target tracking kalman matlab代码

% extracts the center (cc,cr) and radius of the largest blob function [cc,cr,radius,flag]=extractball(Imwork,Imback,index)%,fig1,fig2,fig3,fig15,index) cc = 0; cr = 0; radius = 0; flag = 0; [MR,MC,Dim] = size(Imback);%背景的尺寸 % subtract background & select pixels with a big difference fore = zeros(MR,MC); %image subtracktion fore = (abs(Imwork(:,:,1)-Imback(:,:,1)) > 10) ... | (abs(Imwork(:,:,2) - Imback(:,:,2)) > 10) ... | (abs(Imwork(:,:,3) - Imback(:,:,3)) > 10); % Morphology Operation erode to remove small noise foremm = bwmorph(fore,'erode',2); %2 time%数学形态学消除小噪声 % select largest object labeled = bwlabel(foremm,4);%四邻域标号 stats = regionprops(labeled,['basic']);%basic mohem nist [N,W] = size(stats);%总共有N个目标在图像中 if N < 1%如果没有目标就返回 return end % do bubble sort (large to small) on regions in case there are more than 1排序 id = zeros(N); for i = 1 : N id(i) = i; end for i = 1 : N-1 for j = i+1 : N if stats(i).Area < stats(j).Area%将stasts（各目标）按照从大到小的顺序排序 tmp = stats(i); stats(i) = stats(j); stats(j) = tmp; tmp = id(i); id(i) = id(j); id(j) = tmp;%同样id中的标号为面积大到小的区域的标号 end end end % make sure that there is at least 1 big region if stats(1).Area < 100 %保证至少有一个足够大的区域 return%如果最大的区域面积都小于100，则返回 end selected = (labeled==id(1));%selected为0、1矩阵，1对应着id(1)的目标，即面积最大的目标 % get center of mass and radius of largest centroid = stats(1).Centroid;%最大目标的中心 radius = sqrt(stats(1).Area/pi);%最大目标的面积 cc = centroid(1);% cr = centroid(2); flag = 1; return