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88 lines
3.2 KiB
88 lines
3.2 KiB
9 years ago
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/** @file
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*
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* Template matching observation model for particle filter
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* CvParticleState s must have s.x, s.y, s.width, s.height, s.angle
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*/
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/* The MIT License
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*
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* Copyright (c) 2008, Naotoshi Seo <sonots(at)sonots.com>
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy
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* of this software and associated documentation files (the "Software"), to deal
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* in the Software without restriction, including without limitation the rights
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* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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* copies of the Software, and to permit persons to whom the Software is
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* furnished to do so, subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in
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* all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
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* THE SOFTWARE.
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*/
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#ifndef CV_PARTICLE_OBSERVE_TEMPLATE_H
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#define CV_PARTICLE_OBSERVE_TEMPLATE_H
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#include "<opencv\cvparticle.h>"
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#include "<opencv\cvrect32f.h>"
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#include "<opencv\cvcropimageroi.h>"
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using namespace std;
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/********************* Globals **********************************/
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int num_observes = 1;
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CvSize feature_size = cvSize(24, 24);
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/******************** Function Prototypes **********************/
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#ifndef NO_DOXYGEN
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void cvParticleObserveMeasure( CvParticle* p, IplImage* cur_frame, IplImage *pre_frame );
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#endif
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/**
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* Measure and weight particles.
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*
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* The proposal function q is set p(xt|xt-1) in SIR/Condensation, and it results
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* that "weights" are set to be proportional to the likelihood probability
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* (Normalize later).
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* Rewrite here if you want to use a different proposal function q.
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*
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* CvParticleState s must have s.x, s.y, s.width, s.height, s.angle
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*
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* @param particle
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* @param frame
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* @param reference
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*/
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void cvParticleObserveMeasure( CvParticle* p, IplImage* frame, IplImage *reference )
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{
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int i;
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double likeli;
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IplImage *patch;
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IplImage *resize;
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resize = cvCreateImage( feature_size, frame->depth, frame->nChannels );
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for( i = 0; i < p->num_particles; i++ )
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{
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CvParticleState s = cvParticleStateGet( p, i );
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CvBox32f box32f = cvBox32f( s.x, s.y, s.width, s.height, s.angle );
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CvRect32f rect32f = cvRect32fFromBox32f( box32f );
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CvRect rect = cvRectFromRect32f( rect32f );
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patch = cvCreateImage( cvSize(rect.width,rect.height), frame->depth, frame->nChannels );
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cvCropImageROI( frame, patch, rect32f );
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cvResize( patch, resize );
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// log likeli. kinds of Gaussian model
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// exp( -d^2 / sigma^2 )
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// sigma can be omitted because common param does not affect ML estimate
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likeli = -cvNorm( resize, reference, CV_L2 );
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cvmSet( p->weights, 0, i, likeli );
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cvReleaseImage( &patch );
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}
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cvReleaseImage( &resize );
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}
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#endif
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