Particle Filter Color Tracker

Tracking an object in a video with a Color Particle Filter

Description

A simple example demonstrating how to track an object with particle filter. Likelihood function is based on Bhattacharya distance of color histograms and gradient distributions

Please run mexme_pf_color_tracker to recompile mex-files on your own plateform.

Run the two demo files test_pf_colortracker and test_pf_colortracker2

IMPORTANT. Be sure than you "mex -setup" had been done before compiling sources

• MATLAB release: MATLAB 7.5 (R2007b)
• Other requirements: A C Compiler such MSVC/Intel CPP/GCC

[balaji]

thanku sir..

[Sebastien PARIS]

K Nummiaro, E Koller-Meier, L Van Gool, An adaptive color-based particle filter, Image and Vision Computing, 2003 - Elsevier

for example

[balaji]

sir i need some details about this pf colour tracker..any reference paper about this example?

[Karthik Muthuswamy]

Excellent code. Works perfect on my Win 8, Matlab 2011b x64. Can you please cite the paper you used for writing this tracker?

[GITAM]

waiting for u r valuable reply

[ECE]

cool

[sahere rahimi]

i do not have any c compiler, please help me, please give me a file that does'nt need any c compiler

[Sebastien PARIS]

Ching-Chun: 2009b win64 ?
Can you put a break point to stop at errors ?

[Ching-Chun]

I change the matlab version to 2009b, however the error still occurs. I hope I can help to repair the bug, but there is no more information.

[Sebastien PARIS]

The problem ... that I don't know from which mex-files, the crash is coming....
Do you have more verbose ?

[Ching-Chun]

sorry, I forgot to mention these. My Os is windows 7 64-bit, processor is Intel Core 2 Duo 2.80 GHz, Matlab version is 7.6.0.324 (R2008a), and the used compiler is Microsoft Visual Studio 2010.

[Sebastien PARIS]

What is excetly your system ? OS, processor, version of Matlab, compiler used ?

[Ching-Chun]

Sebastien Paris, thank you. The program works well now. But when I run "test_pf_colortracker2.m", there are some errors and then Matlab asks to restart. Is it because I do somethin wrong? The followed are excerpts from the error messages:

...
Frames = 106/770
Frames = 107/770
Saving minidump to file C:\Users\irene\AppData\Local\Temp\matlab_crash_dump.4692.0.dmp

------------------------------------------------------------------------
Segmentation violation detected at Mon Mar 05 15:20:34 2012
------------------------------------------------------------------------

Configuration:
MATLAB Version: 7.6.0.324 (R2008a)
MATLAB License: 161051
Operating System: Microsoft Windows Vista
Window System: Version 6.1 (Build 7601: Service Pack 1)
Processor ID: x86 Family 6 Model 7 Stepping 10, GenuineIntel
Virtual Machine: Java 1.6.0 with Sun Microsystems Inc. Java HotSpot(TM) 64-Bit Server VM mixed mode
Default Encoding: Big5

Fault Count: 1

Register State:
rax = 00000000ffffffff rbx = 0000000000000028
rcx = 000000000000ef53 rdx = 0000000000000011
rbp = 0000000000000029 rsi = 0000000000001d3b
rdi = 00000000354f5cd0 rsp = 000000000102bc00
r8 = 0000000000000000 r9 = 0000000000000028
r10 = 000000003547e228 r11 = 0000000000000028
r12 = 000000000000000b r13 = 000000003da57e00
r14 = 0000000000000000 r15 = 00000000000000fa
rip = 000007fef8291c93 flg = 0000000000010203

Stack Trace:

This error was detected while a MEX-file was running. If the MEX-file
is not an official MathWorks function, please examine its source code
for errors. Please consult the External Interfaces Guide for information
on debugging MEX-files.

... ...

[Sebastien PARIS]

Ching-Chun. As indicaded in requierements, you must have C compiler. Please install for example Visual C++ express accoding to your version of Matlab.

[Ching-Chun]

Please help me.
What should I do to make it works?

When I compile the file "mexme_pf_color_tracker.m"
I got the messages

echo on

mex

Select a compiler:

[0] None

Compiler:

If I enter "0", I got more messages as follows.

mex: No compiler selected. No action taken.

**************************************************************************
Warning: The MATLAB C and Fortran API has changed to support MATLAB
variables with more than 2^32-1 elements. In the near future
you will be required to update your code to utilize the new
API. You can find more information about this at:
http://www.mathworks.com/support/solutions/data/1-5C27B9.html?solution=1-5C27B9
Building with the -largeArrayDims option enables the new API.
**************************************************************************


C:\PROGRA~1\MATLAB\R2008A\BIN\MEX.PL: Error: No compiler options file could be found to compile source code. Please run "mex -setup" to rectify.

??? Error using ==> mex at 207
Unable to complete successfully.

Error in ==> mexme_pf_color_tracker at 3
mex

[zhao]

Hi Sebastien,i modified the files,and Create more problems. If i want to run the files in matlab7.0, can you sent the right files to me. My email:[e-mail],thanks a lots.

[Sebastien PARIS]

Zhao,

Instead of badly rating, please have the nominal configuration requiered.

[zhao]

 

[zhao]

My matlab7.0 can not find function 'mmreader'. If aviread is used,can tell me where should be replace in the files.
thanks

[Sathiyaraj Manoharan]

Can anyone explain me how to install the C compiler and compile the C files in MATLAB..

[Sathiyaraj Manoharan]

Hi Sebastien:
I am new to this can you explain how to execute.I m getting error like C file is not found.I think that because of the mex compiler. how to install that with brief.Is it necessary to install VC++ 2008 express.Can I run it in Matlab2011.

[Chi Chin]

Hi Sebastien,

Thanks for your prompt reply. I had installed the K-lite mega codec in my system but it still give me the same error :<

[Sebastien PARIS]

Chi,

Maybe install a video codec pack such K-lite mega codec in your system. Regards,

[Chi Chin]

I get the following error on Windows 7(64-bit) and MATLAB R2009b. Can anyone assist?

??? Error using ==> aviread at 76
Unable to locate decompressor to decompress video stream

Error in ==> test_pf_colortracker at 196
mov = aviread(video , offset_frame + 1);

anyone can help me?

[Selva]

Thanks for sharing dude..

[Sebastien PARIS]

oj: If I have time, I'll update with mmreader instead of the old (and depreciated) aviread

[Sebastien PARIS]

Jake: here IS used here is independant of the current measure so ... q(x_k|x_{k-1},z_k) = p(x_k|x_{k-1}) here ...

[oj]

Dear sebastien I am unable to get the program in running condition... Even though I have replaced mmreader for aviread... still cudnt fix problem... help anyone..

[Jake]

Thank you for sharing, I just wondering did you pick a importance density in this program?

[Sebastien PARIS]

to kar: as we say in french "pour avoir le beurre et l'argent du beurre".... in other words, the easiness of matlab and the speed of C.

[tejaswini kar]

sir can i get the reference material of the codes for my work.actually i am unable to understand it.is it possible that either the whole program can be written in matlab or written in c.why u have used both c an matlab. what is the advantage.

[Kevin Murphy]

 

[tarun goel]

Hi sir, it is indeed a nice work and thanx for sharing it. Could you please tell some refeence material where the meaning of variables can be understood as their names are of little help. Iwud be highly thankful.

[Duy Nguyen]

 

[Duy Nguyen]

Thank for your sharing, Sebastien. I want to get more detail about this issue, can you give me reference for this ones.

[Hong 4]

I found a paper relates to this subject:
K Nummiaro, E Koller-Meier, L Van Gool, An adaptive color-based particle filter, Image and Vision Computing, 2003 - Elsevier

[Hong 4]

I found a paper relates to this subject:
K Nummiaro, E Koller-Meier, L Van Gool, An adaptive color-based particle filter, Image and Vision Computing, 2003 - Elsevier

[Yong Zhao]

thanks for you sharing, I'll study and discuss with all of you.

[Janayna]

did you use any paper to implement the particle filter?
Thank you

[Fang-I Chu]

can i ask if i want to track a moving object under grayscale, what is it different from color tracking?

[yasong guo]

i have solve it now!thank you for your codes .wonderful!thank you!!!

[Sebastien PARIS]

Ok, you can replace the aviread function with the new one 'mmreader' to read avi files.

[M]

I get the following error on Windows Vista (64-bit) and MATLAB R2008b. Can anyone assist?

??? Error using ==> aviread at 76
Unable to locate decompressor to decompress video stream

Error in ==> test_pf_colortracker at 196
mov = aviread(video , offset_frame + 1);

PS: I tried installing CINEPAK, but it didnt work! :(

[Tedo Biresaw]

Wow! what really a nice work.
I get it work.

[Sebastien PARIS]

Ok, I'll update with a mexmefirt.m file for mexfilers beginners

Thx all for comments/ratings

[Ravi Prakash]

For all those laymen like me who couldn't get it to work in the first attempt. Type inside the MATLAB command window

> mex ellipse.c
> mex rgb2hsv_mex.c
> mex pdfcolor_ellipserand.c

In both files part_moment.c and particle_resampling.c at the top add the line
#define max(a,b) ( (a) >= (b) ? (a) : (b) )

Then
> mex part_moment.c
> mex particle_resampling.c

Finally to run
> test_pf_colortracker

Thanks Sebastien. FIGHT ON!!

[David Norville]

Got it to work. Thanks

[David Norville]

I'm having some trouble recompiling with the part_moment.c file. It says there is an undefinded reference to '_max'. Can you help me please.

[XU FENGLIANG]

thanks for you sharing

[min hu]

thanks for program.it is very good.

[nauha jam]

Thanks for program.I would ask about the LAB model of color image in matlab

[prabhakar raj]

i want the code for tracking faces in an image sequence using particle filter,can u help me in this

[li jackey]

how to recompile mex files?when the file is compiled in VC platform,the problem is always that mex.h can't be found,how to deal with it ,please tell me quickly,thank you

[ophelka flowerfairy]

to recompile simply use
mex filename.c

[Sébastien Paris]

Please recompile with the following command :

mex -output rgb2hsv_mex.dll rgb2hsv_mex.c

[loi yii tien]

Actually i am doing the object tracking in video using neural network. Can you send me an example of it if you can do it. Thanks!

[loi yii tien]

How to recompile each mex files? and i got error...

??? Invalid MEX-file 'C:\Program Files\MATLAB71\work\pf_colortracker\rgb2hsv_mex.dll': The specified procedure could not be found.

.

Error in ==> test_pf_colortracker at 202
im = rgb2hsv_mex(Z);

hope to hear u soon!

[loi yii tien]

How to recompile each mex files?

[Tom Pinkiewicz]

It works now and it looks excellent. Well done!

[Sebastien PARIS]

You are right. I have just update with the missing file. Thx you....

[Tom Pinkiewicz]

The C files compiled okay but I get an error that function part_moment is undefined. Are you missing a file with this function?