extractState

Extract target state estimates from the phd filter

Syntax

[States,Indices] = extractState(phd,threshold)

Description

[States,Indices] = extractState(phd,threshold) returns all sates of components, States, whose weights are above the threshold given by threshold, and their corresponding indices, Indices, in the phd filter, phd.

Input Arguments

phd — phd filter

ggiwphd filter object | gmphd filter object

phd filter, specified as a ggiwphd filter object or a gmphd filter object.

Example: phd

Data Types: object

threshold — Extraction threshold

real positive scalar

Extraction threshold of component weight, specified as a real positive scalar.

Example: 0.2

Data Types: single | double

Output Arguments

States — Extracted states

structure | 1-by-N array of structure

Extracted states, returned as a structure or a 1-by-N array of structure, where N is the number of extracted states. Given the type of the phd filter, each structure contains:

• ggiwphd:

  Field	Description
  State	State estimate of the target.
  StateCovariance	Uncertainty covariance matrix.
  Extent	Spatial extent estimate of the tracked object, returned as a d-by-d matrix, where d is the dimension of the object.
  MeasurementRate	Expected number of detections from the tracked object.

• gmphd:

  Field	Description
  State	State estimate of the target.
  StateCovariance	Uncertainty covariance matrix.

Data Types: struct

Indices — Indices of extracted states

1-by-N vector of nonnegative integers

Indices of extracted states, returned as an 1-by-N vector of nonnegative integers, where N is the number of extracted states. Each element of the vector is the index of the corresponding extracted state in States.

Data Types: double

Extended Capabilities

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

Version History

Introduced in R2019a