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extractState

Extract target state estimates from the phd filter

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

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

Example: phd

Data Types: object

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

Example: 0.2

Data Types: single | double

Output Arguments

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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:

    FieldDescription
    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:

    FieldDescription
    State

    State estimate of the target.

    StateCovariance

    Uncertainty covariance matrix.

Data Types: struct

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™.

Introduced in R2019a