getBranches

Lists track branches

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Syntax

branches = getBranches(tracker)

Description

example

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

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Open Live Script

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: [6x1 double]
     StateCovariance: [6x6 double]
     StateParameters: [1x1 struct]
       ObjectClassID: 0
          TrackLogic: 'Score'
     TrackLogicState: [13.7102 13.7102]
         IsConfirmed: 0
           IsCoasted: 0
      IsSelfReported: 1
    ObjectAttributes: [1x1 struct]

Input Arguments

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Target tracker, specified as a trackerTOMHT or trackerGNN object.

Output Arguments

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List of track branches, returned as an array of track structure or array of track structures.

FieldDescription
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

Introduced in R2018b

Sensor Fusion and Tracking Toolbox Documentation

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