matlab-(含教程)基于贝叶斯粒子滤波器的目标跟踪算法matlab仿真

clc; clear; close all; warning off; addpath(genpath(pwd)); path = 'snake_color/snake_%04d.png'; n_stop = 1018; n_start = 1; npart = 2000; % 500 nsample = 1000; % 250 nselect = 1; % 5 radiusp = 24; % Divisible par 2 f1 = figure; f1.WindowState = 'maximized'; image = imread(sprintf(path, 0)); [h, w, c] = size(image); parts = zeros(6,npart); for k=1:npart parts(1,k) = 1/npart; % w parts(2,k) = randi([2,w-1]); % x parts(3,k) = randi([2,h-1]); % y % Partie 2 parts(4,k) = randi([0,3])*90; % direction de la tête parts(5,k) = 1/npart; % w à l'itération précédente parts(6,k) = 2/npart; % somme w sur deux itérations end for im=n_start:n_stop % Lecture de l'image image = imread(sprintf(path, im)); % Prediction parts = Evolution(parts, h, w); % Measurement parts = Mesure(parts, image); % Center of mass avx = 1; avy = 1; if sum(parts(6,:) >= 3) > 0 c = parts.*(parts(6,:) >= 3); avx = round(sum(c(2,:).*c(6,:))/sum(c(6,:))); avy = round(sum(c(3,:).*c(6,:))/sum(c(6,:))); end % Sampling parts = Sampling(parts, h, w, nsample, nselect, radiusp); % Weight propagation parts(5,:) = parts(1,:); % Display % Remove green background image(:,:,2) = 0; for k=1:npart image(parts(3,k),parts(2,k),3) = 255; end % Add green dot on center of mass image(avy,avx,2) = 255; % subplot(2,2,3); imshow(image,'InitialMagnification','fit') title(sprintf("Image %d/%d", im,n_stop)) pause(0.001); end