function?multiobjectTracking（）
%?創建用于讀取視頻，檢測運動物體的系統對象，
%顯示結果。
obj?=?setupSystemobjects（）;

tracks?=?initializeTracks（）;?%?Create?an?empty?array?of?tracks.

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

%?Detect?moving?objects?and?track?them?across?video?frames.
while?~isDone（obj.reader）
????frame?=?readframe（）;
????[centroids?bboxes?mask]?=?detectobjects（frame）;
????predictNewLocationsOfTracks（）;
????[assignments?unassignedTracks?unassignedDetections]?=?...
????????detectionToTrackAssignment（）;

????updateAssignedTracks（）;
????updateUnassignedTracks（）;
????deleteLostTracks（）;
????createNewTracks（）;

????displayTrackingResults（）;
end
function?obj?=?setupSystemobjects（）
???????%?初始化視頻?I/O
????????%創建對象用于讀取視頻??繪制每一幀的跟蹤目標?播放視頻
??????

????????%?創建視頻讀取器.
????????obj.reader?=?vision.VideoFileReader（‘11.avi‘）;

????????%?創建兩個?視頻播放窗口?一個用于播放視頻
????????%?一個用于播放前景掩模.
????????obj.videoPlayer?=?vision.VideoPlayer（‘Position‘?[20?400?700?400]）;
????????obj.maskPlayer?=?vision.VideoPlayer（‘Position‘?[740?400?700?400]）;

????????%創建用于前景檢測和斑點分析的系統對象
????????
????????%?The?foreground?detector?is?used?to?segment?moving?objects?from
????????%?the?background.?它輸出二值掩模?前景為1?背景為0.
????????obj.detector?=?vision.ForegroundDetector（‘NumGaussians‘?3?...
????????????‘NumTrainingframes‘?5?‘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?...
????????????‘AreaOutputPort‘?true?‘CentroidOutputPort‘?true?...
????????????‘MinimumBlobArea‘?400）;
end
function?tracks?=?initializeTracks（）
????????%?create?an?empty?array?of?tracks
????????tracks?=?struct（...
????????????‘id‘?{}?...
????????????‘bbox‘?{}?...
????????????‘kalmanFilter‘?{}?...
????????????‘age‘?{}?...
????????????‘totalVisibleCount‘?{}?...
????????????‘consecutiveInvisibleCount‘?{}）;
end
function?frame?=?readframe（）
????????frame?=?obj.reader.step（）;
end
????function?[centroids?bboxes?mask]?=?detectobjects（frame）

????????%?Detect?foreground.
????????mask?=?obj.detector.step（frame）;

????????%?Apply?morphological?operations?to?清除噪聲?填補空洞.
????????mask?=?imopen（mask?strel（‘rectangle‘?[33]））;
????????mask?=?imclose（mask?strel（‘rectangle‘?[15?15]））;
????????mask?=?imfill（mask?‘holes‘）;

????????%?進行斑點分析?找到連接部件.
????????[~?centroids?bboxes]?=?obj.blobAnalyser.step（mask）;
????end
?function?predictNewLocationsOfTracks（）
????????for?i?=?1:length（tracks）
????????????bbox?=?tracks（i）.bbox;

??????????????%?預測軌道當前位置.
????????????predictedCentroid?=?predict（tracks（i）.kalmanFilter）;

????????????%?矩形框隨質心移動而移動
????????????predictedCentroid?=?int32（predi