OpenCV: kalman滤波的代码段

序言：在我的疲劳检测工程 AviTest中！显示框为320*240,使用OpenCV的kalman滤波算法，可以实现简单的锁相追踪-实现对眼球的位置锁定。

代码如下：

CvPoint WishchinKalman( IplImage* Image,CvPoint pCenter){

    CvPoint correctMat;

    correctMat.x = 0;

    correctMat.y = 0;

    const int stateNum   = 4;

    const int measureNum = 2;

    const int winHeight = 240;

    const int winWidth  = 320;

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

    //cvCvtColor(Image,img,CV_GRAY2BGR);

    img = cvCloneImage(Image);

    CvKalman* kalman = cvCreateKalman( stateNum, measureNum, 0 );//state(x,y,detaX,detaY)

    CvMat* process_noise = cvCreateMat( stateNum, 1, CV_32FC1 );

    CvMat* measurement = cvCreateMat( measureNum, 1, CV_32FC1 );//measurement(x,y)

    CvRNG rng = cvRNG(-1);

    float A[stateNum][stateNum] ={//transition matrix    状态转移矩阵为什么用这个？????wishchin

        1,0,1,0,

        0,1,0,1,

        0,0,1,0,

        0,0,0,1

    };

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

    cvSetIdentity(kalman->measurement_matrix,cvRealScalar(1) );

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

    cvSetIdentity(kalman->measurement_noise_cov,cvRealScalar(1e-1));

    cvSetIdentity(kalman->error_cov_post,cvRealScalar(1));

    cvRandArr(&rng,kalman->state_post,CV_RAND_UNI,cvRealScalar(0),cvRealScalar(winHeight>winWidth?winWidth:winHeight));

    CvFont font;

    cvInitFont(&font,CV_FONT_HERSHEY_SCRIPT_COMPLEX,1,1);

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

    measurement->data.fl[0]=(float)pCenter.x;

    measurement->data.fl[1]=(float)pCenter.y;

    //4.update

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

    correctMat = cvPoint((int)correction->data.fl[0],(int)correction->data.fl[1]);

    ////关键接口 wishchin

    //draw

    cvSet(img,cvScalar(255,255,255,0));

    //cvCircle(img,correctMat,5,CV_RGB(0,255,0),3);//predicted point with green

    //cvReleaseImage(&img);

    return correctMat;

    //return 0;

}