truthMetricsTable
Compare truth to tracks
Description
metricsTable = truthMetricsTable(assignmentMetric)metricsTable, for all truths in the
assignmentMetric
System object™.
Examples
Assignment and Error Metrics for Two Tracked Targets
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