基于MATLAB的卡尔曼小球运动跟踪（完美运行）

% 确定目标（篮球）的横纵坐标，以及球的半径 function [cc,cr,radius,flag]=extractball(Imwork,Imback,fig1,fig2,fig3,fig5,index) cc = 0; cr = 0; radius=0; flag=0; [MR,MC,Dim] = size(Imback); % 与背景相减得到相素不同的点 fore = zeros(MR,MC); fore = (abs(Imwork(:,:,1)-Imback(:,:,1)) > 10) ... | (abs(Imwork(:,:,2) - Imback(:,:,2)) > 10) ... | (abs(Imwork(:,:,3) - Imback(:,:,3)) > 10); if fig5 > 0 figure(fig5) clf imshow(fore) end % 腐蚀除去噪声 foremm = bwmorph(fore,'erode',2); if fig2 > 0 figure(fig2) clf imshow(foremm) end % 确定目标外框，得到面积 labeled = bwlabel(foremm,4); stats = regionprops(labeled,['basic']); [N,W] = size(stats); if N < 1 return end % 用冒泡法（从大到小）排序 id = zeros(N); for i = 1 : N id(i) = i; end for i = 1 : N-1 for j = i+1 : N if stats(i).Area < stats(j).Area tmp = stats(i); stats(i) = stats(j); stats(j) = tmp; tmp = id(i); id(i) = id(j); id(j) = tmp; end end end % 确定一个最大区域，即面积 if stats(1).Area < 100 return end selected = (labeled==id(1)); if fig3 > 0 figure(fig3) clf imshow(selected) end % 确定目标的质心和半径 centroid = stats(1).Centroid; radius = sqrt(stats(1).Area/pi); cc = centroid(1); cr = centroid(2); flag = 1; return