confirmBranch

Confirm track branch

Since R2022b

Syntax

confirmed = confirmBranch(tracker,branchID)

Description

confirmed = confirmBranch(tracker,branchID) confirms the track branch specified by branchID in the tracker.

Examples

Confirm Track Branch

Create a trackerTOMHT system object.

tracker = trackerTOMHT;

Create two objectDetection objects and use them to update the tracker.

detection1 = objectDetection(0,[1;1;1]);
detection2 = objectDetection(1,[1.1;1.2;1.3])

detection2 = 
  objectDetection with properties:

                     Time: 1
              Measurement: [3×1 double]
         MeasurementNoise: [3×3 double]
              SensorIndex: 1
            ObjectClassID: 0
    ObjectClassParameters: []
    MeasurementParameters: {}
         ObjectAttributes: {}

tracker(detection1,0);
[cofirmedTracks,~,~,info]=tracker(detection2,1);

Currently, the tracker does not confirm any track. The tracker maintains two branches.

noConfirmedTracks = isempty(cofirmedTracks)

noConfirmedTracks = logical
   1

branchIDs = info.BranchIDsAtStepEnd

branchIDs = 1×2 uint32 row vector

   1   2

Confirm the second branch using the confirmBranch object function.

confirmed = confirmBranch(tracker,branchIDs(2))

confirmed = logical
   1

Update the tracker with an empty objectDetection object. Now the tracker maintains one confirmed track.

confirmTracks = tracker(objectDetection.empty(),2)

confirmTracks = 
  objectTrack with properties:

                     TrackID: 1
                    BranchID: 1
                 SourceIndex: 0
                  UpdateTime: 2
                         Age: 3
                       State: [6×1 double]
             StateCovariance: [6×6 double]
             StateParameters: [1×1 struct]
               ObjectClassID: 0
    ObjectClassProbabilities: 1
                  TrackLogic: 'Score'
             TrackLogicState: [9.1050 13.7102]
                 IsConfirmed: 1
                   IsCoasted: 1
              IsSelfReported: 1
            ObjectAttributes: [1×1 struct]

Input Arguments

tracker — TOMHT tracker

trackerTOMHT object

TOMHT tracker, specified a trackerTOMHT object.

branchID — Track branch identifier

positive integer

Track branch identifier, specified as a positive integer.

Example: 2

Output Arguments

confirmed — Indicate if track branch is successfully confirmed

1 | 0

Indicate if the track branch is successfully confirmed, returned as 1 or 0. If the track branch specified by the branchID input exists, the function confirms the track branch and returns 1. If the track branch does not exist, the function issues a warning and returns false.

Extended Capabilities

C/C++ Code Generation
Generate C and C++ code using MATLAB® Coder™.

Version History

Introduced in R2022b