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plotTrack

Plot set of tracks in theater track plotter

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Syntax

plotTrack(tPlotter,positions)
plotTrack(tPlotter,positions,velocities)
plotTrack(___,covariances)
plotTrack(tPlotter,positions,___,labels)
plotTrack(tPlotter,positions,___,labels,trackIDs)
plotTrack(tPlotter,positions,___,dimensions,orientations)

Description

plotTrack(tPlotter,positions) specifies positions of M tracked objects whose positions are plotted by the track plotter tPlotter. Specify the positions as an M-by-3 matrix, where each column of positions corresponds to the x-, y-, and z-coordinates of the object locations.

plotTrack(tPlotter,positions,velocities) also specifies the corresponding velocities of the objects. Velocities are plotted as line vectors emanating from the positions of the detections. If specified, velocities must have the same dimensions as positions. If unspecified, no velocity information is plotted.

plotTrack(___,covariances) also specifies the covariances of the M track uncertainties. The input argument covariances is a 3-by-3-by-M array of covariances that are centered at the track positions. The uncertainties are plotted as an ellipsoid. You can use this syntax with any of the previous syntaxes.

example

plotTrack(tPlotter,positions,___,labels) also specifies the labels and positions of the M objects whose positions are estimated by a tracker. The input argument labels is an M-by-1 cell array of character vectors that correspond to the M detections specified in positions. If omitted, no labels are plotted.

example

plotTrack(tPlotter,positions,___,labels,trackIDs) also specifies the unique track identifiers for each track when the 'ConnectHistory' property of tPlotter is set to 'on'. The input argument trackIDs can be an M-by-1 array of unique integer values, an M-by-1 array of strings, or an M-by-1 cell array of unique character vectors.

If trackIDs is omitted when 'ConnectHistory' is 'on', then the track identifiers are derived from the labels input instead. The trackIDs input is ignored when 'ConnectHistory' is 'off'.

example

plotTrack(tPlotter,positions,___,dimensions,orientations) specifies the dimension and orientation of each tracked object in the plot.

Examples

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Open Script

Create a theater plot. Create a track plotter with DisplayName set to 'Tracks' and with HistoryDepth set to 5.

tp = theaterPlot('XLim',[0,90],'YLim',[-35,35]);
tPlotter = trackPlotter(tp,'DisplayName','Tracks','HistoryDepth',5);

Update the track plotter with three tracks labeled 'T1', 'T2', and 'T3' with start positions in units of meters all starting at (30, 5, 1) with corresponding velocities (in m/s) of (3, 0, 1), (3, 2, 2) and (3, -3, 5), respectively. Update the tracks with the velocities for ten iterations.

positions = [30, 5, 1; 30, 5, 1; 30, 5, 1];
velocities = [3, 0, 1; 3, 2, 2; 3, -3, 5];
labels = {'T1','T2','T3'};
for i=1:10
    plotTrack(tPlotter, positions, velocities, labels)
    positions = positions + velocities;
end

This animation loops through all the generated plots.

Open Live Script

Create a theater plot. Create a track plotter with DisplayName set to 'Uncertain Track'.

tp = theaterPlot('Xlim',[0 5],'Ylim',[0 5]);
tPlotter = trackPlotter(tp,'DisplayName','Uncertain Track');

Update the track plotter with a track at a position in meters (2,2,1) and velocity (in meters/second) of (1,1,3). Also create a random 3-by-3 covariance matrix representing track uncertainties. For purposes of reproducibility, set the random seed to the default value.

 positions = [2, 2, 1];
 velocities = [1, 1, 3];
 rng default
 covariances = randn(3,3);

Plot the track with the covariances plotted as an ellipsoid.

plotTrack(tPlotter,positions,velocities,covariances)

Figure contains an axes object. The axes object with xlabel X (m), ylabel Y (m) contains a line object which displays its values using only markers. This object represents Uncertain Track.

Input Arguments

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Track plotter, specified as a trackPlotter object.

Tracked object positions, specified as an M-by-3 real-valued matrix, where M is the number of objects. Each column of positions corresponds to the x-, y-, and z-coordinates of the object locations in meters.

Tracked object velocities, specified as an M-by-3 real-valued matrix, where M is the number of objects. Each column of velocities corresponds to the x, y, and z velocities of the objects. If specified, velocities must have the same dimensions as positions.

Track uncertainties of M tracked objects, specified as a 3-by-3-by-M real-valued array of covariances. The covariances are centered at the track positions, and are plotted as an ellipsoid.

Tracked object labels, specified as a M-by-1 cell array of character vectors, where M is the number of objects. The argument labels contains the text labels corresponding to the M objects specified in positions. If labels is omitted, no labels are plotted.

Unique track identifiers for the M tracked objects, specified as an M-by-1 integer vector, an M-by-1 array of strings, or an M-by-1 cell array of character vectors. The elements of trackIDs must be unique.

The trackIDs input is ignored when the property ConnectHistory of tPlotter is 'off'. If trackIDs is omitted when 'ConnectHistory' is 'on', then the track identifiers are derived from the labels input instead.

Platform dimensions, specified as an M-by-1 array of dimension structures, where M is the number of platforms. The fields of each dimension structure are:

Fields of Dimensions

FieldsDescription
LengthDimension of a cuboid along the x direction
WidthDimension of a cuboid along the y direction
HeightDimension of a cuboid along the z direction
OriginOffsetPosition of the platform coordinate frame origin with respect to the cuboid center, specified as a vector of three elements

Dimensions

Platform orientations, specified as a 3-by-3-by-M array of rotation matrices, or an M-element array of quaternion objects.

Version History

Introduced in R2018b

See Also

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