--- /dev/null
+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+// By downloading, copying, installing or using the software you agree to this license.
+// If you do not agree to this license, do not download, install,
+// copy or use the software.
+//
+//
+// 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:
+//
+// * 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.
+//
+// * The name of Intel Corporation may not be used to endorse or promote products
+// derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+//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);
+
+ SetModuleName("Kalman");
+ }
+
+ ~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