//?multitracking?camshift?kalman.cpp:?定義控制臺應用程序的入口點。
//

#include?“stdafx.h“
#include?
#include?
#include?
#include?
#include?
#include?
#include?
#include?
#include?
#include?
#include?
#include?
#include?


using???namespace???std;
using???namespace???cv;

Mat?image;

bool?backprojMode?=?false;
bool?selectobject?=?false;
int?trackobject?=?0;
bool?showHist?=?true;
Point?origin;
Rect?selection;
vector?trackpoint1?trackpoint2;
int?vmin?=?10?vmax?=?256?smin?=?30;

//?User?draws?box?around?object?to?track.?This?triggers?CAMShift?to?start?tracking
static?void?onMouse（int?event?int?x?int?y?int?void*）
{
	if?（selectobject）
	{
		selection.x?=?MIN（x?origin.x）;
		selection.y?=?MIN（y?origin.y）;
		selection.width?=?std::abs（x?-?origin.x）;
		selection.height?=?std::abs（y?-?origin.y）;

		selection?&=?Rect（0?0?image.cols?image.rows）;
	}

	switch?（event）
	{
	case?EVENT_LBUTTONDOWN:
		origin?=?Point（x?y）;
		selection?=?Rect（x?y?0?0）;
		selectobject?=?true;
		break;
	case?EVENT_LBUTTONUP:
		selectobject?=?false;
		if?（selection.width?>?0?&&?selection.height?>?0）
			trackobject?=?-1;???//?Set?up?CAMShift?properties?in?main（）?loop
		break;
	}
}

int?main（int?argc?const?char**?argv）
{
	//kalman?filter?setup
	//const?int?stateNum?=?4;
	const?int?stateNum?=?6;
	const?int?measureNum?=?2;
	const?float?T?=?0.9;
	KalmanFilter?KF（stateNum?measureNum?0）;
	Mat?state（stateNum?1?CV_32F）;
	Mat?processNoise（stateNum?1?CV_32F）;
	Mat?measurement?=?Mat::zeros（measureNum?1?CV_32F）;

	Rect?trackWindow;
	RotatedRect?trackBox;
	float?dx?dy;
	int?hsize?=?255;
	float?hranges[]?=?{?0255?};
	const?float*?phranges?=?hranges;
	int?hsize2?=?255;
	float?hranges2[]?=?{?0255?};
	const?float*?phranges2?=?hranges;
	Mat?hsv?hue?mask?hist?hist2?histimg?=?Mat::zeros（200?320?CV_8UC3）?histimg2?=?Mat::zeros（200?320?CV_8UC3）?backproj;
	float?Threshold?=?0.6;
	bool?paused?=?false;

	namedWindow（“Histogram“?0）;
	namedWindow（“CamShift?Demo“?0）;
	setMouseCallback（“CamShift?Demo“?onMouse?0）;
	createTrackbar（“Vmin“?“CamShift?Demo“?&vmin?256?0）;
	createTrackbar（“Vmax“?“CamShift?Demo“?&vmax?256?0）;
	createTrackbar（“Smin“?“CamShift?Demo“?&smin?256?0）;

	KF.transitionMatrix?=?（Mat_（6?6）?<		0?1?0?T?0?（T*T）?/?2
		0?0?1?0?T?0
		0?0?0?1?0?T
		0?0?0?0?1?0
		0?0?0?0?0?1）;

	setIdentity（KF.measurementMatrix）;
	setIdentity（KF.processNoiseCov?Scalar::all（1e-5））;
	setIdentity（KF.measurementNoiseCov?Scalar::all（1e-1））;
	setIdentity（KF.errorCovPost?Scalar::all（1））;

	KF.statePost.at（0）?=?selection.x?+?selection.width?/?2;
	KF.statePost.at（1）?=?selection.y?+?selection.heig