[英]How to store the detected object in video in a folder in each frame in matlab?
I want to store the detected object that is inside the yellow box and store each object with his label name in a separate file like object 1 in folder 1 object 2 in folder 2 only I want to save the detected object in the frame. 我想将检测到的对象存储在黄色框中,并将带有标签名称的每个对象存储在单独的文件中,例如对象1在文件夹1中,在文件夹2中在对象2中,我只想将检测到的对象保存在框架中。
function [centroids, bboxes, mask] = detectObjects(frame)
% Detect foreground.
mask = obj.detector.step(frame);
% Apply morphological operations to remove noise and fill in holes.
mask = imopen(mask, strel('rectangle', [3,3]));
mask = imclose(mask, strel('rectangle', [15, 15]));
mask = imfill(mask, 'holes');
% Perform blob analysis to find connected components.
[~, centroids, bboxes] = obj.blobAnalyser.step(mask);
end
%% Predict New Locations of Existing Tracks
% Use the Kalman filter to predict the centroid of each track in the
% current frame, and update its bounding box accordingly.
function predictNewLocationsOfTracks()
for i = 1:length(tracks)
bbox = tracks(i).bbox;
% Predict the current location of the track.
predictedCentroid = predict(tracks(i).kalmanFilter);
% Shift the bounding box so that its center is at
% the predicted location.
predictedCentroid = int32(predictedCentroid) - bbox(3:4) / 2;
tracks(i).bbox = [predictedCentroid, bbox(3:4)];
end
end
%% Assign Detections to Tracks
% Assigning object detections in the current frame to existing tracks is
% done by minimizing cost. The cost is defined as the negative
% log-likelihood of a detection corresponding to a track.
%
% The algorithm involves two steps:
%
% Step 1: Compute the cost of assigning every detection to each track using
% the |distance| method of the |vision.KalmanFilter| System object(TM). The
% cost takes into account the Euclidean distance between the predicted
% centroid of the track and the centroid of the detection. It also includes
% the confidence of the prediction, which is maintained by the Kalman
% filter. The results are stored in an MxN matrix, where M is the number of
% tracks, and N is the number of detections.
%
% Step 2: Solve the assignment problem represented by the cost matrix using
% the |assignDetectionsToTracks| function. The function takes the cost
% matrix and the cost of not assigning any detections to a track.
%
% The value for the cost of not assigning a detection to a track depends on
% the range of values returned by the |distance| method of the
% |vision.KalmanFilter|. This value must be tuned experimentally. Setting
% it too low increases the likelihood of creating a new track, and may
% result in track fragmentation. Setting it too high may result in a single
% track corresponding to a series of separate moving objects.
%
% The |assignDetectionsToTracks| function uses the Munkres' version of the
% Hungarian algorithm to compute an assignment which minimizes the total
% cost. It returns an M x 2 matrix containing the corresponding indices of
% assigned tracks and detections in its two columns. It also returns the
% indices of tracks and detections that remained unassigned.
function [assignments, unassignedTracks, unassignedDetections] = ...
detectionToTrackAssignment()
nTracks = length(tracks);
nDetections = size(centroids, 1);
% Compute the cost of assigning each detection to each track.
cost = zeros(nTracks, nDetections);
for i = 1:nTracks
cost(i, :) = distance(tracks(i).kalmanFilter, centroids);
end
% Solve the assignment problem.
costOfNonAssignment = 20;
[assignments, unassignedTracks, unassignedDetections] = ...
assignDetectionsToTracks(cost, costOfNonAssignment);
end
%% Update Assigned Tracks
% The |updateAssignedTracks| function updates each assigned track with the
% corresponding detection. It calls the |correct| method of
% |vision.KalmanFilter| to correct the location estimate. Next, it stores
% the new bounding box, and increases the age of the track and the total
% visible count by 1. Finally, the function sets the invisible count to 0.
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 the estimate of the object's location
% using the new detection.
correct(tracks(trackIdx).kalmanFilter, centroid);
% Replace predicted bounding box with detected
% bounding box.
tracks(trackIdx).bbox = bbox;
% Update track's age.
tracks(trackIdx).age = tracks(trackIdx).age + 1;
% Update visibility.
tracks(trackIdx).totalVisibleCount = ...
tracks(trackIdx).totalVisibleCount + 1;
tracks(trackIdx).consecutiveInvisibleCount = 0;
end
end
%% Update Unassigned Tracks
% Mark each unassigned track as invisible, and increase its age by 1.
function updateUnassignedTracks()
for i = 1:length(unassignedTracks)
ind = unassignedTracks(i);
tracks(ind).age = tracks(ind).age + 1;
tracks(ind).consecutiveInvisibleCount = ...
tracks(ind).consecutiveInvisibleCount + 1;
end
end
%% Delete Lost Tracks
% The |deleteLostTracks| function deletes tracks that have been invisible
% for too many consecutive frames. It also deletes recently created tracks
% that have been invisible for too many frames overall.
function deleteLostTracks()
if isempty(tracks)
return;
end
invisibleForTooLong = 20;
ageThreshold = 8;
% Compute the fraction of the track's age for which it was visible.
ages = [tracks(:).age];
totalVisibleCounts = [tracks(:).totalVisibleCount];
visibility = totalVisibleCounts ./ ages;
% Find the indices of 'lost' tracks.
lostInds = (ages < ageThreshold & visibility < 0.6) | ...
[tracks(:).consecutiveInvisibleCount] >= invisibleForTooLong;
% Delete lost tracks.
tracks = tracks(~lostInds);
end
%% Create New Tracks
% Create new tracks from unassigned detections. Assume that any unassigned
% detection is a start of a new track. In practice, you can use other cues
% to eliminate noisy detections, such as size, location, or appearance.
function createNewTracks()
centroids = centroids(unassignedDetections, :);
bboxes = bboxes(unassignedDetections, :);
for i = 1:size(centroids, 1)
centroid = centroids(i,:);
bbox = bboxes(i, :);
% Create a Kalman filter object.
kalmanFilter = configureKalmanFilter('ConstantVelocity', ...
centroid, [200, 50], [100, 25], 100);
% Create a new track.
newTrack = struct(...
'id', nextId, ...
'bbox', bbox, ...
'kalmanFilter', kalmanFilter, ...
'age', 1, ...
'totalVisibleCount', 1, ...
'consecutiveInvisibleCount', 0);
% Add it to the array of tracks.
tracks(end + 1) = newTrack;
% Increment the next id.
nextId = nextId + 1;
end
end
%% Display Tracking Results
% The |displayTrackingResults| function draws a bounding box and label ID
% for each track on the video frame and the foreground mask. It then
% displays the frame and the mask in their respective video players.
function displayTrackingResults()
% Convert the frame and the mask to uint8 RGB.
frame = im2uint8(frame);
mask = uint8(repmat(mask, [1, 1, 3])) .* 255;
minVisibleCount = 8;
if ~isempty(tracks)
% Noisy detections tend to result in short-lived tracks.
% Only display tracks that have been visible for more than
% a minimum number of frames.
reliableTrackInds = ...
[tracks(:).totalVisibleCount] > minVisibleCount;
reliableTracks = tracks(reliableTrackInds);
% Display the objects. If an object has not been detected
% in this frame, display its predicted bounding box.
if ~isempty(reliableTracks)
% Get bounding boxes.
bboxes = cat(1, reliableTracks.bbox);
% Get ids.
ids = int32([reliableTracks(:).id]);
% Create labels for objects indicating the ones for
% which we display the predicted rather than the actual
% location.
labels = cellstr(int2str(ids'));
predictedTrackInds = ...
[reliableTracks(:).consecutiveInvisibleCount] > 0;
isPredicted = cell(size(labels));
isPredicted(predictedTrackInds) = {' predicted'};
labels = strcat(labels, isPredicted);
% Draw the objects on the frame.
frame = insertObjectAnnotation(frame, 'rectangle', ...
bboxes, labels);
% Draw the objects on the mask.
mask = insertObjectAnnotation(mask, 'rectangle', ...
bboxes, labels);
end
end
% Display the mask and the frame.
obj.maskPlayer.step(mask);
obj.videoPlayer.step(frame);
end
%% Summary
% This example created a motion-based system for detecting and
% tracking multiple moving objects. Try using a different video to see if
% you are able to detect and track objects. Try modifying the parameters
% for the detection, assignment, and deletion steps.
%
% The tracking in this example was solely based on motion with the
% assumption that all objects move in a straight line with constant speed.
% When the motion of an object significantly deviates from this model, the
% example may produce tracking errors. Notice the mistake in tracking the
% person labeled #12, when he is occluded by the tree.
%
% The likelihood of tracking errors can be reduced by using a more complex
% motion model, such as constant acceleration, or by using multiple Kalman
% filters for every object. Also, you can incorporate other cues for
% associating detections over time, such as size, shape, and color.
displayEndOfDemoMessage(mfilename)
end
使用imcrop
将检测到的对象从图像中剪切出来,然后使用imwrite
将其保存到文件中。
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