/************************************************************************/
/*?
Description:	基本的粒子濾波目標跟蹤
Author:			Yang?Xian
Email:			yang_xian521@163.com
Version:		2011-11-2
History:
*/
/************************************************************************/
#include?	//?for?standard?I/O
#include????//?for?strings
#include???//?for?controlling?float?print?precision
#include???//?string?to?number?conversion

#include???
#include?????????//?Basic?OpenCV?structures?（cv::Mat?Scalar）
#include???//?OpenCV?window?I/O

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

//?以下這些參數對結果影響很大，而且也會根據視頻內容，會對結果有很大的影響
const?int?PARTICLE_NUM?=?25;	//?粒子個數
//?粒子放入的相關區域
const?double?A1?=?2.0;
const?double?A2?=?-1.0;
const?double?B0?=?1.0;
//?高斯隨機數sigma參數
const?double?SIGMA_X?=?1.0;
const?double?SIGMA_Y?=?0.5;
const?double?SIGMA_SCALE?=?0.001;

//?粒子結構體
typedef?struct?particle?{
	double?x;			//?當前x坐標
	double?y;			//?當前y坐標
	double?scale;		//?窗口比例系數
	double?xPre;			//?x坐標預測位置
	double?yPre;			//?y坐標預測位置
	double?scalePre;		//?窗口預測比例系數
	double?xOri;			//?原始x坐標
	double?yOri;			//?原始y坐標
//?	int?width;			//?原始區域寬度
//?	int?height;			//?原始區域高度
	Rect?rect;			//?原始區域大小
	MatND?hist;			//?粒子區域的特征直方圖
	double?weight;		//?該粒子的權重
}?PARTICLE;

Mat?hsv;	//?hsv色彩空間的輸入圖像
Mat?roiImage;	//?目標區域
MatND?roiHist;	//?目標區域直方圖
Mat?img;	//?輸出的目標圖像
PARTICLE?particles[PARTICLE_NUM];	//?粒子

int?nframeNum?=?0;

bool?bSelectobject?=?false;	//?區域選擇標志
bool?bTracking?=?false;		//?開始跟蹤標志
Point?origin;	//?鼠標按下時的點位置
Rect?selection;//?感興趣的區域大小

//?直方圖相關參數，特征的選取也會對結果影響巨大
//?Quantize?the?hue?to?30?levels
//?and?the?saturation?to?32?levels
//?value?to?10?levels
int?hbins?=?180?sbins?=?256?vbin?=?10;
int?histSize[]?=?{hbins?sbins?vbin};
//?hue?varies?from?0?to?179?see?cvtColor
float?hranges[]?=?{?0?180?};
//?saturation?varies?from?0?（black-gray-white）?to?255?（pure?spectrum?color）
float?sranges[]?=?{?0?256?};
//?value?varies?from?0?（black-gray-white）?to?255?（pure?spectrum?color）
float?vranges[]?=?{?0?256?};
const?float*?ranges[]?=?{hranges?sranges?vranges};
//?we?compute?the?histogram?from?the?0-th?and?1-st?channels
int?channels[]?=?{0?1?2};

//?鼠標響應函數，得到選擇的區域，保存在selection
void?onMouse（int?event?int?x?int?y?int?void*）
{
	if（?bSelectobject?）
	{
		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?img.cols?img.rows）;
	}

	switch?（event）
	{
	case?CV_EVENT_LBUTTONDOWN:
		origin?=?Point（xy）;
		selection?=?Rect（xy00）;
		bSelectobject?=?true;
		bTracking?=?false;
		break;
	case?CV_EVENT_LBUTTONUP:
		bSelectobject?=?false;
		bTracking?=?true;
		nframeNum?=?0;
		break;
	}
}

//?快速排序算法排序函數
int?particle_cmp（const?void*?p1const?void*?p2）
{
	PARTICLE*?_p1?=?（PARTICLE*）p1;
	PA

?屬性????????????大小?????日期????時間???名稱
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?????文件??????57856??2011-11-04?20:30??particleFilterTrackingTest\Debug\particleFilterTrackingTest.exe

?????文件?????404684??2011-11-04?20:30??particleFilterTrackingTest\Debug\particleFilterTrackingTest.ilk

?????文件?????846848??2011-11-04?20:30??particleFilterTrackingTest\Debug\particleFilterTrackingTest.pdb

?????文件???????6834??2011-11-04?20:30??particleFilterTrackingTest\particleFilterTrackingTest\Debug\BuildLog.htm

?????文件?????103289??2011-11-04?20:30??particleFilterTrackingTest\particleFilterTrackingTest\Debug\main.obj

?????文件?????????67??2011-11-04?20:30??particleFilterTrackingTest\particleFilterTrackingTest\Debug\mt.dep

?????文件????????621??2011-11-04?20:30??particleFilterTrackingTest\particleFilterTrackingTest\Debug\particleFilterTrackingTest.exe.intermediate.manifest

?????文件?????338944??2011-11-04?20:30??particleFilterTrackingTest\particleFilterTrackingTest\Debug\vc90.idb

?????文件?????495616??2011-11-04?20:30??particleFilterTrackingTest\particleFilterTrackingTest\Debug\vc90.pdb

?????文件???????9464??2011-11-04?20:30??particleFilterTrackingTest\particleFilterTrackingTest\main.cpp

?????文件???????3774??2011-11-02?14:53??particleFilterTrackingTest\particleFilterTrackingTest\particleFilterTrackingTest.vcproj

?????文件???????1423??2011-11-04?20:35??particleFilterTrackingTest\particleFilterTrackingTest\particleFilterTrackingTest.vcproj.HP98402794308.Administrator.user

?????文件????2845696??2011-11-04?20:35??particleFilterTrackingTest\particleFilterTrackingTest.ncb

?????文件????????944??2011-11-02?13:34??particleFilterTrackingTest\particleFilterTrackingTest.sln

????..A..H.?????11264??2011-11-04?20:35??particleFilterTrackingTest\particleFilterTrackingTest.suo

?????目錄??????????0??2011-11-04?20:30??particleFilterTrackingTest\particleFilterTrackingTest\Debug

?????目錄??????????0??2011-11-04?20:30??particleFilterTrackingTest\Debug

?????目錄??????????0??2011-11-04?20:30??particleFilterTrackingTest\particleFilterTrackingTest

?????目錄??????????0??2011-11-02?14:53??particleFilterTrackingTest

?????文件?????????19??2012-10-01?22:23??www.opencvchina.com.txt

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