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predictTracksToTime

Predict track state

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Syntax

predictedtracks = predictTracksToTime(tracker,trackID,time)
predictedtracks = predictTracksToTime(tracker,category,time)
predictedtracks = predictTracksToTime(tracker,category,time,'WithCovariance',tf)

Description

predictedtracks= predictTracksToTime(tracker,trackID,time)returns the predicted tracks,predictedtracks, of thetracker, at the specified time,time。The tracker or fuser must be updated at least once before calling this object function. UseisLocked(tracker)to test whether the tracker or fuser has been updated.

Note

This function only outputs the predicted tracks and does not update the internal track states of thetracker。

example

predictedtracks= predictTracksToTime(tracker,category,time)returns all predicted tracks for a specified category,category, of tracked objects.

predictedtracks= predictTracksToTime(tracker,category,time,'WithCovariance',tf)also allows you to specify whether to predict the state covariance of each track or not by setting thetfflag totrueorfalse。预测协方差减缓了预测ion process and increases the computation cost, but it provides the predicted track state covariance in addition to the predicted state. The default is false.

Examples

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Open Live Script

Create a track from a detection at time t = 0 second and predict it to t = 1 second.

tracker = multiObjectTracker; detection = objectDetection(0,[0;0;0]); tracker(detection,0); predictedtracks = predictTracksToTime(tracker,'all',1)
predictedtracks = objectTrack with properties: TrackID: 1 BranchID: 0 SourceIndex: 0 UpdateTime: 1 Age: 1 State: [6x1 double] StateCovariance: [6x6 double] StateParameters: [1x1 struct] ObjectClassID: 0 TrackLogic: 'History' TrackLogicState: [1 0 0 0 0] IsConfirmed: 0 IsCoasted: 0 IsSelfReported: 1 ObjectAttributes: [1x1 struct]

Input Arguments

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Multi-object tracker, specified as amultiObjectTrackerSystem object.

Track identifier, specified as a positive integer. Only the track specified by thetrackIDis predicted in the tracker.

Example:15

Data Types:single|double

Prediction time, specified as a scalar. The states of tracks are predicted to this time. The time must be greater than the time input to the tracker in the previous track update. Units are in seconds.

Example:1.0

Data Types:single|double

Track categories, specified as'all','confirmed', or'tentative'。You can choose to predict all tracks, only confirmed tracks, or only tentative tracks.

Data Types:char

Output Arguments

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List of tracks or branches, returned as:

  • An array ofobjectTrackobjects in the MATLAB interpreted mode.

  • An array of structures in the code generation mode. The field names of the structures are the same as the names of properties inobjectTrack。

Data Types:struct|object

Version History

Introduced in R2020a

See Also