kalman 滤波 演示与opencv代码

[转载]http://blog.csdn.net/onezeros/article/details/6318944

在机器视觉中追踪时常会用到预测算法，kalman是你一定知道的。它可以用来预测各种状态，比如说位置，速度等。关于它的理论有很多很好的文献可以参考。opencv给出了kalman filter的一个实现，而且有范例，但估计不少人对它的使用并不清楚，因为我也是其中一个。本文的应用是对二维坐标进行预测和平滑

 

使用方法：

1、初始化

const int stateNum=4;//状态数，包括（x，y，dx，dy）坐标及速度（每次移动的距离）
const int measureNum=2;//观测量，能看到的是坐标值，当然也可以自己计算速度，但没必要
Kalman* kalman = cvCreateKalman( stateNum, measureNum, 0 );//state(x,y,detaX,detaY)

转移矩阵或者说增益矩阵的值好像有点莫名其妙

[cpp] view plain copy print ?

1. float A[stateNum][stateNum] ={//transition matrix   
2.         1,0,1,0,  
3.         0,1,0,1,  
4.         0,0,1,0,  
5.         0,0,0,1  
6.     };  

float A[stateNum][stateNum] ={//transition matrix 1,0,1,0, 0,1,0,1, 0,0,1,0, 0,0,0,1 };

看下图就清楚了

X1=X+dx，依次类推
所以这个矩阵还是很容易却确定的，可以根据自己的实际情况定制转移矩阵

同样的方法，三维坐标的转移矩阵可以如下

[cpp] view plain copy print ?

1. float A[stateNum][stateNum] ={//transition matrix   
2.         1,0,0,1,0,0,  
3.         0,1,0,0,1,0,  
4.         0,0,1,0,0,1,  
5.         0,0,0,1,0,0,  
6.         0,0,0,0,1,0,  
7.         0,0,0,0,0,1  
8.     };  

float A[stateNum][stateNum] ={//transition matrix 1,0,0,1,0,0, 0,1,0,0,1,0, 0,0,1,0,0,1, 0,0,0,1,0,0, 0,0,0,0,1,0, 0,0,0,0,0,1 };

当然并不一定得是1和0

2.预测cvKalmanPredict，然后读出自己需要的值
3.更新观测矩阵
4.更新CvKalman

 只有第一步麻烦些。上述这几步跟代码中的序号对应

 如果你在做tracking，下面的例子或许更有用些。

 

[cpp] view plain copy print ?

1. #include <cv.h>   
2. #include <cxcore.h>   
3. #include <highgui.h>   
4.   
5. #include <cmath>   
6. #include <vector>   
7. #include <iostream>   
8. using namespace std;  
9.   
10. const int winHeight=600;  
11. const int winWidth=800;  
12.   
13.   
14. CvPoint mousePosition=cvPoint(winWidth>>1,winHeight>>1);  
15.   
16. //mouse event callback   
17. void mouseEvent(int event, int x, int y, int flags, void *param )  
18. {  
19.     if (event==CV_EVENT_MOUSEMOVE) {  
20.         mousePosition=cvPoint(x,y);  
21.     }  
22. }  
23.   
24. int main (void)  
25. {  
26.     //1.kalman filter setup   
27.     const int stateNum=4;  
28.     const int measureNum=2;  
29.     CvKalman* kalman = cvCreateKalman( stateNum, measureNum, 0 );//state(x,y,detaX,detaY)   
30.     CvMat* process_noise = cvCreateMat( stateNum, 1, CV_32FC1 );  
31.     CvMat* measurement = cvCreateMat( measureNum, 1, CV_32FC1 );//measurement(x,y)   
32.     CvRNG rng = cvRNG(-1);  
33.     float A[stateNum][stateNum] ={//transition matrix   
34.         1,0,1,0,  
35.         0,1,0,1,  
36.         0,0,1,0,  
37.         0,0,0,1  
38.     };  
39.   
40.     memcpy( kalman->transition_matrix->data.fl,A,sizeof(A));  
41.     cvSetIdentity(kalman->measurement_matrix,cvRealScalar(1) );  
42.     cvSetIdentity(kalman->process_noise_cov,cvRealScalar(1e-5));  
43.     cvSetIdentity(kalman->measurement_noise_cov,cvRealScalar(1e-1));  
44.     cvSetIdentity(kalman->error_cov_post,cvRealScalar(1));  
45.     //initialize post state of kalman filter at random   
46.     cvRandArr(&rng,kalman->state_post,CV_RAND_UNI,cvRealScalar(0),cvRealScalar(winHeight>winWidth?winWidth:winHeight));  
47.   
48.     CvFont font;  
49.     cvInitFont(&font,CV_FONT_HERSHEY_SCRIPT_COMPLEX,1,1);  
50.   
51.     cvNamedWindow("kalman");  
52.     cvSetMouseCallback("kalman",mouseEvent);  
53.     IplImage* img=cvCreateImage(cvSize(winWidth,winHeight),8,3);  
54.     while (1){  
55.         //2.kalman prediction   
56.         const CvMat* prediction=cvKalmanPredict(kalman,0);  
57.         CvPoint predict_pt=cvPoint((int)prediction->data.fl[0],(int)prediction->data.fl[1]);  
58.   
59.         //3.update measurement   
60.         measurement->data.fl[0]=(float)mousePosition.x;  
61.         measurement->data.fl[1]=(float)mousePosition.y;  
62.   
63.         //4.update   
64.         cvKalmanCorrect( kalman, measurement );       
65.   
66.         //draw    
67.         cvSet(img,cvScalar(255,255,255,0));  
68.         cvCircle(img,predict_pt,5,CV_RGB(0,255,0),3);//predicted point with green   
69.         cvCircle(img,mousePosition,5,CV_RGB(255,0,0),3);//current position with red   
70.         char buf[256];  
71.         sprintf_s(buf,256,"predicted position:(%3d,%3d)",predict_pt.x,predict_pt.y);  
72.         cvPutText(img,buf,cvPoint(10,30),&font,CV_RGB(0,0,0));  
73.         sprintf_s(buf,256,"current position :(%3d,%3d)",mousePosition.x,mousePosition.y);  
74.         cvPutText(img,buf,cvPoint(10,60),&font,CV_RGB(0,0,0));  
75.           
76.         cvShowImage("kalman", img);  
77.         int key=cvWaitKey(3);  
78.         if (key==27){//esc      
79.             break;     
80.         }  
81.     }        
82.   
83.     cvReleaseImage(&img);  
84.     cvReleaseKalman(&kalman);  
85.     return 0;  
86. }  

#include <cv.h> #include <cxcore.h> #include <highgui.h> #include <cmath> #include <vector> #include <iostream> using namespace std; const int winHeight=600; const int winWidth=800; CvPoint mousePosition=cvPoint(winWidth>>1,winHeight>>1); //mouse event callback void mouseEvent(int event, int x, int y, int flags, void *param ) { if (event==CV_EVENT_MOUSEMOVE) { mousePosition=cvPoint(x,y); } } int main (void) { //1.kalman filter setup const int stateNum=4; const int measureNum=2; CvKalman* kalman = cvCreateKalman( stateNum, measureNum, 0 );//state(x,y,detaX,detaY) CvMat* process_noise = cvCreateMat( stateNum, 1, CV_32FC1 ); CvMat* measurement = cvCreateMat( measureNum, 1, CV_32FC1 );//measurement(x,y) CvRNG rng = cvRNG(-1); float A[stateNum][stateNum] ={//transition matrix 1,0,1,0, 0,1,0,1, 0,0,1,0, 0,0,0,1 }; memcpy( kalman->transition_matrix->data.fl,A,sizeof(A)); cvSetIdentity(kalman->measurement_matrix,cvRealScalar(1) ); cvSetIdentity(kalman->process_noise_cov,cvRealScalar(1e-5)); cvSetIdentity(kalman->measurement_noise_cov,cvRealScalar(1e-1)); cvSetIdentity(kalman->error_cov_post,cvRealScalar(1)); //initialize post state of kalman filter at random cvRandArr(&rng,kalman->state_post,CV_RAND_UNI,cvRealScalar(0),cvRealScalar(winHeight>winWidth?winWidth:winHeight)); CvFont font; cvInitFont(&font,CV_FONT_HERSHEY_SCRIPT_COMPLEX,1,1); cvNamedWindow("kalman"); cvSetMouseCallback("kalman",mouseEvent); IplImage* img=cvCreateImage(cvSize(winWidth,winHeight),8,3); while (1){ //2.kalman prediction const CvMat* prediction=cvKalmanPredict(kalman,0); CvPoint predict_pt=cvPoint((int)prediction->data.fl[0],(int)prediction->data.fl[1]); //3.update measurement measurement->data.fl[0]=(float)mousePosition.x; measurement->data.fl[1]=(float)mousePosition.y; //4.update cvKalmanCorrect( kalman, measurement ); //draw cvSet(img,cvScalar(255,255,255,0)); cvCircle(img,predict_pt,5,CV_RGB(0,255,0),3);//predicted point with green cvCircle(img,mousePosition,5,CV_RGB(255,0,0),3);//current position with red char buf[256]; sprintf_s(buf,256,"predicted position:(%3d,%3d)",predict_pt.x,predict_pt.y); cvPutText(img,buf,cvPoint(10,30),&font,CV_RGB(0,0,0)); sprintf_s(buf,256,"current position :(%3d,%3d)",mousePosition.x,mousePosition.y); cvPutText(img,buf,cvPoint(10,60),&font,CV_RGB(0,0,0)); cvShowImage("kalman", img); int key=cvWaitKey(3); if (key==27){//esc break; } } cvReleaseImage(&img); cvReleaseKalman(&kalman); return 0; }

 

kalman filter 视频演示：

http://v.youku.com/v_show/id_XMjU4MzEyODky.html

 

demo snapshot：