pdfcolor_ellipserand.c

基于粒子滤波的特定颜色目标跟踪算法C源程序,带Matlab接口和演示的视频数据.

#include <math.h>
#include "mex.h"
#include <time.h>


/*


  Usage 
  -----


  [py , zi , yi]   = pdfcolor_ellipserand(Z , y , e , Npdf , vect_edge1 , vect_edge2 , vect_edge3 );%


  Inputs
  ------

   Z               Image (m x n x 3)
   y               State position (2 x N)
   e               Ellipsoid (3 x N)
   Npdf            Number of samples to copute the color histogram
   vect_edge1      Color support (R or H) (1 x Nx)
   vect_edge2      Color support (G or S) (1 x Ny)
   vect_edge3      Color support (B or V) (1 x Nz)


  Ouputs
  -------

  py               pdf color (NxNyNz x N)
  zi               Interpolated color values (3 x Npf x N)
  yi               Position of Interpolated values (2 x Npf x N)



  To compile
  -----------

  mex -output pdfcolor_ellipserand.dll pdfcolor_ellipserand.c

  mex -f mexopts_intel10amd.bat -output pdfcolor_ellipserand.dll pdfcolor_ellipserand.c

  
Example 1

	  Z                = rand(200 , 200 , 3);
	  y                = [111 , 52 , 15 , 56 ; 22 , 100 , 34 , 43];
	  e                = [10 , 10 , 10 , 30 ; 15, 3 , 22 , 10 ; -pi/1.1 , pi/2 , 0 ,0.75*pi];
	  Npdf             = 4000;
	  Nx               = 4;
	  Ny               = 3;
	  Nz               = 5;
	  M                = Nx*Ny*Nz;
      vect_edge1       = (0 : 1/Nx : 1);
      vect_edge2       = (0 : 1/Ny : 1);
      vect_edge3       = (0 : 1/Nz : 1);
      [py , zi , yi]   = pdfcolor_ellipserand(Z , y , e , Npdf , vect_edge1 , vect_edge2 , vect_edge3 );%
	  figure(1)
	  imagesc(Z);
	  hold on
	  plot(squeeze(yi(1 , : , :)) , squeeze(yi(2 , : , :)) , '+')
	  axis ij
	  axis equal
	  hold off
	  figure(2)
	  plot((1:M) , py);
	  axis([1 , M , 0 , 0.12])


   Author : S閎astien PARIS