show2.m

粒子滤波全套源代码

% hObject    handle to particleHigh (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)

% Hints: get(hObject,'String') returns contents of particleHigh as text
%        str2double(get(hObject,'String')) returns contents of particleHigh as a double
global particleHigh;
particleHigh=str2num(get(hObject,'String'));

% --- Executes during object creation, after setting all properties.
function particleHigh_CreateFcn(hObject, eventdata, handles)
% hObject    handle to particleHigh (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    empty - handles not created until after all CreateFcns called

% Hint: edit controls usually have a white background on Windows.
%       See ISPC and COMPUTER.
if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))
    set(hObject,'BackgroundColor','white');
end

function mycallback(hObject, eventdata, handles)
% r1=int16(rand(1)*500);
% %r2=int16(rand(1)*500);
% r2=100;
% r2=r2+10;
% rectangle('Position',[r1,r2,6,6],'FaceColor','r');
% global first;
% 
% first=first+1;
% name=num2str(first,'%04.4g');
% firstname=[name,'.jpg'];
% I=imread(firstname);
% hh=get(hObject, 'UserData');
% axes(hh.axes1);
% imshow(I);
% --- Executes on button press in pushbutton3.
function pushbutton3_Callback(hObject, eventdata, handles)
% hObject    handle to pushbutton3 (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
% global t;
% t=timer('TimerFcn',@mycallback,'Period',0.020,'ExecutionMode','fixedSpacing','TasksToExecute',100,'UserData',handles);
% start(t);


% for i=200:1:250;
% pause(0.025);
% pause on;
% name=num2str(i,'%04.4g');
% firstname=[name,'.jpg'];
% I=imread(firstname);
% % hh=get(hObject, 'UserData');
% % axes(hh.axes1);
% imshow(I);
% drawnow;
% end
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

global v_count;
global matrix;
global x;
global y;
global first;
global particleNum;
global frameNum;
global particleWidth;
global particleHigh;
global weigthError;

global pathname;
global bExit;
global filenamelength;
bExit=0;
hx=particleWidth;hy=particleHigh;N=particleNum;n=frameNum;new_sita=weigthError;
v_count=512;
matrix=1:1:v_count;   %%%%%maybe it should be changed to global variable

Hx=int16(hx);
Hy=int16(hy);
vx=0;
vy=0;
switch filenamelength
    case 4
         name=num2str(first,'%04.4g');
    case 5
        name=num2str(first,'%05.4g');
end
firstname=[name,'.jpg'];
I=imread([pathname firstname]);

info = imfinfo([pathname firstname]);
image_boundary_x=int16(info.Width);%int16(700); 
image_boundary_y=int16(info.Height);%int16(550);

[Sample_Set,Sample_probability,Estimate,target_histgram]=initial_2(x,y,Hx,Hy,vx,vy,I,N);

for loop=2:1:n;
    if(bExit>0)
        first=loop+first-1;
        break;
    end
    if Estimate(loop-1).prob>=0.05
       k=target_histgram;
       %target_histgram=0.8*k+0.2*Estimate(loop-1).histgram;
       %if(loop<100)
         target_histgram=0.90*k+0.10*Estimate(loop-1).histgram;
%        elseif(loop<200)
%            new_sita=0.25;
%          target_histgram=0.99*k+0.01*Estimate(loop-1).histgram;  
%        elseif(loop<280)
%             new_sita=0.30;
%          target_histgram=0.99*k+0.01*Estimate(loop-1).histgram; 
%        else
%             new_sita=0.30;
%          target_histgram=0.99*k+0.01*Estimate(loop-1).histgram; 
      % end
    switch filenamelength
        case 4
           a=num2str(loop+first-1,'%04.4g');
        case 5
           a=num2str(loop+first-1,'%05.4g');
    end
    %a=num2str(loop+first-1,'%0.4g');
    b=[a,'.jpg'];
    I=imread([pathname '\' b]);
    %I=imread(b);
    set(handles.textCurrentFile,'String',b);
    
   New_Sample_Set=Select(Sample_Set,Sample_probability,loop,I,N);
   [Sample_Set,after_prop]=Propagation(New_Sample_Set,Hx,Hy,vx,vy,image_boundary_x,image_boundary_y,I,N);
   [Sample_probability,Estimate,vx,vy,TargetPic]=Observe_and_Estimate(Sample_Set,Estimate,Hx,Hy,target_histgram,new_sita,loop,after_prop,I,N);
   
    else 
        %a=0;
        msgbox('目标丢失!');
        first=loop+first-1;
        return;
    end
  set(handles.x2,'String',['     X:    ' num2str(int16(Estimate(loop).x))]);
  set(handles.y2,'String',['    Y:    ' num2str(int16(Estimate(loop).y))]);
  imshow(TargetPic);
  drawnow;
end
msgbox('跟踪结束!');
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% stop(t);
% --- Executes on button press in pushbutton4.
function pushbutton4_Callback(hObject, eventdata, handles)
% hObject    handle to pushbutton4 (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
global t bExit;
bExit=1;
delete(t);


% --- Executes on button press in pushbutton5.
function pushbutton5_Callback(hObject, eventdata, handles)
% hObject    handle to pushbutton5 (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
global v_count;
global matrix;
global x;
global y;
global first;
global particleNum;
global frameNum;
global particleWidth;
global particleHigh;
global weigthError;

global pathname;
global bExit;
global filenamelength;
global bFirst;
global loop;
global N n new_sita Hx Hy vx vy  image_boundary_x image_boundary_y Sample_Set Sample_probability Estimate target_histgram;
if(bFirst==0)
    bExit=0;
    bFirst=1
    hx=particleWidth;hy=particleHigh;N=particleNum;n=frameNum;new_sita=weigthError;
    v_count=512;
    matrix=1:1:v_count;   %%%%%maybe it should be changed to global variable





    Hx=int16(hx);
    Hy=int16(hy);
    vx=0;
    vy=0;
    switch filenamelength
        case 4
             name=num2str(first,'%04.4g');
        case 5
            name=num2str(first,'%05.4g');
    end
    firstname=[name,'.jpg'];
    I=imread([pathname '\' firstname]);

    info = imfinfo([pathname '\' firstname]);
    image_boundary_x=int16(info.Width);%int16(700); 
    image_boundary_y=int16(info.Height);%int16(550);

    [Sample_Set,Sample_probability,Estimate,target_histgram]=initial_2(x,y,Hx,Hy,vx,vy,I,N);
    loop=2;
end

%for loop=2:1:n;
loop
    if(bExit>0)
        first=loop+first-1;
        %break;
    end
    if Estimate(loop-1).prob>=0.2%0.05
       k=target_histgram;
       %target_histgram=0.8*k+0.2*Estimate(loop-1).histgram;
       %if(loop<100)
         target_histgram=0.90*k+0.10*Estimate(loop-1).histgram;
%        elseif(loop<200)
%            new_sita=0.25;
%          target_histgram=0.99*k+0.01*Estimate(loop-1).histgram;  
%        elseif(loop<280)
%             new_sita=0.30;
%          target_histgram=0.99*k+0.01*Estimate(loop-1).histgram; 
%        else
%             new_sita=0.30;
%          target_histgram=0.99*k+0.01*Estimate(loop-1).histgram; 
      % end
    switch filenamelength
        case 4
           a=num2str(loop+first-1,'%04.4g');
        case 5
           a=num2str(loop+first-1,'%05.4g');
    end
    %a=num2str(loop+first-1,'%0.4g');
    b=[a,'.jpg'];
    I=imread([pathname '\' b]);
    %I=imread(b);
    set(handles.textCurrentFile,'String',b);
    
   New_Sample_Set=Select(Sample_Set,Sample_probability,loop,I,N);
   [Sample_Set,after_prop]=Propagation(New_Sample_Set,Hx,Hy,vx,vy,image_boundary_x,image_boundary_y,I,N);
   [Sample_probability,Estimate,vx,vy,TargetPic]=Observe_and_Estimate(Sample_Set,Estimate,Hx,Hy,target_histgram,new_sita,loop,after_prop,I,N);
   
    else 
        %a=0;
       % msgbox('目标丢失!');
       % first=loop+first-1;
        %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
        k=target_histgram;
        target_histgram=0.99*k+0.01*Estimate(loop-1).histgram;
        switch filenamelength
            case 4
               a=num2str(loop+first-1,'%04.4g');
            case 5
               a=num2str(loop+first-1,'%05.4g');
        end
    %a=num2str(loop+first-1,'%0.4g');
    b=[a,'.jpg'];
    I=imread([pathname '\' b]);
    %I=imread(b);
    set(handles.textCurrentFile,'String',b);
    
   New_Sample_Set=Select(Sample_Set,Sample_probability,loop,I,N);
   [Sample_Set,after_prop]=Propagation(New_Sample_Set,Hx,Hy,vx,vy,image_boundary_x,image_boundary_y,I,N);
   [Sample_probability,Estimate,vx,vy,TargetPic]=Observe_and_Estimate(Sample_Set,Estimate,Hx,Hy,target_histgram,new_sita,loop,after_prop,I,N);
        %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
     %   return;
    end
  set(handles.x2,'String',['     X:    ' num2str(int16(Estimate(loop).x))]);
  set(handles.y2,'String',['    Y:    ' num2str(int16(Estimate(loop).y))]);
  imshow(TargetPic);
  drawnow;
  loop=loop+1;
%end
%msgbox('跟踪结束!');