【Y忍冬草】Halcon：基于卡尔曼滤波的交通监控

【Halcon】基于卡尔曼滤波的交通监控

1.卡尔曼滤波理论

https://blog.csdn.net/u010720661/article/details/63253509

2.代码

* xing_simple.hdev: Traffic monitoring (by Kalman filtering)
* 
dev_update_off ()
dev_close_window ()
read_image (Image, 'xing/init')
get_image_size (Image, Width, Height)
dev_open_window (0, 0, Width, Height, 'black', WindowID)
set_display_font (WindowID, 14, 'mono', 'true', 'false')
* 读取区域文件
read_region (XingRegion, 'xing/xing_region')
dev_set_draw ('margin')
dev_set_colored (12)
dev_set_line_width (3)
dev_display (Image)
disp_continue_message (WindowID, 'black', 'true')
stop ()
* 创建背景估计数据集
create_bg_esti (Image, 0.7, 0.7, 'fixed', 0.001, 0.03, 'on', 8.0, 10, 3.25, 15, BgEstiHandle)
for I := 0 to 587 by 1
    read_image (ActualImage, 'xing/xing' + (I$'03'))
    * 估计背景并获取前景
    run_bg_esti (ActualImage, ForegroundRegion, BgEstiHandle)
    connection (ForegroundRegion, ConnectedRegions)
    intersection (ConnectedRegions, XingRegion, RegionIntersection)
    select_shape (RegionIntersection, SelectedRegions, 'area', 'and', 20, 99999)
    shape_trans (SelectedRegions, RegionTrans, 'rectangle1')
    dev_display (ActualImage)
    dev_display (RegionTrans)
endfor
give_bg_esti (BackgroundImage, BgEstiHandle)
dev_display (BackgroundImage)
close_bg_esti (BgEstiHandle)
dev_set_draw ('fill')
dev_update_on ()

3.结果