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Get copy of PHD filter
Since R2023a
filter = getPHDFilter(tracker)
filter = getPHDFilter(tracker) returns a copy of the probability hypothesis density (PHD) filter used in the tracker at the current time.
filter
tracker
Note
You must run the tracker object at least once before using this object function.
Changes applied to the returned filter do not affect the tracker object.
example
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trackerPHD
Create a trackingSensorConfiguration object and create a trackerPHD object based on the configuration settings.
trackingSensorConfiguration
config = trackingSensorConfiguration(1,IsValidTime=true); tracker = trackerPHD(SensorConfigurations=config);
Create a objectDetection object and update the tracker with the detection.
objectDetection
detection = objectDetection(0,[0 0 0],SensorIndex=1); tracker(detection,detection.Time);
Get a copy of the PHD filter object used in the tracker.
filter = ggiwphd with properties: States: [6×1 double] StateCovariances: [6×6 double] PositionIndex: [1 3 5] StateTransitionFcn: @constvel StateTransitionJacobianFcn: @constveljac ProcessNoise: [3×3 double] HasAdditiveProcessNoise: 0 Shapes: 1 Rates: 1 GammaForgettingFactors: 1.0300 DegreesOfFreedom: 101 ScaleMatrices: [3×3 double] ExtentRotationFcn: @(x,dT)eye(3,class(x)) TemporalDecay: 100 Weights: 2.2204e-19 Labels: 0 Detections: {[1×1 objectDetection]} MeasurementFcn: @cvmeas MeasurementJacobianFcn: @cvmeasjac HasAdditiveMeasurementNoise: 1
PHD tracker, specified as a trackerPHD object.
gmphd
ggiwphd
PHD filter, returned as a gmphd object or a ggiwphd object.
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Introduced in R2023a
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