-
Notifications
You must be signed in to change notification settings - Fork 0
/
Copy pathfun_MoveObjectDetectDP.m
138 lines (119 loc) · 5.45 KB
/
fun_MoveObjectDetectDP.m
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
function AllObjInf=fun_MoveObjectDetectDP(MaxIndexFrame,MaxValFrame)
%--------------------------------------------------------------------------
[M N]=size(MaxIndexFrame);
maskIndex=zeros(M,N,5);
for ii=1:5
tempIM=MaxIndexFrame;
tempIM(MaxIndexFrame~=ii)=0;
maskIndex(:,:,ii)=tempIM./ii;
%h=figure();imagesc(maskIndex(:,:,ii));colormap(jet);axis('off');
end
%--------------------------------------------------------------------------
offset=0;
for ii=1:5
[LFrame,LNum]=bwlabel(maskIndex(:,:,ii),8);%第2、3、4帧中分别待搜索目标个数
objNum(ii)=LNum;
%h=figure();imagesc(LFrame);colormap(jet);axis('off');
for jj=1:objNum(ii)
[r,c]=find(LFrame==jj);%找到连通域标记后的图像中每个运动目标的坐标范围
objPosiR(jj)=round((max(r)+min(r))./2);%求出目标的粗略质心，以便与连通域提取图像进行配对，从而为求出原灰度图像中运动目标的精确质心做准备
objPosiC(jj)=round((max(c)+min(c))./2);
objPointList(jj+offset,:)=[ii,jj,objPosiR(jj),objPosiC(jj)];%对初步运动目标信息进行存储，包括帧号,目标编号，x、y坐标
end
offset=offset+objNum(ii);
end
%--------------------------------------------------------------------------
% [m n]=size(objPointList);
% for ii=1:m
% %tempIM=IMArr(:,:,objPointList(ii,1));
% r1=objPointList(ii,3)-2;
% r2=objPointList(ii,3)+2;
% c1=objPointList(ii,4)-2;
% c2=objPointList(ii,4)+2;
% if r1<1 continue; end
% if r2>M continue; end
% if c1<1 continue; end
% if c2>N continue; end
% IM=MaxValFrame(r1:r2,c1:c2);
% %IM=(IM./max(IM(:))).^4;
% [rx cy]=fun_CalCentriodSeedfilled3(IM);
% objPointList(ii,3)=objPointList(ii,3)+rx-3;
% objPointList(ii,4)=objPointList(ii,4)+cy-3;
% end
%--------------------------------------------------------------------------
Vr=30;%最大速度阈值，根据实际情况给出；
maxObjNum=max(objNum);
AllObjInf=zeros(maxObjNum*5,3);
curObjNum=0;
objPointF2=objPointList(objNum(1)+1:sum(objNum(1:2)),3:4);
objPointF3=objPointList(sum(objNum(1:2))+1:sum(objNum(1:3)),3:4);
objPointF4=objPointList(sum(objNum(1:3))+1:sum(objNum(1:4)),3:4);
for ii=1:objNum(3)
for jj=1:objNum(2)
Dis23=sqrt((objPointF3(ii,1)-objPointF2(jj,1)).^2+(objPointF3(ii,2)-objPointF2(jj,2)).^2);
R23=[(objPointF3(ii,1)-objPointF2(jj,1)),(objPointF3(ii,2)-objPointF2(jj,2))];
if (Dis23<=Vr)
minDisErr=Vr;
minDPErr=Vr;
for kk=1:objNum(4)
Dis34=sqrt((objPointF4(kk,1)-objPointF3(ii,1)).^2+(objPointF4(kk,2)-objPointF3(ii,2)).^2);
R34=[(objPointF4(kk,1)-objPointF3(ii,1)),(objPointF4(kk,2)-objPointF3(ii,2))];
curDP=(R23*R34')./(Dis34*Dis23);
curDPErr=1-curDP;
curDisErr=abs(Dis23-Dis34);
if (curDPErr<minDPErr)&&(curDPErr<=0.1)&&(curDisErr<minDisErr)&&(curDisErr<=3)
minDPErr=curDPErr;
minDisErr=curDisErr;
curObjNum=curObjNum+1;
AllObjInf((curObjNum-1)*5+1:curObjNum*5,3)=curObjNum;
AllObjInf((curObjNum-1)*5+2,1:2)=objPointF2(jj,:);
AllObjInf((curObjNum-1)*5+3,1:2)=objPointF3(ii,:);
AllObjInf((curObjNum-1)*5+4,1:2)=objPointF4(kk,:);
end
end
end
end
end
AllObjInf=AllObjInf(1:curObjNum*5,:);
AllObjNum=curObjNum;
%---------------------------------------------------------------
objPointF1=objPointList(1:objNum(1),3:4);
objPointF5=objPointList(sum(objNum(1:4))+1:sum(objNum(1:5)),3:4);
for ii=1:AllObjNum
minDisErr=Vr;
minDPErr=Vr;
for jj=1:objNum(5)
Dis54=sqrt((AllObjInf((ii-1)*5+4,1)-objPointF5(jj,1)).^2+(AllObjInf((ii-1)*5+4,2)-objPointF5(jj,2)).^2);
R54=[(AllObjInf((ii-1)*5+4,1)-objPointF5(jj,1)),(AllObjInf((ii-1)*5+4,2)-objPointF5(jj,2))];
Dis43=sqrt((AllObjInf((ii-1)*5+3,1)-AllObjInf((ii-1)*5+4,1)).^2+(AllObjInf((ii-1)*5+3,2)-AllObjInf((ii-1)*5+4,2)).^2);
R43=[(AllObjInf((ii-1)*5+3,1)-AllObjInf((ii-1)*5+4,1)),(AllObjInf((ii-1)*5+3,2)-AllObjInf((ii-1)*5+4,2))];
curDP=(R54*R43')./(Dis43*Dis54);
curDPErr=1-curDP;
curDisErr=abs(Dis54-Dis43);
if (curDPErr<minDPErr)&&(curDPErr<=0.7)&&(curDisErr<minDisErr)&&(curDisErr<=3)
minDPErr=curDPErr;
minDisErr=curDisErr;
AllObjInf((ii-1)*5+5,1)=objPointF5(jj,1);
AllObjInf((ii-1)*5+5,2)=objPointF5(jj,2);
end
end
minDisErr=Vr;
minDPErr=Vr;
for jj=1:objNum(1)
Dis12=sqrt((AllObjInf((ii-1)*5+2,1)-objPointF1(jj,1)).^2+(AllObjInf((ii-1)*5+2,2)-objPointF1(jj,2)).^2);
R12=[(AllObjInf((ii-1)*5+2,1)-objPointF1(jj,1)),(AllObjInf((ii-1)*5+2,2)-objPointF1(jj,2))];
Dis23=sqrt((AllObjInf((ii-1)*5+3,1)-AllObjInf((ii-1)*5+2,1)).^2+(AllObjInf((ii-1)*5+3,2)-AllObjInf((ii-1)*5+2,2)).^2);
R23=[(AllObjInf((ii-1)*5+3,1)-AllObjInf((ii-1)*5+2,1)),(AllObjInf((ii-1)*5+3,2)-AllObjInf((ii-1)*5+2,2))];
curDP=(R12*R23')./(Dis12*Dis23);
curDPErr=1-curDP;
curDisErr=abs(Dis12-Dis23);
if (curDPErr<minDPErr)&&(curDPErr<=0.1)&&(curDisErr<minDisErr)&&(curDisErr<=3)
minDPErr=curDPErr;
minDisErr=curDisErr;
AllObjInf((ii-1)*5+1,1)=objPointF1(jj,1);
AllObjInf((ii-1)*5+1,2)=objPointF1(jj,2);
end
end
end
%--------------------------------------------------------------------------
end