matlab上实现车辆预测跟踪_车辆跟踪_目标跟踪_matlab

clear top_x=[8,97,174,246,280]; top_y=[134,141,144,147,150]; rect.lx=0; rect.ly=59; rect.width = 280; rect.height=103; host_num=0; host_regions=zeros(1,13); global v_order; v_order=1; esm_num=0; esm_regions=zeros(1,6); %c_match=zeros(1,4); %c_center=zeros(1,12); dt=0.12; BWG=imread('Mov00001000.bmp'); for i=1000:3:1263 open_filename='Mov0000'; o=num2str(i); open_filename=strcat(open_filename,o,'.bmp'); CBW=imread(open_filename); imshow(CBW); SBW=abs(double(CBW)-double(BWG)); SBW=uint8(SBW); BW2=im2bw(SBW,0.15); MBW=medfilt2(BW2); BWG=(0.01*double(CBW)+0.99*double(BWG)).*double(MBW)+(0.1*double(CBW)+0.9*double(BWG)).*double(~MBW); BWG=uint8(BWG); %imshow(MBW); % %{ delete=zeros(host_num,1); count=0; for k=1:host_num if host_regions(k,7)<20 delete(k)=1; count=count+1; end end temp_host=zeros(1,13); index=1; for k=1:host_num if delete(k)==0 temp_host(index,:)=host_regions(k,:); index=index+1; end end host_regions=temp_host; host_num=host_num-count; % c_match=zeros(1,4); % c_num=0; if host_num==0 init_num=0; init_center=zeros(1,2); % c_num=0;c_match=zeros(1,4); [c_num,c_match]=Zcluster(init_num,init_center,MBW,rect); else for k=1:host_num init_center(k,1)=host_regions(k,7); init_center(k,2)=host_regions(k,8); end init_num=host_num; % c_num=0;c_match=zeros(1,4); [c_num,c_match]=Zcluster(init_num,init_center,MBW,rect); end %{ for j=1:c_num hold on plot(c_match(j,3),c_match(j,4),'g.') end %} measured=zeros(c_num,1); if c_num~=0 if c_num>host_num for k=1:c_num if c_match(k,1)==0&&c_match(k,2)==0 % if c_match(k,3)<20 % measured(k)=1; % else if abs(c_match(k,3)-270)<30 % if esm_num==0 esm_regions(1,1)=c_match(k,3); esm_regions(1,2)=c_match(k,4); esm_regions(1,3)=0; esm_regions(1,4)=0; esm_regions(1,5)=0; esm_regions(1,6)=0; % esm_num=esm_num+1; measured(k)=1; %{ else if esm_num==1 esm_regions(1,3)=(c_match(k,3)-esm_regions(1,1))/dt; esm_regions(1,4)=(c_match(k,4)-esm_regions(1,2))/dt; esm_regions(1,1)=c_match(k,3); esm_regions(1,2)=c_match(k,4); esm_regions(1,5)=0; esm_regions(1,6)=0; esm_num=esm_num+1; measured(k)=1; else temp_vx=esm_regions(1,3); temp_vy= esm_regions(1,4); esm_regions(1,3)=(c_match(k,3)-esm_regions(1,1))/dt; esm_regions(1,4)=(c_match(k,4)-esm_regions(1,2))/dt; esm_regions(1,5)=(esm_regions(1,3)-temp_vx)/dt; esm_regions(1,6)=(esm_regions(1,4)-temp_vy)/dt; esm_regions(1,1)=c_match(k,3); esm_regions(1,2)=c_match(k,4); measured(k)=1; end end %} end rem_host=kkghr(esm_regions,v_order); host_num=host_num+1; host_regions(host_num,:)=rem_host; v_order=v_order+1; % hold on % plot(host_regions(host_num,1),host_regions(host_num,2),'g.') end esm_regions=zeros(1,6); esm_num=0; end end end %{ for j=1:c_num hold on plot(host_regions(j,1),host_regions(j,2),'g.') end for j=1:c_num hold on plot(c_match(j,3),c_match(j,4),'g.') end %} host_regions=kkghr2(c_match,measured,host_regions); % hold on % plot(host_regions(1,1),host_regions(1,2),'g.') %{ for j=1:c_num hold on plot(c_match(j,3),c_match(j,4),'g.') end %} for j=1:c_num hold on plot(host_regions(j,1),host_regions(j,2),'g.') end for j=1:c_num hold on plot(host_regions(j,7),host_regions(j,8),'r.') end pause(0.12); end