function?multiobjectTracking（）

%?create?system?objects?used?for?reading?video?detecting?moving?objects
%?and?displaying?the?results
obj?=?setupSystemobjects（）;?%初始化函數(shù)
tracks?=?initializeTracks（）;?%?create?an?empty?array?of?tracks??%初始化軌跡對(duì)象

nextId?=?1;?%?ID?of?the?next?track

%?detect?moving?objects?and?track?them?across?video?frames
while?~isDone（obj.reader）
????frame?=?readframe（）;??%讀取一幀
????[centroids?bboxes?mask]?=?detectobjects（frame）;?%前景檢測(cè)
????predictNewLocationsOfTracks（）;??%根據(jù)位置進(jìn)行卡爾曼預(yù)測(cè)
????[assignments?unassignedTracks?unassignedDetections]?=?...
????????detectionToTrackAssignment（）;?%匈牙利匹配算法進(jìn)行匹配
????
????updateAssignedTracks（）;%分配好的軌跡更新
????updateUnassignedTracks（）;%未分配的軌跡更新
????deleteLostTracks（）;%刪除丟掉的軌跡
????createNewTracks（）;%創(chuàng)建新軌跡
????
????displayTrackingResults（）;%結(jié)果展示
end


%%?Create?System?objects
%?Create?System?objects?used?for?reading?the?video?frames?detecting
%?foreground?objects?and?displaying?results.

????function?obj?=?setupSystemobjects（）
????????%?Initialize?Video?I/O
????????%?Create?objects?for?reading?a?video?from?a?file?drawing?the?tracked
????????%?objects?in?each?frame?and?playing?the?video.
????????
????????%?create?a?video?file?reader
????????obj.reader?=?vision.VideoFileReader（‘a(chǎn)trium.avi‘）;?????????%讀入視頻
????????
????????%?create?two?video?players?one?to?display?the?video
????????%?and?one?to?display?the?foreground?mask
????????obj.videoPlayer?=?vision.VideoPlayer（‘Position‘?[20?400?700?400]）;???%創(chuàng)建兩個(gè)窗口
????????obj.maskPlayer?=?vision.VideoPlayer（‘Position‘?[740?400?700?400]）;
????????
????????%?Create?system?objects?for?foreground?detection?and?blob?analysis
????????
????????%?The?foreground?detector?is?used?to?segment?moving?objects?from
????????%?the?background.?It?outputs?a?binary?mask?where?the?pixel?value
????????%?of?1?corresponds?to?the?foreground?and?the?value?of?0?corresponds
????????%?to?the?background.?
????????
????????obj.detector?=?vision.ForegroundDetector（‘NumGaussians‘?3?...???%GMM進(jìn)行前景檢測(cè)，高斯核數(shù)目為3，前40幀為背景幀，域值為0.7
????????????‘NumTrainingframes‘?40?‘MinimumBackgroundRatio‘?0.7）;???
????????
????????%?Connected?groups?of?foreground?pixels?are?likely?to?correspond?to?moving
????????%?objects.??The?blob?analysis?system?object?is?used?to?find?such?groups
????????%?（called?‘blobs‘?or?‘connected?components‘）?and?compute?their
????????%?characteristics?such?as?area?centroid?and?the?bounding?box.
????????
????????obj.blobAnalyser?=?vision.BlobAnalysis（‘BoundingBoxOutputPort‘?true?...??%輸出質(zhì)心和外接矩形
????????????‘AreaOutputPort‘?true?‘CentroidOutputPort‘?true?...
????????????‘MinimumBlobArea‘?400）;
????end

%%?Initialize?Tracks
%?The?|initializeTracks|?function?creates?an?array?of?tracks?where?each
%?track?is?a?structure?representing?a?moving?object?in?the?video.?The
%?purpose?of?the?structure?is?to?maintain?the?state?of?a?tracked?object.
%?The?state?consists?of?information?used?for?detection?to?track