read

Read next step from radar scenario recording

Since R2021a

Syntax

[simTime,poses,detections,sensorConfigs,sensorPlatformIDs,emissions,emitterConfigs,emitterPlatformIDs] = read(recording)

Description

[simTime,poses,detections,sensorConfigs,sensorPlatformIDs,emissions,emitterConfigs,emitterPlatformIDs] = read(recording) returns one recorded data set at the simulation time, simTime, from a radar scenario recording.

Examples

Run Recorded Radar Scenario

Load prerecorded data from a radar scenario. The data is saved as a struct with the variable name recordedData. Create a radarScenarioRecording object using the recorded data.

load recordedRadarScenarioData.mat
recording = radarScenarioRecording(recordedData);

Construct a theater plot to display the recorded data using multiple plotters.

tp = theaterPlot('AxesUnits',["km" "km" "km"], ...
    'XLimits',[-50 50]*1e3,'YLimits',[-50 50]*1e3,'ZLimits',[-20 20]*1e3);
to = platformPlotter(tp,'DisplayName','Tower','Marker','d');
pp = platformPlotter(tp,'DisplayName','Targets');
dp = detectionPlotter(tp,'DisplayName','Detections','MarkerFaceColor','black');
cp = coveragePlotter(tp,'DisplayName','Radar Beam');

coverage = struct('Index',1,'LookAngle',[0;-7],'FieldOfView',[1;10], ...
    'ScanLimits',[0 365;-12 -2],'Range',100e3,'Position',[0;0;-15], ...
    'Orientation',eye(3));

Run the recorded scenario and animate the results.

scanBuffer = {};
while ~isDone(recording)
    % Step the reader to read the next frame of data
    [simTime,poses,covcon,dets,senconfig] = read(recording);
    scanBuffer = [scanBuffer;dets]; %#ok<AGROW>
    plotPlatform(to,poses(1).Position);
    plotPlatform(pp,reshape([poses(2:4).Position]',3,[])');
    plotCoverage(cp,covcon);
    if ~isempty(dets)
        plotDetection(dp,cell2mat(cellfun(@(c) c.Measurement(:)', scanBuffer, 'UniformOutput', false)));
    end
    
    % Clear the buffer when a 360 degree scan is complete
    if senconfig.IsScanDone
        scanBuffer = {};
        dp.clearData;
    end
end

Input Arguments

recording — Radar scenario recording

radarScenarioRecording object

Radar scenario recording, specified as a radarScenarioRecording object.

Output Arguments

simTime — Simulation time

nonnegative scalar

Simulation time, returned as a nonnegative scalar.

poses — Poses of platforms

array of structures

Poses of platforms, returned as an array of structures. Each structure has these fields.

Field	Description
PlatformID	Unique identifier for the platform, specified as a positive integer. This is a required field with no default value.
ClassID	User-defined integer used to classify the type of target, specified as a nonnegative integer. Zero is reserved for unclassified platform types and is the default value.
Position	Position of target in scenario coordinates, specified as a real-valued 1-by-3 row vector. If the coordinateSystem argument is specified as 'Cartesian', then Position is a three-element vector of Cartesian position coordinates in meters. If the coordinateSystem argument is specified as 'Geodetic', then Position is a three-element vector of geodetic coordinates: latitude in degrees, longitude in degrees, and altitude in meters.
Velocity	Velocity of platform in scenario coordinates, specified as a real-valued 1-by-3 row vector. Units are meters per second. The default value is [0 0 0].
Acceleration	Acceleration of the platform in scenario coordinates, specified as a 1-by-3 row vector in meters per second squared. The default value is [0 0 0].
Orientation	Orientation of the platform with respect to the local scenario navigation frame, specified as a scalar quaternion or a 3-by-3 rotation matrix. Orientation defines the frame rotation from the local navigation coordinate system to the current platform body coordinate system. Units are dimensionless. The default value is quaternion(1,0,0,0).
AngularVelocity	Angular velocity of the platform in scenario coordinates, specified as a real-valued 1-by-3 vector. The magnitude of the vector defines the angular speed. The direction defines the axis of clockwise rotation. Units are degrees per second. The default value is [0 0 0].

detections — Detections

cell array of objectDetection objects

Detections, returned as a cell array of objectDetection objects.

sensorConfigs — Sensor configurations

array of structures

Sensor configurations, returned as an array of structures. Each structure has these fields.

Field	Description
SensorIndex	Unique sensor index, returned as a positive integer.
IsValidTime	Valid detection time, returned as true or false. IsValidTime is false when detection updates are requested between update intervals specified by the update rate.
IsScanDone	IsScanDone is true when the sensor has completed a scan.
FieldOfView	Field of view of the sensor, returned as a 2-by-1 vector of positive real values, [azfov;elfov]. azfov and elfov represent the field of view in azimuth and elevation, respectively.
RangeLimits	Minimum and maximum range of sensor, in meters, specified as a 1-by-2 nonnegative real-valued vector of the form [rmin,rmax].
RangeRateLimits	Minimum and maximum range rate of sensor, in meters per second, specified as a 1-by-2 real-valued vector of the form [rrmin,rrmax].
MeasurementParameters	Sensor measurement parameters, returned as an array of structures containing the coordinate frame transforms needed to transform positions and velocities in the top-level frame to the current sensor frame.

sensorPlatformIDs — Platform IDs of sensors

array of nonnegative integers

Platform IDs of sensors, returned as an array of nonnegative integers.

emissions — Emissions

cell array of emission objects

Emissions, returned as a cell array of emission objects such as radarEmission objects.

emitterConfigs — Emitter configurations

array of structures

Emitter configurations, returned as an array of structures. Each structure has these fields.

Field	Description
EmitterIndex	Unique emitter index, returned as a positive integer.
IsValidTime	Valid emission time, returned as 0 or 1. IsValidTime is 0 when emitter updates are requested at times that are between update intervals specified by the UpdateInterval property.
IsScanDone	Whether the emitter has completed a scan, returned as true or false.
FieldOfView	Field of view of the emitter, returned as a two-element vector [azimuth; elevation] in degrees.
MeasurementParameters	Emitter measurement parameters, returned as an array of structures containing the coordinate frame transforms needed to transform positions and velocities in the top-level frame to the current emitter frame.

emitterPlatformIDs — Platform IDs of emitters

array of nonnegative integers

Platform IDs of emitters, returned as an array of nonnegative integers.

Version History

Introduced in R2021a