evaluateBatch
Description
[
computes cumulative and historical error metrics from recorded data.cumTrackErrorMetrics
,cumTruthErrorMetrics
,trackErrorHistory
,truthErrorHistory
] = evaluateBatch(errorMetrics
,tracklog
,truthlog
,assignHistory
)
Examples
Evaluate Track Metrics for Recorded Data
First, load the stored track data.
load trackmetricex tracklog truthlog
Create a trackAssignmentMetric
object.
tam = trackAssignmentMetrics;
Use the evaluateBatch
object function to obtain the track summary, the truth summary, and the assignment history.
[trackSummary,truthSummary,assignHistory] = evaluateBatch(tam,tracklog,truthlog)
trackSummary = struct with fields:
TotalNumTracks: 4
NumFalseTracks: 0
MaxSwapCount: 3
TotalSwapCount: 5
MaxDivergenceCount: 8
TotalDivergenceCount: 17
MaxDivergenceLength: 314
TotalDivergenceLength: 434
MaxRedundancyCount: 1
TotalRedundancyCount: 3
MaxRedundancyLength: 169
TotalRedundancyLength: 199
MaxTimeBetweenReports: 0.0187
MeanTimeBetweenReports: 0.0187
truthSummary = struct with fields:
TotalNumTruths: 2
NumMissingTruths: 0
MaxEstablishmentLength: 84
TotalEstablishmentLength: 140
MaxBreakCount: 4
TotalBreakCount: 7
MaxBreakLength: 645
TotalBreakLength: 813
MaxTimeBetweenReports: 0.0187
MeanTimeBetweenReports: 0.0187
assignHistory=2678×1 struct array with fields:
Time
TrackIDs
TruthIDs
Next, create a trackErrorMetrics
object.
tem = trackErrorMetrics;
Use the evaluateBatch
object function to obtain the cumulative track and truth error metric tables as well as the track and truth error history tables.
[cumTrackError,cumTruthError,trackErrorHistory,truthErrorHistory] = evaluateBatch(tem,tracklog,truthlog,assignHistory)
cumTrackError=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
cumTruthError=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
trackErrorHistory=4600×6 table
Time TrackID posRMS velRMS posANEES velANEES
______ _______ ______ ______ ________ ________
1.064 1 30.104 12.092 0.049206 0.024983
1.0827 1 29.996 12.092 0.035699 0.022217
1.1013 1 29.89 12.092 0.035276 0.022217
1.12 1 29.785 12.092 0.034862 0.022217
1.1387 1 29.681 12.092 0.034458 0.022217
1.1573 1 29.579 12.092 0.034065 0.022217
1.176 1 29.478 12.092 0.033682 0.022217
1.1947 1 29.379 12.092 0.03331 0.022217
1.2133 1 29.281 12.092 0.032948 0.022217
1.232 1 29.184 12.092 0.032597 0.022217
1.2507 1 29.089 12.092 0.032257 0.022217
1.2693 1 28.995 12.092 0.031927 0.022217
1.288 1 28.902 12.092 0.031608 0.022217
1.3067 1 28.812 12.092 0.0313 0.022217
1.3253 1 28.722 12.092 0.031003 0.022217
1.344 1 28.634 12.092 0.030715 0.022217
⋮
truthErrorHistory=4403×6 table
Time TruthID posRMS velRMS posANEES velANEES
______ _______ ______ ______ ________ ________
1.064 2 30.104 12.092 0.049206 0.024983
1.0827 2 29.996 12.092 0.035699 0.022217
1.1013 2 29.89 12.092 0.035276 0.022217
1.12 2 29.785 12.092 0.034862 0.022217
1.1387 2 29.681 12.092 0.034458 0.022217
1.1573 2 29.579 12.092 0.034065 0.022217
1.176 2 29.478 12.092 0.033682 0.022217
1.1947 2 29.379 12.092 0.03331 0.022217
1.2133 2 29.281 12.092 0.032948 0.022217
1.232 2 29.184 12.092 0.032597 0.022217
1.2507 2 29.089 12.092 0.032257 0.022217
1.2693 2 28.995 12.092 0.031927 0.022217
1.288 2 28.902 12.092 0.031608 0.022217
1.3067 2 28.812 12.092 0.0313 0.022217
1.3253 2 28.722 12.092 0.031003 0.022217
1.344 2 28.634 12.092 0.030715 0.022217
⋮
Input Arguments
errorMetrics
— Error metrics object
trackErrorMetrics
System object
Error metrics object, specified as a trackErrorMetrics
System object™.
tracklog
— Recorded track log
array of objects or structures | cell array of objects or structures
Recorded track log, specified as an array of objects or structures. Alternately, you
can specify it as a cell array of objects or structures. Each object or structure must
have an UpdateTime
property or field, respectively.
If the ErrorFunctionFormat
property is specified as
'built-in'
, each object must be an objectTrack
object and each
structure must be a track structure. The fields of the track structure should be the
same as the properties of the objectTrack
object. The track structure
must have at least the State
, StateCovariance
,
TrackID
, and UpdateTime
fields.
Note
You cannot specify tracklog
as a cell array that has a
mixture of objects and structures.
truthlog
— Recorded truth log
array of structures | cell array of structures | trackScenarioRecording
object
Recorded truth log, specified as an array of structures, a cell array of structures,
or a trackingScenarioRecording
object. Each structure must have a
Time
field.
If the ErrorFunctionFormat
property is specified as
'built-in'
, each structure must at least have these
fields.
Field | Description |
---|---|
Time | Time of the truth, specified as a nonnegative scalar. |
PlatformID | Unique identifier for the platform, specified as a positive integer. This is a required field with no default value. |
Position | Position of platform in scenario coordinates, specified as a real-valued 1-by-3 row vector.
|
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 |
You can use the platformPoses
function of the trackingScenario
object to generate this structure except the
Time
field, which you can obtain via the
SimulationTime
property of the trackingScenario
object.
assignHistory
— Assignment history
array of structures
Assignment history, specified as an array of structures. Each structure has these fields.
Field | Description |
---|---|
Time | Time of assignment, specified as a nonnegative scalar. |
TrackIDs | IDs of tracks, specified as a vector of track IDs. |
TruthIDs | IDs of truths, specified as a vector of truth IDs. |
The corresponding tracks and truths from the TrackIDs
and TruthIDs
fields are assigned to each other.
Tip
You can use the evaluateBatch
function of the trackAssignmentMetrics
object to obtain the assignment history between
recorded tracks and truths.
Data Types: struct
Output Arguments
cumTrackErrorMetrics
— Cumulative track error metrics
table
Cumulative track error metrics, returned as a table
. The
definition of the table is same as the output of the cumulativeTrackMetrics
function.
cumTruthErrorMetrics
— Cumulative truth error metrics
table
Cumulative truth error metrics, returned as a table
. The
definition of the table is same as the output of the cumulativeTruthMetrics
function.
trackErrorHistory
— Track error history
table
Track error history, returned as a table
. The definition of the
table is same as the output of the currentTrackMetrics
function.
truthErrorHistory
— Truth error history
table
Truth error history, returned as a table
. The definition of the
table is same as the output of the currentTruthMetrics
function.
Version History
Introduced in R2023bR2024a: Performance improvement
evaluateBatch
shows improved performance for longer input logs with
at least 1000 elements. For example, this code is about 5x faster than in the previous
release:
function t = timingTest [truthlog,tracklog] = createlonglogs(1000); tam = trackAssignmentMetrics(); tic; evaluateBatch(tam,tracklog,truthlog); toc end function [truths,tracks]=createlonglogs(numSteps) v = ones(1,3); t1 = [struct("PlatformID",1,"Position",v,"Velocity",v,"Time",1);... struct("PlatformID",2,"Position",10*v,"Velocity",10*v,"Time",1)]; t2 = [objectTrack(TrackID=1,state=ones(6,1));... objectTrack(TrackID=2,state=10*ones(6,1))]; truths = cell(numSteps,1); tracks = cell(numSteps,1); for i=1:numSteps truths{i} = t1; truths{i}(1).Time = i; truths{i}(2).Time = i; tracks{i} = t2; tracks{i}(1).UpdateTime = i; tracks{i}(2).UpdateTime = i; end end
The approximate execution times are:
R2023b: 9.6 s
R2024a: 1.8 s
The code was timed on a Windows 11, AMD(R) EPYC 74F3 24-Core Processor @ 3.19 GHz test
system by calling the timingTest
function.
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