Kalman滤波处理运动小球圆心位置.rar_interioratv_kalman小球_位置预测_小球轨迹_运动轨迹

% extracts the center (cc,cr) and radius of the largest blob % flag = 0 if failure function [cc,cr,radius,flag]=extractball(Imwork,Imback,fig1,fig2,fig3,index) cc = 0; cr = 0; radius=0; flag=0; [MR,MC,Dim] = size(Imback); %m = size(X,dim) returns the size of the dimension of X specified by scalar dim. % subtract background & select pixels with a big difference fore = zeros(MR,MC); %Create array of all zeros,B = zeros(m,n,p,...) or B = zeros([m n p ...]) returns an m-by-n-by-p-by-... array of zeros. fore = (abs(Imwork(:,:,1)-Imback(:,:,1)) > 10) ... | (abs(Imwork(:,:,2) - Imback(:,:,2)) > 10) ... | (abs(Imwork(:,:,3) - Imback(:,:,3)) > 10); % erode to remove small noise foremm = bwmorph(fore,'erode',2); %Morphological operations on binary images,即二值图的形态学操作，BW2 = bwmorph(BW,operation,n) applies the operation n times. n can be Inf, in which case the operation is repeated until the image no longer changes. %'erode' ，function：Performs erosion using the structuring element ones(3).erosion腐蚀, 侵蚀; 磨损。structuring element ones(3) %Y = ones(n) returns an n-by-n matrix of 1s. An error message appears if n is not a scalar. if fig2 > 0 figure(fig2) clf imshow(foremm) %eval(['imwrite(uint8(foremm),''BCLEAN/cln',int2str(index),'.jpg'',''jpg'')']); end % select largest object labeled = bwlabel(foremm,4); %Label connected components in 2-D binary image %Label标签, 符号 connected连接的, 有关系的,有社交〔职业、商业〕关系的 ，有血统〔婚姻〕关系的 %L = bwlabel(BW, n) returns a matrix L, of the same size as BW, containing labels for the connected objects in BW. %The variable n can have a value of either 4 or 8, where 4 specifies 4-connected objects and 8 specifies 8-connected objects. If the argument is omitted, it defaults to 8. %specify：详述，指定，具体说明；把…写入说明书；详细列举 ，提出…的条件，明确提出；详细说明 stats = regionprops(labeled,['basic']); %Measure properties of image regions %STATS = regionprops(BW, properties) measures a set of properties for each connected component (object) in the binary image, BW. The image BW is a logical array; it can have any dimension. %STATS is a structure array with length equal to the number of objects in BW, CC.NumObjects, or max(L(:)). The fields of the structure array denote different properties for each region, as specified by properties. %properties can be a comma-separated list of strings, a cell array containing strings, the single string 'all', or the string 'basic'. If properties is the string 'all', regionprops computes all the shape measurements, listed in Shape Measurements. %If called with a grayscale image, regionprops also returns the pixel value measurements, listed in Pixel Value Measurements. %If properties is not specified or if it is the string 'basic', regionprops computes only the 'Area', 'Centroid', and 'BoundingBox' measurements. You can calculate the following properties on N-D inputs: 'Area', 'BoundingBox', 'Centroid', 'FilledArea', 'FilledImage', 'Image', 'PixelIdxList', 'PixelList', and 'SubarrayIdx'. %properties,1.财产,资产;所有物2.房产,地产,房地产3.花园住宅4.特性,性能,属性5.所有权,财产权。comma-separated，comma逗号。centroid，[?sentr?id]质心。 [N,W] = size(stats); if N < 1 return end % do bubble sort (large to small) on regions in case there are more than 1 id = zeros(N); for i = 1 : N id(i) = i; %id(N)={1,2,3,4,5,6,7,8,9，...N} end for i = 1 : N-1 %i=1,2,3,4,5,...N-1。 for j = i+1 : N %j=i+1,i+2,i+3...N。 if stats(i).Area < stats(j).Area %stats是个结构体数组，stats(k).Aera表示取得结构体数组stats的第k个单元内的域名为为Aera的区域所存储的数据 tmp = stats(i); stats(i) = stats(j); stats(j) = tmp; tmp = id(i); id(i) = id(j); id(j) = tmp; end end end % make sure that there is at least 1 big region if stats(1).Area < 100 return end selected = (labeled==id(1)); if fig3 > 0 figure(fig3) clf imshow(selected) end % get center of mass and radius of largest centroid = stats(1).Centroid; radius = sqrt(stats(1).Area/pi); cc = centroid(1); cr = centroid(2); flag = 1; return