基於卡爾曼濾波器的鼠標跟蹤在opencv

Question

我寫了一個代碼，使用卡爾曼過濾器跟蹤鼠標指針。但它給出了一些errors.Please幫助我。

enter code here enter code here 


#include "cv.h" 
#include "highgui.h" 
#include <iostream> 
#include <vector> 

using namespace std; 

CvPoint point=cvPoint(-1,-1); 
CvPoint last_point; 

vector<CvPoint> mousev,kalmanv; 

    void my_mouse_callback(int event, int x, int y, int flags, void* param) 
{ 
CV_EVENT_LBUTTONDBLCLK; 
last_point=point; 
point=cvPoint(x,y); 
} 

IplImage *img; 

int main() 
{ 
// Initialize Kalman filter object, window, number generator, etc 
cvNamedWindow("Kalman", 1); 

IplImage* img = cvCreateImage(cvSize(500,500), 8, 3); 

CvKalman* kalman = cvCreateKalman(4, 2, 0); 

CvMat* state = cvCreateMat(4, 1, CV_32FC1); 

CvMat* processnoise=cvCreateMat(4,1,CV_32FC1); 

CvMat* measurement =cvCreateMat(2,1,CV_8SC1); 

char code = (char)-1; 

cvSetMouseCallback("kalman",my_mouse_callback,NULL); 

while(1) 
{ 
    if(point.x<0 || point.y<0) 

    { 
     cvShowImage("kalman",img); 
     cvWaitKey(30); 
     continue; 
    } 
    const float F1[] = {point.x,point.y,0,0}; 
    memcpy(kalman->state_pre->data.fl,F1,sizeof(F1)); 

    float vals[] = {1,0,0,0,0,1,0,0,0,0,1,0,0,0,0,1}; 
    CvMat tran; 
    cvInitMatHeader(&tran,4,4,CV_32FC1,vals); 
    memcpy(kalman->transition_matrix->data.fl,tran,sizeof(tran)); 

cvSetIdentity(kalman->measurement_matrix); 
cvSetIdentity(kalman->process_noise_cov, cvRealScalar(1e-5)); 
cvSetIdentity(kalman->measurement_noise_cov, cvRealScalar(1e-1)); 
cvSetIdentity(kalman->error_cov_post, cvRealScalar(1)); 

mousev.clear(); 
kalmanv.clear(); 

while(1) 
{ 
    const CvMat* prediction = cvKalmanPredict(kalman,0); 

    CvPoint predictionPt = cvPoint(prediction[0],prediction[0]); 

    measurement[0]= point.x; 
    measurement[1] = point.y; 

    CvPoint measPt = cvPoint(measurement[0],measurement[1]); 

    mousev.push_back(measPt); 

    const CvMat* estimated = cvKalmanCorrect(kalman, measurement); 

    CvPoint statePt=cvPoint(estimated[0],estimated[1]); 
    kalmanv.push_back(statePt); 

    cvLine(img, cvPoint(statePt.x - 5, statePt.y - 5),cvPoint(statePt.x + 5, statePt.y + 5), cvScalar(255,255,255), 2,8); 
    cvLine(img, cvPoint(statePt.x + 5, statePt.y - 5),cvPoint(statePt.x - 5, statePt.y + 5), cvScalar(255,255,255), 2,8); 

    cvLine(img, cvPoint(measPt.x - 5, measPt.y - 5),cvPoint(measPt.x + 5, measPt.y + 5), cvScalar(255,255,255), 2,8); 
    cvLine(img, cvPoint(measPt.x + 5, measPt.y - 5),cvPoint(measPt.x - 5, measPt.y + 5), cvScalar(255,255,255), 2,8); 

    for (int i = 0; i < mousev.size()-1; i++) 
    { 
      cvLine(img, mousev[i], mousev[i+1], cvScalar(255,255,0), 1); 
    } 

    for (int i = 0; i < kalmanv.size()-1; i++) 
    { 
      cvLine(img, kalmanv[i], kalmanv[i+1], cvScalar(0,255,0), 1); 
    } 
     cvShowImage("mouse kalman", img); 
     code = (char)cvWaitKey(100); 
     if(code > 0) 
      break; 
} 
    if(code == 27 || code == 'q' || code == 'Q') 
     break; 
} 

return 0; 
} 

錯誤：

 Error 3 error C2664: 'memcpy' : cannot convert parameter 2 from 'CvMat' to 'const void *' c:\users\anay\documents\visual studio 2008\projects\mission_impossible_1\mission_impossible_1\kalman_filter.cpp 56 mission_impossible_1 
Error 4 error C2664: 'cvPoint' : cannot convert parameter 1 from 'const CvMat' to 'int' c:\users\anay\documents\visual studio 2008\projects\mission_impossible_1\mission_impossible_1\kalman_filter.cpp 70 mission_impossible_1 
Error 5 error C2679: binary '=' : no operator found which takes a right-hand operand of type 'int' (or there is no acceptable conversion) c:\users\anay\documents\visual studio 2008\projects\mission_impossible_1\mission_impossible_1\kalman_filter.cpp 72 mission_impossible_1 
Error 6 error C2679: binary '=' : no operator found which takes a right-hand operand of type 'int' (or there is no acceptable conversion) c:\users\anay\documents\visual studio 2008\projects\mission_impossible_1\mission_impossible_1\kalman_filter.cpp 73 mission_impossible_1 
Error 7 error C2664: 'cvPoint' : cannot convert parameter 1 from 'CvMat' to 'int' c:\users\anay\documents\visual studio 2008\projects\mission_impossible_1\mission_impossible_1\kalman_filter.cpp 75 mission_impossible_1 
Error 8 error C2664: 'cvPoint' : cannot convert parameter 1 from 'const CvMat' to 'int' c:\users\anay\documents\visual studio 2008\projects\mission_impossible_1\mission_impossible_1\kalman_filter.cpp 81 mission_impossible_1 

Answer 1

錯誤3錯誤C2664：'的memcpy：不能參數2轉換從 '與CvMat' 到「常量無效* C：\用戶\ anay \文件\的Visual Studio 2008年 \項目\ mission_impossible_1 \ mission_impossible_1 \ kalman_filter.cpp 56 mission_impossible_1

memcpy(kalman->transition_matrix->data.fl,tran,sizeof(tran)); 

在C++中（不像在C中），你必須明確地將指針指向void指針。 目前您有：

CvMat tran; 
memcpy(kalman->transition_matrix->data.fl,tran,sizeof(tran)); 

代替，請試試這個：

CvMat* tran=new CvMat; 
memcpy(static_cast<void*>(kalman->transition_matrix->data.fl),static_cast<void*>(tran),sizeof(tran)); 

下一個：

錯誤4錯誤C2664： 'cvPoint'：不能從 「常量轉換參數1 CvMat'變爲'int'

我真的想請幫忙，但請附上你的班級代碼點