currentAssignment
Mapping of tracks to truth
Description
[
returns the assignment of tracks to truth after the most recent update of the
trackIDs
,truthIDs
] = currentAssignment(assignmentMetric
)assignmentMetric
System object™. The assignment is returned as a vector of track identifiers,
trackIDs
, and truth identifiers, truthIDs
.
Corresponding elements of the trackIDs
and
truthIDs
vectors define the assignments.
Examples
Examine the assignments and errors for a system tracking two targets.
First, load the stored track data.
load trackmetricex tracklog truthlog
Create objects to analyze assignment and error metrics.
tam = trackAssignmentMetrics; tem = trackErrorMetrics;
Create the output variables.
posRMSE = zeros(numel(tracklog),1); velRMSE = zeros(numel(tracklog),1); posANEES = zeros(numel(tracklog),1); velANEES = zeros(numel(tracklog),1);
Loop over all tracks to:
Extract the tracks and ground truth at the i th tracker update.
Analyze and retrieve the current track-to-truth assignment.
Analyze instantaneous error metrics over all tracks and truths.
for i=1:numel(tracklog) tracks = tracklog{i}; truths = truthlog{i}; [trackAM,truthAM] = tam(tracks, truths); [trackIDs,truthIDs] = currentAssignment(tam); [posRMSE(i),velRMSE(i),posANEES(i),velANEES(i)] = ... tem(tracks,trackIDs,truths,truthIDs); end
Show the track metrics table.
trackMetricsTable(tam)
ans=4×16 table
TrackID AssignedTruthID Surviving TotalLength UnreportedStatus DeletionStatus DeletionLength DivergenceStatus DivergenceCount DivergenceLength RedundancyStatus RedundancyCount RedundancyLength FalseTrackStatus FalseTrackLength SwapCount
_______ _______________ _________ ___________ ________________ ______________ ______________ ________________ _______________ ________________ ________________ _______________ ________________ ________________ ________________ _________
1 NaN false 1120 false false 0 false 3 3 false 0 0 false 0 0
2 NaN false 1736 false false 0 false 8 88 false 0 0 false 28 3
6 3 true 1138 false false 0 false 4 314 false 1 28 false 0 2
8 2 true 662 false false 0 false 2 29 false 1 169 false 28 0
Show the truth metrics table.
truthMetricsTable(tam)
ans=2×11 table
TruthID AssociatedTrackID DeletionStatus TotalLength UnreportedStatus BreakStatus BreakCount BreakLength InCoverageArea EstablishmentStatus EstablishmentLength
_______ _________________ ______________ ___________ ________________ ___________ __________ ___________ ______________ ___________________ ___________________
2 8 false 2678 false false 4 168 true true 56
3 6 false 2678 false false 3 645 true true 84
Plot the RMSE and ANEES error metrics.
subplot(2,2,1) plot(posRMSE) title('Position Error') xlabel('tracker update') ylabel('RMSE (m)') subplot(2,2,2) plot(velRMSE) title('Velocity Error') xlabel('tracker update') ylabel('RMSE (m/s)') subplot(2,2,3) plot(posANEES) title('Position Error') xlabel('tracker update') ylabel('ANEES') subplot(2,2,4) plot(velANEES) title('Velocity Error') xlabel('tracker update') ylabel('ANEES')
Show the current error metrics for each individual recorded track.
currentTrackMetrics(tem)
ans=2×5 table
TrackID posRMS velRMS posANEES velANEES
_______ ______ ______ ________ ________
6 44.712 20.988 0.05974 0.31325
8 129.26 12.739 1.6745 0.2453
Show the current error metrics for each individual recorded truth object.
currentTruthMetrics(tem)
ans=2×5 table
TruthID posRMS velRMS posANEES velANEES
_______ ______ ______ ________ ________
2 129.26 12.739 1.6745 0.2453
3 44.712 20.988 0.05974 0.31325
Show the cumulative error metrics for each individual recorded track.
cumulativeTrackMetrics(tem)
ans=4×5 table
TrackID posRMS velRMS posANEES velANEES
_______ ______ ______ ________ ________
1 117.69 43.951 0.58338 0.44127
2 129.7 42.8 0.81094 0.42509
6 371.35 87.083 4.5208 1.6952
8 130.45 53.914 1.0448 0.44813
Show the cumulative error metrics for each individual recorded truth object.
cumulativeTruthMetrics(tem)
ans=2×5 table
TruthID posRMS velRMS posANEES velANEES
_______ ______ ______ ________ ________
2 258.21 65.078 2.2514 0.93359
3 134.41 48.253 0.96314 0.49183
Input Arguments
Track assignment metrics object, specified as a trackAssignmentMetrics
System object.
Output Arguments
Track identifiers, returned as a vector. trackIDs
and
truthIDs
have the same size. Corresponding elements of
trackIDs
and truthIDs
represent a
track-truth assignment.
Truth identifiers, returned as a vector. trackIDs
and
truthIDs
have the same size. Corresponding elements of
trackIDs
and truthIDs
represent a
track-truth assignment.
Version History
Introduced in R2018b
MATLAB Command
You clicked a link that corresponds to this MATLAB command:
Run the command by entering it in the MATLAB Command Window. Web browsers do not support MATLAB commands.
웹사이트 선택
번역된 콘텐츠를 보고 지역별 이벤트와 혜택을 살펴보려면 웹사이트를 선택하십시오. 현재 계신 지역에 따라 다음 웹사이트를 권장합니다:
또한 다음 목록에서 웹사이트를 선택하실 수도 있습니다.
사이트 성능 최적화 방법
최고의 사이트 성능을 위해 중국 사이트(중국어 또는 영어)를 선택하십시오. 현재 계신 지역에서는 다른 국가의 MathWorks 사이트 방문이 최적화되지 않았습니다.
미주
- América Latina (Español)
- Canada (English)
- United States (English)
유럽
- Belgium (English)
- Denmark (English)
- Deutschland (Deutsch)
- España (Español)
- Finland (English)
- France (Français)
- Ireland (English)
- Italia (Italiano)
- Luxembourg (English)
- Netherlands (English)
- Norway (English)
- Österreich (Deutsch)
- Portugal (English)
- Sweden (English)
- Switzerland
- United Kingdom (English)