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getTrackFilterProperties

Obtain values of filter properties from radarTracker

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    Syntax

    values = getTrackFilterProperties(tracker,trackID,property)
    values = getTrackFilterProperties(tracker,trackID,property1,...,propertyN)

    Description

    example

    values = getTrackFilterProperties(tracker,trackID,property) returns the tracking filter property values for a specific track within a multi-object tracker. trackID is the ID of that specific track.

    values = getTrackFilterProperties(tracker,trackID,property1,...,propertyN) returns multiple property values. You can specify the properties in any order.

    Examples

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    Open Live Script

    Create a radarTracker System object™ using a constant-acceleration, linear Kalman filter for all tracks.

    tracker = radarTracker('FilterInitializationFcn',@initcakf, ...
    'ConfirmationThreshold',[4 5],'DeletionThreshold',[9 9]);

    Create two detections and generate tracks for these detections.

    detection1 = objectDetection(1.0,[10; 10]);
detection2 = objectDetection(1.0,[1000; 1000]);
[~,tracks] = tracker([detection1 detection2],1.1)
    tracks=2×1 object
  2x1 objectTrack array with properties:

    TrackID
    BranchID
    SourceIndex
    UpdateTime
    Age
    State
    StateCovariance
    StateParameters
    ObjectClassID
    ObjectClassProbabilities
    TrackLogic
    TrackLogicState
    IsConfirmed
    IsCoasted
    IsSelfReported
    ObjectAttributes

    Get filter property values for the first track. Display the process noise values.

    values = getTrackFilterProperties(tracker,1,'MeasurementNoise','ProcessNoise','MotionModel');
values{2}
    ans = 2×2

     1     0
     0     1

    Set new values for this property by doubling the process noise for the first track. Display the updated process noise values.

    setTrackFilterProperties(tracker,1,'ProcessNoise',2*values{2});
values = getTrackFilterProperties(tracker,1,'ProcessNoise');
values{1}
    ans = 2×2

     2     0
     0     2

    Input Arguments

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    Radar tracker, specified as a radarTracker object.

    Track ID, specified as a positive integer. trackID must be a valid track in tracker.

    Tracking filter property to return values for, specified as a character vector or string scalar. property must be a valid property of the tracking filter used by tracker. Valid tracking filters are trackingKF, trackingEKF, and trackingUKF.

    You can specify additional properties in any order.

    Example: 'MeasurementNoise','ProcessNoise'

    Data Types: char | string

    Output Arguments

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    Tracking filter property values, returned as a cell array. Each element in the cell array corresponds to the values of a specified property. getTrackFilterProperties returns the values in the same order in which you specified the corresponding properties.

    Extended Capabilities

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

    Version History

    Introduced in R2021a

    See Also

    Objects

    Functions