trackMetricsTable

Compare tracks to truth

Syntax

metricsTable = trackMetricsTable(assignmentMetric)

Description

metricsTable = trackMetricsTable(assignmentMetric) returns a table of metrics, metricsTable, for all tracks in the track assignment metrics object, assignmentMetric.

Examples

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Assignment and Error Metrics for Two Tracked Targets

Open Live Script

Examine the assignments and errors for a system tracking two targets.

First, load the stored track data.

load trackmetricex tracklog truthlog

Create objects to analyze assignment and error metrics.

tam = trackAssignmentMetrics;
tem = trackErrorMetrics;

Create the output variables.

posRMSE = zeros(numel(tracklog),1);
velRMSE = zeros(numel(tracklog),1);
posANEES = zeros(numel(tracklog),1);
velANEES = zeros(numel(tracklog),1);

Loop over all tracks to:

Extract the tracks and ground truth at the i th tracker update.
Analyze and retrieve the current track-to-truth assignment.
Analyze instantaneous error metrics over all tracks and truths.

for i=1:numel(tracklog)
    tracks = tracklog{i};
    truths = truthlog{i};
    [trackAM,truthAM] = tam(tracks, truths);
    [trackIDs,truthIDs] = currentAssignment(tam);
    [posRMSE(i),velRMSE(i),posANEES(i),velANEES(i)] = ...
        tem(tracks,trackIDs,truths,truthIDs);
end

Show the track metrics table.

trackMetricsTable(tam)

ans=4×15 table
    TrackID    AssignedTruthID    Surviving    TotalLength    DeletionStatus    DeletionLength    DivergenceStatus    DivergenceCount    DivergenceLength    RedundancyStatus    RedundancyCount    RedundancyLength    FalseTrackStatus    FalseTrackLength    SwapCount
    _______    _______________    _________    ___________    ______________    ______________    ________________    _______________    ________________    ________________    _______________    ________________    ________________    ________________    _________

       1             NaN            false         1120            false               0                false                 3                   3                false                 0                   0                false                  0               0    
       2             NaN            false         1736            false               0                false                 8                  88                false                 0                   0                false                 28               3    
       6               3            true          1138            false               0                false                 4                 314                false                 1                  28                false                  0               2    
       8               2            true           662            false               0                false                 2                  29                false                 1                 169                false                 28               0

Show the truth metrics table.

truthMetricsTable(tam)

ans=2×10 table
    TruthID    AssociatedTrackID    DeletionStatus    TotalLength    BreakStatus    BreakCount    BreakLength    InCoverageArea    EstablishmentStatus    EstablishmentLength
    _______    _________________    ______________    ___________    ___________    __________    ___________    ______________    ___________________    ___________________

       2               8                false            2678           false           4             168            true                 true                    56         
       3               6                false            2678           false           3             645            true                 true                    84

Plot the RMSE and ANEES error metrics.

subplot(2,2,1)
plot(posRMSE)
title('Position Error')
xlabel('tracker update')
ylabel('RMSE (m)')

subplot(2,2,2)
plot(velRMSE)
title('Velocity Error')
xlabel('tracker update')
ylabel('RMSE (m/s)')

subplot(2,2,3)
plot(posANEES)
title('Position Error')
xlabel('tracker update')
ylabel('ANEES')

subplot(2,2,4)
plot(velANEES)
title('Velocity Error')
xlabel('tracker update')
ylabel('ANEES')

Show the current error metrics for each individual recorded track.

currentTrackMetrics(tem)

ans=2×5 table
    TrackID    posRMS    velRMS    posANEES    velANEES
    _______    ______    ______    ________    ________

       6       44.712    20.988    0.05974     0.31325 
       8       129.26    12.739     1.6745      0.2453

Show the current error metrics for each individual recorded truth object.

currentTruthMetrics(tem)

ans=2×5 table
    TruthID    posRMS    velRMS    posANEES    velANEES
    _______    ______    ______    ________    ________

       2       129.26    12.739     1.6745      0.2453 
       3       44.712    20.988    0.05974     0.31325

Show the cumulative error metrics for each individual recorded track.

cumulativeTrackMetrics(tem)

ans=4×5 table
    TrackID    posRMS    velRMS    posANEES    velANEES
    _______    ______    ______    ________    ________

       1       117.69    43.951    0.58338     0.44127 
       2        129.7      42.8    0.81094     0.42509 
       6       371.35    87.083     4.5208      1.6952 
       8       130.45    53.914     1.0448     0.44813

Show the cumulative error metrics for each individual recorded truth object.

cumulativeTruthMetrics(tem)

ans=2×5 table
    TruthID    posRMS    velRMS    posANEES    velANEES
    _______    ______    ______    ________    ________

       2       258.21    65.078     2.2514     0.93359 
       3       134.41    48.253    0.96314     0.49183

Input Arguments

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`assignmentMetric` — Track assignment metrics object
`trackAssignmentMetrics` System object

Track assignment metrics object, specified as a trackAssignmentMetrics System object™.

Output Arguments

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`metricsTable` — Track metrics table
table

Track metrics table, returned as a table. Each row of the table represents a track. The table has these columns:

Column	Description
`TrackID`	Unique track identifier
`AssignedTruthID`	Unique truth identifier. If the track is not assigned to any truth, or the track was not reported in the last update, then the value of `AssignedTruthID` is `NaN`.
`Surviving`	`True` if the track was reported in the last update
`TotalLength`	Number of updates in which this track was reported
`DeletionStatus`	`True` if the track was previously assigned to a truth that was deleted while inside its coverage area.
`DeletionLength`	The number of updates in which the track was following a deleted truth
`DivergenceStatus`	`True` when the divergence distance between this track and its corresponding truth exceeds the divergence threshold
`DivergenceCount`	Number of times this track entered a divergent state
`DivergenceLength`	Number of updates in which this track was in a divergent state
`RedundancyStatus`	`True` if this track is assigned to a truth already associated with another track
`RedundancyCount`	Number of times this track entered a redundant state
`RedundancyLength`	Number of updates for which this track was in a redundant state
`FalseTrackStatus`	`True` if the track was not assigned to any truth
`FalseTrackLength`	Number of updates in which the track was unassigned
`SwapCount`	Number of times the track was assigned to a new truth object

Introduced in R2018b

Documentation

trackMetricsTable

Syntax

Description

Examples

Assignment and Error Metrics for Two Tracked Targets

Input Arguments

`assignmentMetric` — Track assignment metrics object
`trackAssignmentMetrics` System object

Output Arguments

`metricsTable` — Track metrics table
table

Sensor Fusion and Tracking Toolbox Documentation

Support

Documentation

trackMetricsTable

Syntax

Description

Examples

Assignment and Error Metrics for Two Tracked Targets

Input Arguments

assignmentMetric — Track assignment metrics object trackAssignmentMetrics System object

Output Arguments

metricsTable — Track metrics table table

Sensor Fusion and Tracking Toolbox Documentation

Support

`assignmentMetric` — Track assignment metrics object
`trackAssignmentMetrics` System object

`metricsTable` — Track metrics table
table