plotDetection

Display object detections on bird's-eye plot

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Syntax

plotDetection(detPlotter,positions)
plotDetection(detPlotter,positions,velocities)
plotDetection(detPlotter,positions,labels)
plotDetection(detPlotter,positions,velocities,labels)

Description

plotDetection(detPlotter,positions) displays object detections from a list of object positions on a bird's-eye plot. The detection plotter, detPlotter, is associated with a birdsEyePlot object and configures the display of the specified detections.

To remove all detections associated with detection plotter detPlotter, call the clearData function and specify detPlotter as the input argument.

example

plotDetection(detPlotter,positions,velocities) displays detections and their velocities on a bird's-eye plot.

plotDetection(detPlotter,positions,labels) displays detections and their labels on a bird's-eye plot.

plotDetection(detPlotter,positions,velocities,labels) displays detections and their velocities and labels on a bird's-eye plot. velocities and labels can appear in either order but must come after detPlotter and positions.

example

Examples

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Open Live Script

Create a bird's-eye plot with an x-axis range from 0 to 90 meters and a y-axis range from –35 to 35 meters.

bep = birdsEyePlot('XLim',[0 90],'YLim',[-35 35]);

Figure contains an axes object. The axes object with xlabel X (m), ylabel Y (m) is empty.

Display a coverage area with a 35-degree field of view and a 60-meter range.

caPlotter = coverageAreaPlotter(bep,'DisplayName','Radar coverage area');
mountPosition = [1 0];
range = 60;
orientation = 0;
fieldOfView = 35;
plotCoverageArea(caPlotter,mountPosition,range,orientation,fieldOfView);

Figure contains an axes object. The axes object with xlabel X (m), ylabel Y (m) contains an object of type patch. This object represents Radar coverage area.

Display radar detections with coordinates at (30, –5), (50, –10), and (40, 7). 

radarPlotter = detectionPlotter(bep,'DisplayName','Radar detections');
plotDetection(radarPlotter,[30 -5; 50 -10; 40 7]);

Figure contains an axes object. The axes object with xlabel X (m), ylabel Y (m) contains 2 objects of type patch, line. One or more of the lines displays its values using only markers These objects represent Radar coverage area, Radar detections.

Open Live Script

Create a bird's-eye plot with an x-axis range from 0 to 90 meters and a y-axis range from –35 to 35 meters. Create a radar detection plotter that displays detections in blue.

bep = birdsEyePlot('XLim',[0 90],'YLim',[-35 35]);
detPlotter = detectionPlotter(bep,'DisplayName','Radar detections', ...
    'MarkerFaceColor','b');

Figure contains an axes object. The axes object with xlabel X (m), ylabel Y (m) contains a line object which displays its values using only markers. This object represents Radar detections.

Display the positions and velocities of three labeled detections.

positions = [30 5; 30 -10; 30 15];
velocities = [-10 0; -10 3; -10 -4];
labels = {'D1','D2','D3'};
plotDetection(detPlotter,positions,velocities,labels);

Figure contains an axes object. The axes object with xlabel X (m), ylabel Y (m) contains 4 objects of type line, text. One or more of the lines displays its values using only markers This object represents Radar detections.

Input Arguments

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Detection plotter, specified as a DetectionPlotter object. This object is stored in the Plotters property of a birdsEyePlot object and configures the display of the specified detections in the bird's-eye plot. To create this object, use the detectionPlotter function.

Positions of detected objects in vehicle coordinates, specified as an M-by-2 real-valued matrix of (X, Y) positions. M is the number of detected objects. The positive X-direction points ahead of the center of the vehicle. The positive Y-direction points to the left of the origin of the vehicle, which is the center of the rear axle, as shown in this figure of the vehicle coordinate system.

Vehicle with X-axis, Y-axis, and origin labeled

Velocities of detected objects, specified as an M-by-2 real-valued matrix of velocities in the (X, Y) direction. M is the number of detected objects. The velocities are plotted as line vectors that originate from the center positions of the detections as they are tracked.

Detection labels, specified as an M-length string array or M-length cell array of character vectors. M is the number of detected objects. The labels correspond to the locations in the positions matrix. By default, detections do not have labels. To remove all annotations and labels associated with the detection plotter, use the clearData function.

Version History

Introduced in R2017a

See Also

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