problem with distribute particles around the centroid + particle filter

good morning every one

I have a problem with distribute particles around the centroid for multi moving objects

how can I do it ?

this is my code

clc;
close all;
clear all;
img = imread('frame1.jpg');

O =4; % number of object
d=3; %Dimanational array ( x, y , z)
N=50; % number of particle

S_X= 32; %sigma x
S_y=32;  % sigma y
S_I=1; % sigma I

yq =[218; 179]; %centroid1

pos_index =[1,3];
ON = ones(1 ,N); % matrix all elaemnt is 1

SK= zeros (d,1);% initial matrix

SK(pos_index) =yq;% insert centroid values 

SK(:,1,1)=[218, 177,170]; % object 1
SK(:,1,2)=[215,145,1]; % object 2
SK(:,1,3)=[177,254,1]; %  object 3
SK(:,1,4)=[250,400,1];% object 4

R1= diag([S_X,S_y,S_I].^2);% diagnal matrix 
RK = zeros(d,d); %create matrix to multiplcation of particle

RY=[1 0 0;0 1 0; 0 0 1]; 
RK(1:3,1:3)=RY; % 

SK = SK( :,ON,:);
for i=1:O
SK(:,:,i)=SK(:,:,i)+ chol (R1)' * randn (d,N); 
end

% image(img);
hold on;
plot (SK (pos_index(1), : ), SK (pos_index(2),:),'r+');
% plot (SK2 (pos_index(1), : ), SK2 (pos_index(2),:),'r+');
hold off;

[Walter Roberson]

What problem are you running into? Are you getting an error message?

[Walter Roberson]

Note that your R1 is not changing in your "for i=1:O" loop, so you could compute chol(R1) outside the loop.

Naming a variable "O" is really not recommended, as it loops too much like "0".

[John BG]

Nourah please supply frame1.jpg, hang it next to your question so we don't have to guess it, and can run your code, and help you find answers. If it's a huge file, since it's an image, just crop it and hand a portion of it.

Awaiting answer

John [e-mail]

[nourah almadhi]

thank you all for helping me , sorry I was very busy on the last time I solve the problem