getBranches
Lists track branches
Description
Examples
Get Multi-Hypothesis Tracker Branches
Create a multi-hypothesis tracker with one detection and obtain its branches.
tracker = trackerTOMHT; detection = objectDetection(0,[0;0;0]); tracker(detection,0); branches = getBranches(tracker)
branches = objectTrack with properties: TrackID: 1 BranchID: 1 SourceIndex: 0 UpdateTime: 0 Age: 1 State: [6x1 double] StateCovariance: [6x6 double] StateParameters: [1x1 struct] ObjectClassID: 0 ObjectClassProbabilities: 1 TrackLogic: 'Score' TrackLogicState: [13.7102 13.7102] IsConfirmed: 0 IsCoasted: 0 IsSelfReported: 1 ObjectAttributes: [1x1 struct]
Input Arguments
tracker
— Target tracker
trackerTOMHT
object
Target tracker, specified as a trackerTOMHT
object.
Output Arguments
branches
— List of track branches
structure | array of structures
List of track branches, returned as an array of track structure or array of track structures.
Field | Description |
TrackID | Integer that identifies the track. |
BranchID | Unique integer that identifies the track branch (hypothesis). |
UpdateTime | Time to which the track is updated. |
Age | Number of times the track was updated with either a hit or a miss. |
State | Value of state vector at update time. |
StateCovariance | Uncertainty covariance matrix. |
TrackLogic | The track logic used. Values are either |
TrackLogicState | The current state of the track logic.
|
IsConfirmed | True if the track is assumed to be of a real target. |
IsCoasted | True if the track has been updated without a detection (predicted). |
ObjectClassID | An integer value representing the object classification. Zero is reserved for |
ObjectAttributes | A cell array of cells. Each cell captures the object attributes reported by the corresponding sensor. |
Data Types: struct
Extended Capabilities
C/C++ Code Generation
Generate C and C++ code using MATLAB® Coder™.
Version History
Introduced in R2018b
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