粒子滤波直方图

      /* increment appropriate histogram bin for each pixel */
      for( r = 0; r < img->height; r++ )
      for( c = 0; c < img->width; c++ )
      {
        bin = histo_bin( /*pixval32f( h, r, c )*/((float*)(h->imageData + h->widthStep*r) )[c],
                 ((float*)(s->imageData + s->widthStep*r) )[c],
                 ((float*)(v->imageData + v->widthStep*r) )[c] );
        hist[bin] += 1;
      }

/*
  Calculates the histogram bin into which an HSV entry falls

  @param h Hue
  @param s Saturation
  @param v Value

  @return Returns the bin index corresponding to the HSV color defined by
    \a h, \a s, and \a v.
*/
int histo_bin( float h, float s, float v )
{
  int hd, sd, vd;

  /* if S or V is less than its threshold, return a "colorless" bin */
  vd = MIN( (int)(v * NV / V_MAX), NV-1 );
  if( s < S_THRESH  ||  v < V_THRESH )
        return NH * NS + vd;

  /* otherwise determine "colorful" bin */
  hd = MIN( (int)(h * NH / H_MAX), NH-1 );
  sd = MIN( (int)(s * NS / S_MAX), NS-1 );
  return sd * NH + hd;
}