initial_2.m

粒子滤波全套源代码

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

Estimate(1).x=x;
Estimate(1).y=y;
Estimate(1).prob=0.999;


       for i=1:1:N
        
        Sample_Set(i).x=x;
        Sample_Set(i).y=y;
        
       
       end
%%
target_histgram=histgram(x,y,Hx,Hy,I);
Estimate(1).histgram=target_histgram;
initial_probability=0.999;
%initial_probability=weight(target_histgram,target_histgram,new_sita);
%%
    for i=1:1:N
  
     Sample_histgram(i).element=histgram(Sample_Set(i).x,Sample_Set(i).y,Hx,Hy,I);
     Sample_probability(i)=initial_probability;        %first use Sample_probability
    end
   
 i=2;
%%
new_pic=I;
    for new_x=(x-i):x+i;
        for new_y=y-i:y+i;
            new_pic(new_y,new_x,:)=255;
        end;
    end;
    a=num2str(1,'%03.3g');
    b=['D:\result\',a,'.jpg'];
    imwrite(new_pic,b);