ช่วยอธิบายโค้ดที่ขีดเส้นใต้ให้หน่อยค่ะ ไม่เข้า ร่วมถึงวิธีการคิดว่าเพราะอะไรถึงออกมาได้ค่านี้   [1 1 1]*1e5, [25, 10, 10], 25);
ถ้าสามารถบอกเว็บที่สอนได้เข้าใจจะขอบคุณมาก

videoReader = vision.VideoFileReader('singleball.avi');
videoPlayer = vision.VideoPlayer('Position',[100,100,500,400]);
foregroundDetector = vision.ForegroundDetector('NumTrainingFrames',10,'InitialVariance',0.05);
blobAnalyzer = vision.BlobAnalysis('AreaOutputPort',false,'MinimumBlobArea',70);
kalmanFilter = []; isTrackInitialized = false;
   while ~isDone(videoReader)
     colorImage  = step(videoReader);

     foregroundMask = step(foregroundDetector, rgb2gray(colorImage));
     detectedLocation = step(blobAnalyzer,foregroundMask);
     isObjectDetected = size(detectedLocation, 1) > 0;

     if ~isTrackInitialized
       if isObjectDetected
       kalmanFilter = configureKalmanFilter('ConstantAcceleration',detectedLocation(1,, [1 1 1]*1e5, [25, 10, 10], 25);
         isTrackInitialized = true;
       end
       label = ''; circle = [];
     else
       if isObjectDetected
         predict(kalmanFilter);
         trackedLocation = correct(kalmanFilter, detectedLocation(1,);
         label = 'Corrected';
       else
         trackedLocation = predict(kalmanFilter);
         label = 'Predicted';
       end
       circle = [trackedLocation, 5];
     end

     colorImage = insertObjectAnnotation(colorImage,'circle',circle,label,'Color','red');
     step(videoPlayer,colorImage);
   end