mirror of
https://github.com/opencv/opencv.git
synced 2024-12-12 07:09:12 +08:00
11eafca3e2
* removed C API in the following modules: photo, video, imgcodecs, videoio * trying to fix various compile errors and warnings on Windows and Linux * continue to fix compile errors and warnings * continue to fix compile errors, warnings, as well as the test failures * trying to resolve compile warnings on Android * Update cap_dc1394_v2.cpp fix warning from the new GCC
114 lines
3.9 KiB
C++
114 lines
3.9 KiB
C++
/*M///////////////////////////////////////////////////////////////////////////////////////
|
|
//
|
|
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
|
|
//
|
|
// By downloading, copying, installing or using the software you agree to this license.
|
|
// If you do not agree to this license, do not download, install,
|
|
// copy or use the software.
|
|
//
|
|
//
|
|
// Intel License Agreement
|
|
// For Open Source Computer Vision Library
|
|
//
|
|
// Copyright (C) 2000, Intel Corporation, all rights reserved.
|
|
// Third party copyrights are property of their respective owners.
|
|
//
|
|
// Redistribution and use in source and binary forms, with or without modification,
|
|
// are permitted provided that the following conditions are met:
|
|
//
|
|
// * Redistribution's of source code must retain the above copyright notice,
|
|
// this list of conditions and the following disclaimer.
|
|
//
|
|
// * Redistribution's in binary form must reproduce the above copyright notice,
|
|
// this list of conditions and the following disclaimer in the documentation
|
|
// and/or other materials provided with the distribution.
|
|
//
|
|
// * The name of Intel Corporation may not be used to endorse or promote products
|
|
// derived from this software without specific prior written permission.
|
|
//
|
|
// This software is provided by the copyright holders and contributors "as is" and
|
|
// any express or implied warranties, including, but not limited to, the implied
|
|
// warranties of merchantability and fitness for a particular purpose are disclaimed.
|
|
// In no event shall the Intel Corporation or contributors be liable for any direct,
|
|
// indirect, incidental, special, exemplary, or consequential damages
|
|
// (including, but not limited to, procurement of substitute goods or services;
|
|
// loss of use, data, or profits; or business interruption) however caused
|
|
// and on any theory of liability, whether in contract, strict liability,
|
|
// or tort (including negligence or otherwise) arising in any way out of
|
|
// the use of this software, even if advised of the possibility of such damage.
|
|
//
|
|
//M*/
|
|
|
|
#include "test_precomp.hpp"
|
|
#include "opencv2/video/tracking.hpp"
|
|
|
|
namespace opencv_test { namespace {
|
|
|
|
class CV_KalmanTest : public cvtest::BaseTest
|
|
{
|
|
public:
|
|
CV_KalmanTest();
|
|
protected:
|
|
void run(int);
|
|
};
|
|
|
|
|
|
CV_KalmanTest::CV_KalmanTest()
|
|
{
|
|
}
|
|
|
|
void CV_KalmanTest::run( int )
|
|
{
|
|
int code = cvtest::TS::OK;
|
|
const int Dim = 7;
|
|
const int Steps = 100;
|
|
const double max_init = 1;
|
|
const double max_noise = 0.1;
|
|
|
|
const double EPSILON = 1.000;
|
|
RNG& rng = ts->get_rng();
|
|
int i, j;
|
|
|
|
cv::Mat Sample(Dim,1,CV_32F);
|
|
cv::Mat Temp(Dim,1,CV_32F);
|
|
|
|
cv::KalmanFilter Kalm(Dim, Dim);
|
|
Kalm.transitionMatrix = cv::Mat::eye(Dim, Dim, CV_32F);
|
|
Kalm.measurementMatrix = cv::Mat::eye(Dim, Dim, CV_32F);
|
|
Kalm.processNoiseCov = cv::Mat::eye(Dim, Dim, CV_32F);
|
|
Kalm.errorCovPre = cv::Mat::eye(Dim, Dim, CV_32F);
|
|
Kalm.errorCovPost = cv::Mat::eye(Dim, Dim, CV_32F);
|
|
Kalm.measurementNoiseCov = cv::Mat::zeros(Dim, Dim, CV_32F);
|
|
Kalm.statePre = cv::Mat::zeros(Dim, 1, CV_32F);
|
|
Kalm.statePost = cv::Mat::zeros(Dim, 1, CV_32F);
|
|
cvtest::randUni(rng, Sample, Scalar::all(-max_init), Scalar::all(max_init));
|
|
Kalm.correct(Sample);
|
|
for(i = 0; i<Steps; i++)
|
|
{
|
|
Kalm.predict();
|
|
const Mat& Dyn = Kalm.transitionMatrix;
|
|
for(j = 0; j<Dim; j++)
|
|
{
|
|
float t = 0;
|
|
for(int k=0; k<Dim; k++)
|
|
{
|
|
t += Dyn.at<float>(j,k)*Sample.at<float>(k);
|
|
}
|
|
Temp.at<float>(j) = (float)(t+(cvtest::randReal(rng)*2-1)*max_noise);
|
|
}
|
|
Temp.copyTo(Sample);
|
|
Kalm.correct(Temp);
|
|
}
|
|
|
|
Mat _state_post = Kalm.statePost;
|
|
code = cvtest::cmpEps2( ts, Sample, _state_post, EPSILON, false, "The final estimated state" );
|
|
|
|
if( code < 0 )
|
|
ts->set_failed_test_info( code );
|
|
}
|
|
|
|
TEST(Video_Kalman, accuracy) { CV_KalmanTest test; test.safe_run(); }
|
|
|
|
}} // namespace
|
|
/* End of file. */
|