【目标跟踪】基于卡尔曼滤波实现多车辆路径跟踪含Matlab源码

function varargout = MainTrack(varargin) % MAINTRACK MATLAB code for MainTrack.fig % MAINTRACK, by itself, creates a new MAINTRACK or raises the existing % singleton*. % % H = MAINTRACK returns the handle to a new MAINTRACK or the handle to % the existing singleton*. % %进行扑拓处理 mask = imopen(mask, strel( ’rectangle’ , [ 3 , 3 ])); mask = imclose(mask, strel( ’rectangle’ , [ 15 , 15 ])); mask = imfill(mask, ’holes’ ); %获取分析图像 [~, centroids, bboxes] = obj.blobAnalyser.step(mask); %预测新的路径 for i = 1 :length (tracks) numAssignedTracks = size(assignments, 1 ); for i = 1 :numAssignedTracks trackIdx = assignments(i, 1 ); detectionIdx = assignments(i, 2 ); centroid = centroids(detectionIdx, : ); uttongroup2_CreateFcn(hObject, eventdata, handles) % hObject handle to uibuttongroup2 (see GCBO) % eventdata reserved - to be defined in a future version of MATLAB % handles empty - handles not created until after all CreateFcns called %set(handles.radioCam, ’value’ , ’1’ ); %set(handles.radioVideo, ’value’ , ’0’ ); % --- Executes on button press in snapShot. function snapShot_Callback(hObject, eventdata, handles) % hObject handle to snapShot (see GCBO) % eventdata reserved - to be defined in a future version of MATLAB % handles structure with handles and user data (see GUIDATA) camSwitch=get(handles.radioCam, ’value’ );%获取radioWecam的数字， 1 或者 0 switch camSwitch case 1 frame=snapshot(handles.cam); %delete(handles.h); axes(handles.main); imshow(frame); case 0 ; [fileName,pathName]=uigetfile({ ’*.avi’ ; ’*.mpeg’ ; ’*.mov’ }, ’读入视频’ ); if (fileName == 0 ) return ; end str=[pathName,fileName]; set(handles.videoPath, ’String’ ,str); set(handles.videoPath, ’visible’ , ’on’ ); % handles.video = vision.VideoFileReader(str); handles.video = VideoReader(str); set(handles.timeLimit, ’String’ ,num2str(handles.video.Duration)); frame=readFrame(handles.video); axes(handles.main); imshow(frame); end handles.frame=frame; set(handles.uiSelection, ’Visible’ , ’on’ ); guidata(hObject,handles);%更新数据 % n= 0 . 5 ; % while n<get(handles.radioCam, ’value’ ) % frame=snapshot(cam); % imshow(frame); % drawnow; % end % while n>get(handles.radioCam, ’value’ ) % frame=step(handles.video); % imshow(frame); % drawnow; % end % --- Executes when selected object is changed in uiSelection. function uiSelection_SelectionChangedFcn(hObject, eventdata, handles) % hObject handle to the selected object in uiSelection % eventdata reserved - to be defined in a future version of MATLAB % handles structure with handles and user data (see GUIDATA) % --- Executes during object creation, after setting all properties. function radioFull_CreateFcn(hObject, eventdata, handles) % hObject handle to radioFull (see GCBO) % eventdata reserved - to be defined in a future version of MATLAB % handles empty - handles not created until after all CreateFcns called handles.areaSwitch= 0 ; guidata(hObject,handles); % --- Executes during object creation, after setting all properties. function selectArea_CreateFcn(hObject, eventdata, handles) % hObject handle to selectArea (see GCBO) % eventdata reserved - to be defined in a future version of MATLAB % handles empty - handles not created until after all CreateFcns called % --- Executes during object creation, after setting all properties. function radiobutton5_CreateFcn(hObject, eventdata, handles) % hObject handle to radiobutton5 (see GCBO) % eventdata reserved - to be defined in a future version of MATLAB % handles empty - handles not created until after all CreateFcns called % --- Executes on slider movement. function slider1_Callback(hObject, eventdata, handles) % hObject handle to slider1 (see GCBO) % eventdata reserved - to be defined in a future version of MATLAB % handles structure with handles and user data (see GUIDATA) % Hints: get(hObject, ’Value’ ) returns position of slider % get(hObject, ’Min’ ) and get(hObject, ’Max’ ) to determine range of slider % --- Executes during object creation, after setting all properties. function slider1_CreateFcn(hObject, eventdata, handles) % hObject handle to slider1 (see GCBO) % eventdata reserved - to be defined in a future version of MATLAB % handles empty - handles not created until after all CreateFcns called % Hint: slider controls usually have a light gray background. if isequal(get(hObject, ’BackgroundColor’ ), get( 0 , ’defaultUicontrolBackgroundColor’ )) set(hObject, ’BackgroundColor’ ,[. 9 . 9 . 9 ]); end function saveName_Callback(hObject, eventdata, handles) % hObject handle to saveName (see GCBO) % eventdata reserved - to be defined in a future version of MATLAB % handles structure with handles and user data (see GUIDATA) % Hints: get(hObject, ’String’ ) returns contents of saveName as text % str2double(get(hObject, ’String’ )) returns contents of saveName as a double % --- Executes during object creation, after setting all properties. function saveName_CreateFcn(hObject, eventdata, handles) % hObject handle to saveName (see GCBO) % eventdata reserved - to be defined in a future version of MATLAB % handles empty - handles not created until after all CreateFcns called % Hint: edit controls usually have a white background on Windows. % See ISPC and COMPUTER. if ispc && isequal(get(hObject, ’BackgroundColor’ ), get( 0 , ’defaultUicontrolBackgroundColor’ )) set(hObject, ’BackgroundColor’ , ’white’ ); end % --- Executes on button press in checkbox1. function checkbox1_Callback(hObject, eventdata, handles) % hObject handle to checkbox1 (see GCBO) % eventdata reserved - to be defined in a future version of MATLAB % handles structure with handles and user data (see GUIDATA) % Hint: get(hObject, ’Value’ ) returns toggle state of checkbox1 % --- Executes on button press in radiobutton9. function radiobutton9_Callback(hObject, eventdata, handles) % hObject handle to radiobutton9 (see GCBO) % eventdata reserved - to be defined in a future version of MATLAB % handles structure with handles and user data (see GUIDATA) % Hint: get(hObject, ’Value’ ) returns toggle state of radiobutton9 saveSwitch=get(hObject, ’Value’ ); if saveSwitch> 0 . 5 handles.saveSwitch= 1 ; set(handles.saveName, ’Visible’ , ’on’ ) else handles.saveSwitch= 0 ; set(handles.saveName, ’Visible’ , ’off’ ) end guidata(hObject,handles); function timeLimit_Callback(hObject, eventdata, handles) % hObject handle to timeLimit (see GCBO) % eventdata reserved - to be defined in a future version of MATLAB % handles structure with handles and user data (see GUIDATA) % Hints: get(hObject, ’String’ ) returns contents of timeLimit as text % str2double(get(hObject, ’String’ )) returns contents of timeLimit as a double % --- Executes during object creation, after setting all properties. function timeLimit_CreateFcn(hObject, eventdata, handles) % hObject handle to timeLimit (see GCBO) % eventdata reserved - to be defined in a future version of MATLAB % handles empty - handles not created until after all CreateFcns called % Hint: edit controls usually have a white background on Windows. % See ISPC and COMPUTER. if ispc && isequal(get(hObject, ’BackgroundColor’ ), get( 0 , ’defaultUicontrolBackgroundColor’ )) set(hObject, ’BackgroundColor’ , ’white’ ); end % --- Executes during object creation, after setting all properties. function uibuttongroup4_CreateFcn(hObject, eventdata, handles) % hObject handle to uibuttongroup4 (see GCBO) % eventdata reserved - to be defined in a future version of MATLAB % handles empty - handles not created until after all CreateFcns called handles.f=[];%对figure的handles进行初始化 guidata(hObject,handles); % --- Executes during object creation, after setting all properties. function radiobutton9_CreateFcn(hObject, eventdata, handles) % hObject handle to radiobutton9 (see GCBO) % eventdata reserved - to be defined in a future version of MATLAB % handles empty - handles not created until after all CreateFcns called handles.saveSwitch= 0 ; guidata(hObject,handles); function unitH_Callback(hObject, eventdata, handles) % hObject handle to unitH (see GCBO) % eventdata reserved - to be defined in a future version of MATLAB % handles structure with handles and user data (see GUIDATA) % Hints: get(hObject, ’String’ ) returns contents of unitH as text % str2double(get(hObject, ’String’ )) returns contents of unitH as a double % --- Executes during object creation, after setting all properties. function unitH_CreateFcn(hObject, eventdata, handles) % hObject handle to unitH (see GCBO) % eventdata reserved - to be defined in a future version of MATLAB % handles empty - handles not created until after all CreateFcns called % Hint: edit controls usually have a white background on Windows. % See ISPC and COMPUTER. if ispc && isequal(get(hObject, ’BackgroundColor’ ), get( 0 , ’defaultUicontrolBackgroundColor’ )) set(hObject, ’BackgroundColor’ , ’white’ ); end