please help me ! Unrecognized function or variable 'hasFrame'. Error in MotionBase​dMultiObje​ctTracking (line 7) while hasFrame(obj.reader)

Unrecognized function or variable 'hasFrame'.

Error in MotionBasedMultiObjectTracking (line 7)

while hasFrame(obj.reader)

how can we solve this problem

function MotionBasedMultiObjectTracking()

obj = setupSystemObjects()

tracks = initializeTracks();

nextId = 1;

while hasFrame(obj.reader)

frame = readFrame(obj.reader);

[centroids, bboxes, mask] = detectObjects(frame);

predictNewLocationsOfTracks();

[assignments, unassignedTracks, unassignedDetections] = ...

detectionToTrackAssignment();

updateAssignedTracks();

updateUnassignedTracks();

deleteLostTracks();

createNewTracks();

displayTrackingResults();

end

function obj = setupSystemObjects()

obj.reader= videoinput('winvideo',1);

obj.maskPlayer = vision.VideoPlayer('Position', [740, 400, 700, 400]);

obj.videoPlayer = vision.VideoPlayer('Position', [20, 400, 700, 400]);

obj.detector = vision.ForegroundDetector('NumGaussians', 3, ...

'NumTrainingFrames', 40, 'MinimumBackgroundRatio', 0.7);

obj.blobAnalyser = vision.BlobAnalysis('BoundingBoxOutputPort', true, ...

'AreaOutputPort', true, 'CentroidOutputPort', true, ...

'MinimumBlobArea', 400);

end

function tracks = initializeTracks()

tracks = struct(...

'id', {}, ...

'bbox', {}, ...

'kalmanFilter', {}, ...

'age', {}, ...

'totalVisibleCount', {}, ...

'consecutiveInvisibleCount', {});

end

function [centroids, bboxes, mask] = detectObjects(frame)

mask = obj.detector.step(frame);

mask = imopen(mask, strel('rectangle', [3,3]));

mask = imclose(mask, strel('rectangle', [15, 15]));

mask = imfill(mask, 'holes');

[~, centroids, bboxes] = obj.blobAnalyser.step(mask);

end

function predictNewLocationsOfTracks()

for i = 1:length(tracks)

bbox = tracks(i).bbox;

predictedCentroid = predict(tracks(i).kalmanFilter);

predictedCentroid = int32(predictedCentroid) - bbox(3:4) / 2;

tracks(i).bbox = [predictedCentroid, bbox(3:4)];

end

end

function [assignments, unassignedTracks, unassignedDetections] = ...

detectionToTrackAssignment()

nTracks = length(tracks);

nDetections = size(centroids, 1);

cost = zeros(nTracks, nDetections);

for i = 1:nTracks

cost(i, :) = distance(tracks(i).kalmanFilter, centroids);

end

costOfNonAssignment = 20;

[assignments, unassignedTracks, unassignedDetections] = ...

assignDetectionsToTracks(cost, costOfNonAssignment);

end

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(tracks(trackIdx).kalmanFilter, centroid);

tracks(trackIdx).bbox = bbox;

tracks(trackIdx).age = tracks(trackIdx).age + 1;

tracks(trackIdx).totalVisibleCount = ...

tracks(trackIdx).totalVisibleCount + 1;

tracks(trackIdx).consecutiveInvisibleCount = 0;

end

end

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

function deleteLostTracks()

if isempty(tracks)

return;

end

invisibleForTooLong = 20;

ageThreshold = 8;

ages = [tracks(:).age];

totalVisibleCounts = [tracks(:).totalVisibleCount];

visibility = totalVisibleCounts ./ ages;

lostInds = (ages < ageThreshold & visibility < 0.6) | ...

[tracks(:).consecutiveInvisibleCount] >= invisibleForTooLong;

tracks = tracks(~lostInds);

end

function createNewTracks()

centroids = centroids(unassignedDetections, :);

bboxes = bboxes(unassignedDetections, :);

for i = 1:size(centroids, 1)

centroid = centroids(i,:);

bbox = bboxes(i, :);

kalmanFilter = configureKalmanFilter('ConstantVelocity', ...

centroid, [200, 50], [100, 25], 100);

newTrack = struct(...

'id', nextId, ...

'bbox', bbox, ...

'kalmanFilter', kalmanFilter, ...

'age', 1, ...

'totalVisibleCount', 1, ...

'consecutiveInvisibleCount', 0);

tracks(end + 1) = newTrack;

nextId = nextId + 1;

end

end

function displayTrackingResults()

frame = im2uint8(frame);

mask = uint8(repmat(mask, [1, 1, 3])) .* 255;

minVisibleCount = 8;

if ~isempty(tracks)

reliableTrackInds = ...

[tracks(:).totalVisibleCount] > minVisibleCount;

reliableTracks = tracks(reliableTrackInds);

if ~isempty(reliableTracks)

bboxes = cat(1, reliableTracks.bbox);

ids = int32([reliableTracks(:).id]);

labels = cellstr(int2str(ids'));

predictedTrackInds = ...

[reliableTracks(:).consecutiveInvisibleCount] > 0;

isPredicted = cell(size(labels));

isPredicted(predictedTrackInds) = {' predicted'};

labels = strcat(labels, isPredicted);

frame = insertObjectAnnotation(frame, 'rectangle', ...

bboxes, labels);

mask = insertObjectAnnotation(mask, 'rectangle', ...

bboxes, labels);

end

end

obj.maskPlayer.step(mask);

obj.videoPlayer.step(frame);

end

end

[Walter Roberson]

Which MATLAB version are you using? I suspect that you are using an old version