www.gusucode.com > 用粒子滤波算法进行跟踪的matlab代码 > gmm_utilities/gmm_multiply.m

    function gr = gmm_multiply(g1, g2)

D = size(g1.x, 1);
M = size(g1.x, 2);
N = size(g2.x, 2);
R = M*N;

gr.x = zeros(D,R);
gr.P = zeros(D,D,R);
gr.w = zeros(1,R);

k=1;
for i=1:M
    xi = g1.x(:,i);
    Pi = g1.P(:,:,i);
    wi = g1.w(i); 
    
    for j=1:N
        [gr.x(:,k), gr.P(:,:,k), gr.w(k)] = ...
            gauss_multiply(xi, Pi, g2.x(:,j), g2.P(:,:,j));
        gr.w(k) = gr.w(k)*wi*g2.w(j);
        
        k = k+1;
    end
end