主要内容

objectDetection

Report for single object detection

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描述

AnobjectDetection对象包含一个对象检测报告，该报告是由传感器为单个对象获得的。您可以使用objectDetection输出作为跟踪器的输入，例如multiObjectTracker.

Creation

Syntax

detection = objectDetection(time,measurement)
detection = objectDetection(___，名称，值）

描述

example

detection= objectDetection（time,measurement)creates an objectdetectionat the specifiedtimefrom the specifiedmeasurement.

example

detection= objectDetection（___,Name,Value)creates adetection具有指定为一个或多个属性的对象Name,Valuepair arguments. Any unspecified properties have default values. You cannot specify theTime或者Measurement使用的属性Name,Valuepairs.

Input Arguments

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检测时间，指定为非负实际标量。This argument sets theTimeproperty.

Object measurement, specified as a real-valuedN- 元素矢量。Nis determined by the coordinate system used to report detections and other parameters that you specify in the测量参数属性objectDetection目的。

This argument sets theMeasurementproperty.

Output Arguments

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Detection report for a single object, returned as anobjectDetection目的。AnobjectDetectionobject contains these properties:

财产 Definition
Time 测量时间
Measurement Object measurements
suberementNoise 测量噪声协方差矩阵
SensorIndex Unique ID of the sensor
ObjectClassID 对象分类
objectattributes Additional information passed to tracker
测量参数 Parameters used by initialization functions of nonlinear Kalman tracking filters

Properties

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检测时间，指定为非负实际标量。您不能将此属性设置为名称值对。使用timeinput argument instead.

例子：5.0

Data Types:double

Object measurement, specified as a real-valuedN- 元素矢量。您不能将此属性设置为名称值对。使用measurementinput argument instead.

例子：[1.0;-3.4]

Data Types:double|single

Measurement noise covariance, specified as a scalar or a real positive semi-definite symmetricN-经过-Nmatrix.Nis the number of elements in the measurement vector. For the scalar case, the matrix is a square diagonalN-经过-Nmatrix having the same data interpretation as the measurement.

例子：[5.0,1.0; 1.0,10.0]

Data Types:double|single

Sensor identifier, specified as a positive integer. The sensor identifier lets you distinguish between different sensors and must be unique to the sensor.

例子：5

Data Types:double

对象类标识符, specified as a positive integer. Object class identifiers distinguish between different kinds of objects. The value0表示未知的对象类型。如果类标识符非零，则multiObjectTracker立即从检测中创建确认的轨道。

例子：1

Data Types:double

测量函数参数，指定为结构阵列，包含结构阵列的单元格或单元格数组。该属性包含由测量功能指定的所有参数MeasurementFcn非线性跟踪过滤器的属性，例如Trackingekf或者Trackingingingkf.

The table shows sample fields for the测量参数structures.

Field 描述 Example
框架

框架used to report measurements, specified as one of these values:

  • 'rectangular'— Detections are reported in rectangular coordinates.

  • 'spherical'— Detections are reported in spherical coordinates.

 'spherical'
OriginPosition Position offset of the origin of the frame relative to the parent frame, specified as an[x y z]实价矢量。 [0 0 0]
OriginVelocity 框架相对于父帧的起点的速度抵消，指定为[vx vy vz]实价矢量。 [0 0 0]
Orientation 框架rotation matrix, specified as a 3-by-3 real-valued orthonormal matrix. [1 0 0; 0 1 0; 0 0 1]
HasAzimuth 逻辑标量表示测量中是否包含方位角。 1
征服 逻辑标量表示测量中是否包括海拔。对于在矩形框架中报告的测量值，以及征服is false, the reported measurements assume 0 degrees of elevation. 1
hatrange Logical scalar indicating if range is included in the measurement. 1
HasVelocity Logical scalar indicating if the reported detections include velocity measurements. For measurements reported in the rectangular frame, ifHasVelocityis false, the measurements are reported as[x y z]. IfHasVelocityis真的, measurements are reported as[x y z vx vvz]. 1
IsParentToChild Logical scalar indicating ifOrientation执行从父坐标框架到子坐标框架的框架旋转。什么时候IsParentToChildisfalse, thenOrientation执行从子坐标框架到父坐标框架的框架旋转。 0

Object attributes passed through the tracker, specified as a cell array. These attributes are added to the output of themultiObjectTrackerbut not used by the tracker.

例子：{[[10,20,50,100]，'radar1'}

例子

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打开实时脚本

从位置测量中创建检测。检测是在位置测量的一秒钟的时间戳进行的[100; 250; 10]in Cartesian coordinates.

检测= objectDetection（1，[100; 250; 10]）
检测=带有属性的对象进行：时间：1个测量：[3x1 double] sublementnoise：[3x3 double] sensorIndex：1 objectClassId：0 MeasurementParameters：{} objectAttributes：{}
打开实时脚本

Create anobjectDetection从时间和位置测量。检测是在一秒钟的时间内进行对象位置测量[100; 250; 10]. Add measurement noise and set other properties using Name-Value pairs.

检测= objectDetection（1，[100; 250; 10]，，“ suberumentnoise',10,...'SensorIndex'，1，'ObjectAttributes'，{'Example object',5})
检测=带有属性的对象进行：时间：1测量：[3x1 double] smuesurementNoise：[3x3 double] sensorIndex：1 objectClassId：0 MeasurementParameters：{} objectAttributes：{'example Object object'[5] [5]} [5]}

Extended Capabilities

C/C ++代码生成
使用MATLAB®CODER™生成C和C ++代码。

Version History

Introduced in R2017a

See Also

Objects