add part of opencv

Lib/opencv/sources/modules/video/test/test_kalman.cpp

@@ -0,0 +1,113 @@
+/*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. */