Motion Based multi object tracking
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Subscripted assignment between dissimilar structures.
Error in MotionBasedMultiObjectTracking/createNewTracks (line 130)
tracks(end + 1)= newTrack;
Error in MotionBasedMultiObjectTracking (line 15)
createNewTracks();
this is the error Im getting----- and I've also attached the code please help.....!
function MotionBasedMultiObjectTracking()
obj = setupSystemObjects();
tracks = initializeTracks();
nextId=1;
while ~isDone(obj.reader)
frame=readFrame();
[centroids,bboxes,mask]=detectObjects(frame);
predictNewLocationOfTracks();
[assignments,unassignedTracks,unassignedDetections] = ...
detectionToTrackAssignment();
updateAssignedTracks();
updateUnassignedTracks();
deleteLostTracks();
createNewTracks();
displayTrackingResults();
end
function obj = setupSystemObjects()
obj.reader=vision.VideoFileReader('test.avi');
obj.maskPlayer=vision.VideoPlayer('Position',[740, 400, 700,400]);
obj.videoPlayer=vision.VideoPlayer('Position',[20, 400, 700, 400]);
obj.detector = vision.ForegroundDetector('NumGaussians',3,...
'NumTrainingFrames',40,'MinimumBackgroundRatio',0.7);
obj.blobAnalyser = vision.BlobAnalysis('BoundingBoxOutputPort',true,...
'AreaOutputPort',true,'CentroidOutputPort',true,...
'MinimumBlobArea',400);
end
function tracks = initializeTracks()
tracks = struct(...
'id',{},...
'bbox',{},...
'kalmanFilter',{},...
'age',{},...
'totalVisibleCount',{},...
'consecutiveInvisibleCount',{});
end
function frame= readFrame()
frame = obj.reader.step;
end
function [centroids, bboxes, mask] = detectObjects(frame)
mask = obj.detector.step(frame);
mask= imopen(mask,strel('rectangle',[3,3]));
mask= imclose(mask,strel('rectangle',[15, 15]));
mask= imfill(mask,'holes');
[~,centroids,bboxes]=obj.blobAnalyser.step(mask);
end
function predictNewLocationOfTracks()
for i=1:length(tracks)
bbox=tracks(i).bbox;
predictedCentroid = predict(tracks(i).kalmanFilter);
tracks(i).bbox=[predictedCentroid,bbox(3:4)];
end
end
function [assignments,unassignedTracks,unassignedDetections]=...
detectionToTrackAssignment()
nTracks = length(tracks);
nDetections = size(centroids,1);
cost=zeros(nTracks,nDetections);
for i=1:nTracks
cost(1,:)=distance(tracks(i).kalmanFilter,centroids);
end
costOfNonAssignment =20;
[assignments,unassignedTracks,unassignedDetections]=...
assignDetectionsToTracks(cost,costOfNonAssignment);
end
function updateAssignedTracks()
numAssignedTracks=size(assignments,1);
for i =1:numAssignedTracks
trackIdx=assignments(i,1);
detectionIdx=assignments(i,2);
centroid=centroids(detectionIdx,:);
bbox=bboxes(detectionIdx,:);
correct(tracks(trackIdx).kalmanFilter,centroid);
tracks(trackIdx).bbox=bbox;
tracks(trackIdx).age=tracks(trackIdx).age + 1;
tracks(trackIdx).totalVisbleCount=...
tracks(trackIdx).totalVisibleCount + 1;
tracks(trackIdx).consecutiveInvisibleCount = 0;
end
end
function updateUnassignedTracks()
for i=1:length(unassignedTracks)
ind=assignedTracks(i);
tracks(ind).age=tracks(ind).age+1;
tracks(ind).consecutiveInvisibleCount=...
tracks(ind).consecutiveInvisibleCount+1;
end
end
function deleteLostTracks()
if isempty(tracks)
return
end
invisibleForTooLong = 20;
ageThreshold = 8;
ages=[tracks(:).age];
totalVisibleCounts = [tracks(:).totalVisibleCount];
visibility = totalVisibleCounts ./ ages;
lostInds = (ages < ageThreshold & visibility <0.6) | ...
[tracks(:).consecutiveInvisibleCount] >=invisibleForTooLong;
tracks = tracks(~lostInds);
end
function createNewTracks()
centroids = centroids(unassignedDetections,:);
bboxes = bboxes(unassignedDetections,:);
for i = 1:size(centroids, 1)
centroid = centroids(1,:);
bbox=bboxes(i,:);
kalmanFilter = configureKalmanFilter('ConstantVelocity',...
centroid,[200, 50],[100, 25],100);
newTrack = struct(...
'id',nextId,...
'bbox',bbox,...
'kalmanFilter',kalmanFilter,...
'age',1,...
'totalVisibleCount',1,...
'consecutiveInvisibleCount',0);
tracks(end + 1)= newTrack;
nextId = nextId + 1;
end
end
function displayTrackingResults()
frame = im2uint8(frame);
mask = uint8(repmat(mask,[1, 1, 3])) .* 225;
minVisibleCount = 8;
if ~isempty(tracks)
reliableTrackInds = ...
[tracks(:).totalVisibleCount] > minVisibleCount;
reliableTracks = tracks(reliableTrackInds);
if ~isempty(reliableTracks)
bboxes = cat(1,reliableTracks.bbox);
ids=int32([reliableTracks(:).id]);
labels = cellstr(int2str(ids'));
predictedTracksInds = ...
[reliableTracks(:).consecutiveInvisbleCount] > 0;
isPredicted = cell(size(labels));
isPredicted(predictedTracksInds) = {'predicted'};
labels = strcat(labels,isPredicted);
frame = insertObjectAnnotation(frame,'rectangle',...
bboxes,labels);
mask = insertObjectAnnotation(mask,'rectangle',...
bboxes,labels);
end
end
obj.maskPlayer.step(mask);
obj.videoPlayer.step(frame);
end
end
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2019-1-21
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