ctrectmeas
Measurement function of constant turn-rate motion model for rectangular targets
Description
returns the expected measurements from the current rectangular states and detections for an
extended target based on the constant turn-rate motion model. The measurements
= ctrectmeas(states
,detections
)gmphd
object can use ctrectmeas
as its
MeasurementFcn
.
Examples
Expected Detections Using Rectangular Measurement Model
Load detections and truth generated from a rectangular target.
load('rectangularTargetDetections.mat','detections','truthState');
Generate expected detections from the target's rectangular state and actual detections using ctrectmeas
.
tgtState = [3;48;0;60;0;5;1.9]; zExp = ctrectmeas(tgtState,detections);
Set up visualization environment using theaterPlot
.
theaterP = theaterPlot; stateP = trackPlotter(theaterP,'DisplayName','State','MarkerFaceColor','g'); truthP = trackPlotter(theaterP,'DisplayName','Truth','MarkerFaceColor', 'b'); detP = detectionPlotter(theaterP,'DisplayName','Detections','MarkerFaceColor','r'); expDetP = detectionPlotter(theaterP,'DisplayName','Expected Detections','MarkerFaceColor','y'); l = legend(theaterP.Parent); l.AutoUpdate = 'on'; hold on; assignP = plot(theaterP.Parent,NaN,NaN,'-.','DisplayName','Association');
Plot actual and expected detections.
inDets = [detections{:}]; inMeas = horzcat(inDets.Measurement); detP.plotDetection(inMeas'); zExpPlot = reshape(zExp,3,[]); expDetP.plotDetection(zExpPlot');
Plot association lines.
zLines = nan(2,numel(detections)*3); zLines(1,1:3:end) = zExpPlot(1,:); zLines(2,1:3:end) = zExpPlot(2,:); zLines(1,2:3:end) = inMeas(1,:); zLines(2,2:3:end) = inMeas(2,:); assignP.XData = zLines(1,:); assignP.YData = zLines(2,:);
Plot truth and state.
truthPos = [truthState(1:2);0]; truthDims = struct('Length',truthState(6),... 'Width',truthState(7),... 'Height', 0,... 'OriginOffset', [0 0 0]); truthOrient = quaternion([truthState(4) 0 0],'eulerd', 'ZYX','frame'); truthP.plotTrack(truthPos',truthDims,truthOrient); statePos = [tgtState(1:2);0]; stateDims = struct('Length',tgtState(6),... 'Width',tgtState(7),... 'Height',0,... 'OriginOffset', [0 0 0]); stateOrient = quaternion([tgtState(4) 0 0],'eulerd', 'ZYX','frame'); stateP.plotTrack(statePos', stateDims, stateOrient);
Input Arguments
states
— Current rectangular states
7-by-N real-valued matrix
Current rectangular states, specified as a 7-by-N real-valued matrix, where N is the number of states. The seven-dimensional rectangular target state is defined as [x; y; s; θ; ω; L; W]:
Variable | Meaning | Unit |
x | Position of the rectangle center in x direction | m |
y | Position of the rectangle center in y direction | m |
s | Speed in the heading direction | m/s |
θ | Orientation angle of the rectangle with respect to x direction | degree |
ω | Turn-rate | degree/s |
L | Length of the rectangle | m |
W | Width of the rectangle | m |
Example: [1;2;2;30;1;4.7;1.8]
Data Types: single
| double
detections
— Detections of target
1-by-M cell array of objectDetection
objects
Detections of target, specified as a 1-by-M cell array of objectDetection
objects. The MeasurementParameters
property (that specifies the transformation from the state-space to measurement-space)
for each object must be the same for all the detections in the cell array.
Output Arguments
measurements
— Expected measurements
P-by-N-by-M real-valued
array
Expected measurements, returned as a
P-by-N-by-M real-valued
array. P is the dimension of each measurement specified in the
detections
input, N is the number of states
specified in the states
input, and M is the
number of detections specified in the detections
input.
Extended Capabilities
C/C++ Code Generation
Generate C and C++ code using MATLAB® Coder™.
Version History
Introduced in R2019b
See Also
trackerPHD
| gmphd
| ctrect
| ctrectmeasjac
| ctrectjac
| initctrectgmphd
| ctrectcorners
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