【发布时间】：2014-02-13 19:19:39
【问题描述】：
我想实现一个卡尔曼滤波器来跟踪一个点，这是我的代码
public Mat onCameraFrame(CvCameraViewFrame inputFrame) {
mRgba = inputFrame.rgba();
mGray = inputFrame.gray();
switch (viewMode) {
case VIEW_MODE_ColorDetect:
/**
*
* some code for color detect
*
*/
int ObjectCenterX = (int)((mboundingRect.tl().x + mboundingRect.br().x) / 2);
int ObjectCenterY = (int)((mboundingRect.tl().y + mboundingRect.br().y) / 2);
//get the object center point , and I whant to track it by kalman filter.
Core.circle(mRgba, new Point(ObjectCenterX, ObjectCenterY), 5, ColorGreen, 2);
/***********************************************Kalman************************************************************/
try {
Mat ObjectPoint = new Mat(1, 2, CvType.CV_32F);
int[] PreObjectCenter = {ObjectCenterX, ObjectCenterY};
ObjectPoint.put(0, 0, PreObjectCenter[0]);
ObjectPoint.put(0, 1, PreObjectCenter[1]);
ObjectPoint = myKalmanFilter(ObjectPoint);
/**Question 2: How to get corrected point from Mat?**/
} catch (Exception e) {
Log.e("In camera fram: ", e.toString());
}
/*****************************************************************************************************************/
}
return mRgba;
return mRgba;
}
private Mat myKalmanFilter(Mat objectPoint){
KalmanFilter KF = new KalmanFilter();
try {
KF.predict(objectPoint);
KF.correct(objectPoint);
} catch (Exception e) {
Log.e("myKalmanFilter: ", e.toString());
}
return objectPoint;
}
我有 2 个问题，Q1。我收到此代码的以下错误：
17:44:22.727: E/cv::error()(24902): OpenCV 错误: 断言失败 (type == B.type() && (type == CV_32FC1 || type == CV_64FC1 || type == CV_32FC2 || type == CV_64FC2)) in void cv::gemm(cv::InputArray, cv::InputArray, double, cv::InputArray, double, cv::OutputArray, int), 文件 /home/reports /ci/slave_desktop/50-SDK/opencv/modules/core/src/matmul.cpp，第 711 行 17:44:22.727: E/org.opencv.video(24902): video::predict_10() 捕获 cv::Exception: /home/reports/ci/slave_desktop/50-SDK/opencv/modules/core/src/ matmul.cpp:711: 错误: (-215) type == B.type() && (type == CV_32FC1 || type == CV_64FC1 || type == CV_32FC2 || type == CV_64FC2) in function void cv: :gemm(cv::InputArray, cv::InputArray, double, cv::InputArray, double, cv::OutputArray, int) 17:44:22.727: E/myKalmanFilter:(24902): CvException [org.opencv.core.CvException: cv::Exception: /home/reports/ci/slave_desktop/50-SDK/opencv/modules/core/src/ matmul.cpp:711: 错误: (-215) type == B.type() && (type == CV_32FC1 || type == CV_64FC1 || type == CV_32FC2 || type == CV_64FC2) in function void cv: :gemm(cv::InputArray, cv::InputArray, double, cv::InputArray, double, cv::OutputArray, int) 17:44:22.727: E/myKalmanFilter:(24902): ]
第二季度。修改了可以运行的代码后，如何从 Mat 中获取 x 和 y 点？
编辑：
我还是不知道怎么设置 KalmanFilter 尺寸，我这样设置private KalmanFilter KF = new KalmanFilter(1, 2, 16, CvType.CV_32F);和eclipse show
线程 [ main]（挂起（UnsatisfiedLinkError 异常））
KalmanFilter.(int, int, int, int) 行：72
Tutorial1Activity.() 行：65 Class.newInstanceImpl() 行：不可用 [本机方法] Class.newInstance() 行：1319
Instrumentation.newActivity(ClassLoader, String, Intent) 行：1069 ActivityThread.performLaunchActivity(ActivityThread$ActivityClientRecord, Intent) 行：2258
ActivityThread.handleLaunchActivity(ActivityThread$ActivityClientRecord, Intent) 行：2387 ActivityThread.access$600(ActivityThread, ActivityThread$ActivityClientRecord, Intent) 行：151
ActivityThread$H.handleMessage(Message) 行：1331
ActivityThread$H(Handler).dispatchMessage(Message) 行：99 Looper.loop() 行：155 ActivityThread.main(String[]) 行：5485
Method.invokeNative(Object, Object[], Class, Class[], Class, int, boolean) 行：不可用 [本机方法]
Method.invoke(Object, Object...) 行：511
ZygoteInit$MethodAndArgsCaller.run() 行：1028 ZygoteInit.main(String[]) 行：795 NativeStart.main(String[]) 行：不可用 [本机方法]
【问题讨论】：
标签： android opencv image-processing kalman-filter