void Particle::update(double deltaX, double deltaY, double deltaYaw,
LaserProxy &laser) {
_position.x += deltaX * 100;
_position.y += deltaY * 100;
_yaw += deltaYaw;
_predBel = _bel * calcProbability(deltaX, deltaY, deltaYaw);
_bel = _predBel * NORMALIZE_FACTOR * scanProbability(laser);
_bel = _bel > 1.0 ? 1.0 : _bel;
}
int track(Mat &image,Rect &rect)
{
int status=0;
cvtColor(image, hsv, CV_BGR2HSV_FULL);
selection=rect;
if(rect.width!=0&&rect.height!=0)
{
if(trackObject==false)
buildHistogram ();
if(trackObject==true)
{
Rect trackWindow=selection;
Mat backproj=calcProbability ();
RotatedRect trackBox = CamShift(backproj,trackWindow,TermCriteria( CV_TERMCRIT_EPS | CV_TERMCRIT_ITER, 10, 1 ));
if( trackWindow.area() <= 1 )
{
int cols = backproj.cols, rows = backproj.rows, r = (MIN(cols, rows) + 5)/6;
trackWindow = Rect(0,0,0,0);
trackObject=false;
}
else
{
Point2f rect_points[4]; trackBox.points( rect_points );
for( int j = 0; j < 4; j++ )
line( image, rect_points[j], rect_points[(j+1)%4], Scalar(0,0,255), 1, 8 );
}
}
}
else
{
trackObject=false;
}
status=1;
return status;
}
void CRtfWord::calcCoordinatesAndProbability() {
calcProbability();
calcSpelling();
calcBRect();
}
