I'm tring to implement matlab code for Kalman filter as object tracking .There are sample images provided with code.But I tried for another images with different dimensions.It makes .error-'Index exceeds matrix dimensions'

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Sajith Galgamuwa
Sajith Galgamuwa 2016-3-27
评论： Sajith Galgamuwa 2016-3-28
Testtrackkalman.m
clear all
NoOfImg = 8;
Xmsaved = zeros(2, NoOfImg); Xhsaved = zeros(2, NoOfImg);
for k = 1:NoOfImg [xm, ym] = GetBallPos(k); [xh, yh] = TrackKalman(xm, ym);
hold on
plot(xm, ym, 'r*')
plot(xh, yh, 'bs')
pause(1)
Xmsaved(:, k) = [xm ym]';
Xhsaved(:, k) = [xh yh]';
end
figure hold on plot(Xmsaved(1,:), Xmsaved(2,:), '*') plot(Xhsaved(1,:), Xhsaved(2,:), 's')
Trackkalman.m
if true
% code
end
function [xh, yh] = TrackKalman(xm, ym)
%
%
persistent A H Q R
persistent x P
persistent firstRun
if isempty(firstRun) dt = 1;
A = [ 1 dt 0 0
0 1 0 0
0 0 1 dt
0 0 0 1 ];
H = [ 1 0 0 0
0 0 1 0 ];
Q = 1.0*eye(4);
R = [ 50 0
0 50 ];
x = [0, 0, 0, 0]';
P = 100*eye(4);
firstRun = 1;
end
xp = A*x; Pp = A*P*A' + Q;
K = Pp*H'*inv(H*Pp*H' + R);
z = [xm ym]'; x = xp + K*(z - H*xp); P = Pp - K*H*Pp;
xh = x(1); yh = x(3);
function [xc, yc] = GetBallPos1(index) % % persistent imgBg persistent firstRun
if isempty(firstRun) imgBg = imread('Process1/bg1.tif',1);
firstRun = 1;
end
xc = 0; yc = 0;
imgWork = imread(['Process1/', int2str(index), '.tif']); imshow(imgWork)
fore = imabsdiff(imgWork, imgBg); fore = (fore(:,:,1) > 10) | (fore(:,:,2) > 10) | (fore(:,:,3) > 10);
L = logical(fore); stats = regionprops(L, 'area', 'centroid'); area_vector = [stats.Area]; [tmp, idx] = max(area_vector);
centroid = stats(idx(1)).Centroid;
xc = centroid(1) + 15*randn; yc = centroid(2) + 15*randn;

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采纳的回答

Image Analyst
Image Analyst 2016-3-27
stats is probably empty. What does this show
numBlobs = size(stats)
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Sajith Galgamuwa
Sajith Galgamuwa 2016-3-28
centroid = stats.Centroid;
xc = centroid(1:2:end); yc = centroid(2:2:end);
Again some errors..*
Too many outputs requested. Most likely cause is missing [] around left hand side that
has a comma separated list expansion.
Error in GetBallPos (line 27) centroid = stats.Centroid;
Error in TestTrackKalman (line 9) [xm, ym] = GetBallPos(k);
Image Analyst
Image Analyst 2016-3-28
Look at my code. Then look at what the error says is the most likely cause. Anything strike you? Notice how I used brackets, and you didn't, and the error message says that the most likely cause is that you didn't use them. Knowing that, do you still have a question?

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更多回答（3 个）

Sajith Galgamuwa
Sajith Galgamuwa 2016-3-28
centroid = [stats.centroid];
xc = centroid(1:2:end);
yc = centroid(2:2:end);
I have corrected but,,,,-
Reference to non-existent field 'centroid'.
Error in GetBallPos (line 26)_
centroid = [stats.centroid];
Error in TestTrackKalman (line 9)_
[xm, ym] = GetBallPos(k);
Sajith Galgamuwa
Sajith Galgamuwa 2016-3-28
编辑：Sajith Galgamuwa 2016-3-28
centroid = [stats.Centroid];
xc = centroid(1:2:end);
yc = centroid(2:2:end);
Now that part o.k..Thanks
Sajith Galgamuwa
Sajith Galgamuwa 2016-3-28
But kalman filter part has some problems.
Error using - Matrix dimensions must agree.
Error in TrackKalman (line 37)
x = xp + K*(z - H*xp);
Error in TestTrackKalman (line 10)
[xh, yh] = TrackKalman(xm, ym)

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