function?multiobjectTracking（）

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

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
????predictNewLocationsOfTracks（）;??%根據位置進行卡爾曼預測
????[assignments?unassignedTracks?unassignedDetections]?=?...
????????detectionToTrackAssignment（）;?%匈牙利匹配算法進行匹配
????
????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（）;%創建新軌跡
????
????displayTrackingResults（）;%結果展示
end


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

????function?obj?=?