman->measurement_noise_cov, cvRealScalar(m_DataNoisePos) );
125 CV_MAT_ELEM(*m_pKalman->measurement_noise_cov, float, 2,2) = m_DataNoiseSize;
126 CV_MAT_ELEM(*m_pKalman->measurement_noise_cov, float, 3,3) = m_DataNoiseSize;
127 cvSetIdentity( m_pKalman->error_cov_post, cvRealScalar(1));
128 cvZero(m_pKalman->state_post);
129 cvZero(m_pKalman->state_pre);
132 CvBlobTrackPostProcKalman::~CvBlobTrackPostProcKalman()
134 cvReleaseKalman(&m_pKalman);
137 void CvBlobTrackPostProcKalman::ParamUpdate()
139 cvSetIdentity( m_pKalman->process_noise_cov, cvRealScalar(m_ModelNoise) );
140 cvSetIdentity( m_pKalman->measurement_noise_cov, cvRealScalar(m_DataNoisePos) );
141 CV_MAT_ELEM(*m_pKalman->measurement_noise_cov, float, 2,2) = m_DataNoiseSize;
142 CV_MAT_ELEM(*m_pKalman->measurement_noise_cov, float, 3,3) = m_DataNoiseSize;
145 CvBlob* CvBlobTrackPostProcKalman::Process(CvBlob* pBlob)
147 CvBlob* pBlobRes = &m_Blob;
149 CvMat Zmat = cvMat(4,1,CV_32F,Z);
154 m_pKalman->state_post->data.fl[0+4] = CV_BLOB_X(pBlob)-m_pKalman->state_post->data.fl[0];
155 m_pKalman->state_post->data.fl[1+4] = CV_BLOB_Y(pBlob)-m_pKalman->state_post->data.fl[1];
158 m_pKalman->state_post->data.fl[2+4] = CV_BLOB_WX(pBlob)-m_pKalman->state_post->data.fl[2];
159 m_pKalman->state_post->data.fl[3+4] = CV_BLOB_WY(pBlob)-m_pKalman->state_post->data.fl[3];
161 m_pKalman->state_post->data.fl[0] = CV_BLOB_X(pBlob);
162 m_pKalman->state_post->data.fl[1] = CV_BLOB_Y(pBlob);
163 m_pKalman->state_post->data.fl[2] = CV_BLOB_WX(pBlob);
164 m_pKalman->state_post->data.fl[3] = CV_BLOB_WY(pBlob);
167 { /* Nonfirst call: */
168 cvKalmanPredict(m_pKalman,0);
169 Z[0] = CV_BLOB_X(pBlob);
170 Z[1] = CV_BLOB_Y(pBlob);
171 Z[2] = CV_BLOB_WX(pBlob);
172 Z[3] = CV_BLOB_WY(pBlob);
173 cvKalmanCorrect(m_pKalman,&Zmat);
174 cvMatMulAdd(m_pKalman->measurement_matrix, m_pKalman->state_post, NULL, &Zmat);
175 CV_BLOB_X(pBlobRes) = Z[0];
176 CV_BLOB_Y(pBlobRes) = Z[1];
177 // CV_BLOB_WX(pBlobRes) = Z[2];
178 // CV_BLOB_WY(pBlobRes) = Z[3];
184 void CvBlobTrackPostProcKalman::Release()
189 CvBlobTrackPostProcOne* cvCreateModuleBlobTrackPostProcKalmanOne()
191 return (CvBlobTrackPostProcOne*) new CvBlobTrackPostProcKalman;
194 CvBlobTrackPostProc* cvCreateModuleBlobTrackPostProcKalman()
196 return cvCreateBlobTrackPostProcList(cvCreateModuleBlobTrackPostProcKalmanOne);
198 /*======================= KALMAN FILTER =========================*/
202 /*======================= KALMAN PREDICTOR =========================*/
203 class CvBlobTrackPredictKalman:public CvBlobTrackPredictor
207 CvBlob m_BlobPredict;
211 float m_DataNoisePos;
212 float m_DataNoiseSize;
215 CvBlobTrackPredictKalman();
216 ~CvBlobTrackPredictKalman();
218 void Update(CvBlob* pBlob);
219 virtual void ParamUpdate();
224 }; /* class CvBlobTrackPredictKalman */
227 void CvBlobTrackPredictKalman::ParamUpdate()
229 cvSetIdentity( m_pKalman->process_noise_cov, cvRealScalar(m_ModelNoise) );
230 cvSetIdentity( m_pKalman->measurement_noise_cov, cvRealScalar(m_DataNoisePos) );
231 CV_MAT_ELEM(*m_pKalman->measurement_noise_cov, float, 2,2) = m_DataNoiseSize;
232 CV_MAT_ELEM(*m_pKalman->measurement_noise_cov, float, 3,3) = m_DataNoiseSize;
235 CvBlobTrackPredictKalman::CvBlobTrackPredictKalman()
237 m_ModelNoise = 1e-6f;
238 m_DataNoisePos = 1e-6f;
239 m_DataNoiseSize = 1e-1f;
242 m_DataNoiseSize *= (float)pow(20.,2.);
244 m_DataNoiseSize /= (float)pow(20.,2.);
247 AddParam("ModelNoise",&m_ModelNoise);
248 AddParam("DataNoisePos",&m_DataNoisePos);
249 AddParam("DataNoiseSize",&m_DataNoiseSize);
252 m_pKalman = cvCreateKalman(STATE_NUM,4);
253 memcpy( m_pKalman->transition_matrix->data.fl, A, sizeof(A));
254 memcpy( m_pKalman->measurement_matrix->data.fl, H, sizeof(H));
256 cvSetIdentity( m_pKalman->process_noise_cov, cvRealScalar(m_ModelNoise) );
257 cvSetIdentity( m_pKalman->measurement_noise_cov, cvRealScalar(m_DataNoisePos) );
258 CV_MAT_ELEM(*m_pKalman->measurement_noise_cov, float, 2,2) = m_DataNoiseSize;
259 CV_MAT_ELEM(*m_pKalman->measurement_noise_cov, float, 3,3) = m_DataNoiseSize;
260 cvSetIdentity( m_pKalman->error_cov_post, cvRealScalar(1));
261 cvZero(m_pKalman->state_post);
262 cvZero(m_pKalman->state_pre);
265 CvBlobTrackPredictKalman::~CvBlobTrackPredictKalman()
267 cvReleaseKalman(&m_pKalman);
270 CvBlob* CvBlobTrackPredictKalman::Predict()
274 cvKalmanPredict(m_pKalman,0);
275 m_BlobPredict.x = m_pKalman->state_pre->data.fl[0];
276 m_BlobPredict.y = m_pKalman->state_pre->data.fl[1];
277 m_BlobPredict.w = m_pKalman->state_pre->data.fl[2];
278 m_BlobPredict.h = m_pKalman->state_pre->data.fl[3];
280 return &m_BlobPredict;
283 void CvBlobTrackPredictKalman::Update(CvBlob* pBlob)
286 CvMat Zmat = cvMat(4,1,CV_32F,Z);
287 m_BlobPredict = pBlob[0];
291 m_pKalman->state_post->data.fl[0+4] = CV_BLOB_X(pBlob)-m_pKalman->state_post->data.fl[0];
292 m_pKalman->state_post->data.fl[1+4] = CV_BLOB_Y(pBlob)-m_pKalman->state_post->data.fl[1];
295 m_pKalman->state_post->data.fl[2+4] = CV_BLOB_WX(pBlob)-m_pKalman->state_post->data.fl[2];
296 m_pKalman->state_post->data.fl[3+4] = CV_BLOB_WY(pBlob)-m_pKalman->state_post->data.fl[3];
298 m_pKalman->state_post->data.fl[0] = CV_BLOB_X(pBlob);
299 m_pKalman->state_post->data.fl[1] = CV_BLOB_Y(pBlob);
300 m_pKalman->state_post->data.fl[2] = CV_BLOB_WX(pBlob);
301 m_pKalman->state_post->data.fl[3] = CV_BLOB_WY(pBlob);
304 { /* Nonfirst call: */
305 Z[0] = CV_BLOB_X(pBlob);
306 Z[1] = CV_BLOB_Y(pBlob);
307 Z[2] = CV_BLOB_WX(pBlob);
308 Z[3] = CV_BLOB_WY(pBlob);
309 cvKalmanCorrect(m_pKalman,&Zmat);
312 cvKalmanPredict(m_pKalman,0);
318 CvBlobTrackPredictor* cvCreateModuleBlobTrackPredictKalman()
320 return (CvBlobTrackPredictor*) new CvBlobTrackPredictKalman;
322 /*======================= KALMAN PREDICTOR =========================*/