plotDetection

Display object detections on bird's-eye plot

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.

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.

Examples

Create and Display a Bird's-Eye Plot

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]);

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);

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]);

Create and Display Labeled Detections on Bird's-Eye Plot

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');

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);

Input Arguments

detPlotter — Detection plotter

DetectionPlotter object

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 — Positions of detected objects

M-by-2 real-valued matrix

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.

velocities — Velocities of detected objects

M-by-2 real-valued matrix

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.

labels — Detection labels

M-length string array | M-length cell array of character vectors

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