getBranches

Lists track branches

Syntax

branches = getBranches(tracker)

Description

branches = getBranches(tracker) returns a list of track branches maintained by the tracker. The tracker must be updated at least once before calling this object function. Use isLocked(tracker) to test whether the tracker has been updated.

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: [6×1 double]
             StateCovariance: [6×6 double]
             StateParameters: [1×1 struct]
               ObjectClassID: 0
    ObjectClassProbabilities: 1
                  TrackLogic: 'Score'
             TrackLogicState: [13.7102 13.7102]
                 IsConfirmed: 0
                   IsCoasted: 0
              IsSelfReported: 1
            ObjectAttributes: [1×1 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 'History' or 'Score'.
TrackLogicState	The current state of the track logic. For 'History' track logic, a 1-by-Q logical array, where Q is the greater of N or R from the confirmation and deletion thresholds. For 'Score' track logic, a 1-by-2 numerical array in the form: [currentScore, maxScore].
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 'unknown'.
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