1
/*M///////////////////////////////////////////////////////////////////////////////////////
3
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
5
// By downloading, copying, installing or using the software you agree to this license.
6
// If you do not agree to this license, do not download, install,
7
// copy or use the software.
10
// Intel License Agreement
11
// For Open Source Computer Vision Library
13
// Copyright (C) 2000, Intel Corporation, all rights reserved.
14
// Third party copyrights are property of their respective owners.
16
// Redistribution and use in source and binary forms, with or without modification,
17
// are permitted provided that the following conditions are met:
19
// * Redistribution's of source code must retain the above copyright notice,
20
// this list of conditions and the following disclaimer.
22
// * Redistribution's in binary form must reproduce the above copyright notice,
23
// this list of conditions and the following disclaimer in the documentation
24
// and/or other materials provided with the distribution.
26
// * The name of Intel Corporation may not be used to endorse or promote products
27
// derived from this software without specific prior written permission.
29
// This software is provided by the copyright holders and contributors "as is" and
30
// any express or implied warranties, including, but not limited to, the implied
31
// warranties of merchantability and fitness for a particular purpose are disclaimed.
32
// In no event shall the Intel Corporation or contributors be liable for any direct,
33
// indirect, incidental, special, exemplary, or consequential damages
34
// (including, but not limited to, procurement of substitute goods or services;
35
// loss of use, data, or profits; or business interruption) however caused
36
// and on any theory of liability, whether in contract, strict liability,
37
// or tort (including negligence or otherwise) arising in any way out of
38
// the use of this software, even if advised of the possibility of such damage.
42
#include "test_precomp.hpp"
43
#include "opencv2/video/tracking_c.h"
47
class CV_KalmanTest : public cvtest::BaseTest
56
CV_KalmanTest::CV_KalmanTest()
60
void CV_KalmanTest::run( int )
62
int code = cvtest::TS::OK;
64
const int Steps = 100;
65
const double max_init = 1;
66
const double max_noise = 0.1;
68
const double EPSILON = 1.000;
69
RNG& rng = ts->get_rng();
73
CvMat* Sample = cvCreateMat(Dim,1,CV_32F);
74
CvMat* Temp = cvCreateMat(Dim,1,CV_32F);
76
Kalm = cvCreateKalman(Dim, Dim);
77
CvMat Dyn = cvMat(Dim,Dim,CV_32F,Kalm->DynamMatr);
78
CvMat Mes = cvMat(Dim,Dim,CV_32F,Kalm->MeasurementMatr);
79
CvMat PNC = cvMat(Dim,Dim,CV_32F,Kalm->PNCovariance);
80
CvMat MNC = cvMat(Dim,Dim,CV_32F,Kalm->MNCovariance);
81
CvMat PriErr = cvMat(Dim,Dim,CV_32F,Kalm->PriorErrorCovariance);
82
CvMat PostErr = cvMat(Dim,Dim,CV_32F,Kalm->PosterErrorCovariance);
83
CvMat PriState = cvMat(Dim,1,CV_32F,Kalm->PriorState);
84
CvMat PostState = cvMat(Dim,1,CV_32F,Kalm->PosterState);
86
cvSetIdentity(&PriErr);
87
cvSetIdentity(&PostErr);
90
cvSetZero(&PostState);
93
Mat _Sample = cvarrToMat(Sample);
94
cvtest::randUni(rng, _Sample, cvScalarAll(-max_init), cvScalarAll(max_init));
95
cvKalmanCorrect(Kalm, Sample);
96
for(i = 0; i<Steps; i++)
98
cvKalmanPredict(Kalm);
99
for(j = 0; j<Dim; j++)
102
for(int k=0; k<Dim; k++)
104
t += Dyn.data.fl[j*Dim+k]*Sample->data.fl[k];
106
Temp->data.fl[j]= (float)(t+(cvtest::randReal(rng)*2-1)*max_noise);
108
cvCopy( Temp, Sample );
109
cvKalmanCorrect(Kalm,Temp);
112
Mat _state_post = cvarrToMat(Kalm->state_post);
113
code = cvtest::cmpEps2( ts, _Sample, _state_post, EPSILON, false, "The final estimated state" );
115
cvReleaseMat(&Sample);
117
cvReleaseKalman(&Kalm);
120
ts->set_failed_test_info( code );
123
TEST(Video_Kalman, accuracy) { CV_KalmanTest test; test.safe_run(); }