Hi Wajahat,
If you want to load your own recorded data into MATLAB as objectDetections using the same format as the objectDetections generated by radarDetectionGenerator, you can follow the format found here in the documentation .
The order for the reported measurements and noise follows: [azimuth, elevation, range, range-rate], where elevation and range-rate may be omitted by setting the corresponding 'HasElevation' and 'HasVelocity' field on the MeasurementParameters structure for the objectDetection.
In your case, for the noise covariance, the azimuth variance is (1,1), the range covariance is (2,2) and the range-rate covariance is (3,3).
Since your recorded detections are reported using 'Sensor spherical' coordinates, you will need to set the MeasurementParameters for each objectDetection to a structure with fields set to:
- Frame: 'spherical'
- OriginPosition: 3-by-1 vector defining the offset of the radar from the origin of the ego vehicle's coordinate frame
- Orientation: 3-by-3 rotation matrix whose columns define the axes of the radar in the ego vehicle's coordinate frame (column 1 defines a unit vector pointing along the radar boresight, column 3 is a unit vector defining up for the radar, and column 3 is the cross-product of the up and boresight vectors - pointing to the left of the radar.
- HasVelocity: true
- HasElevation: false
This format will enable you to process the detections using the multiObjectTracker and the various filter initialization functions provided in the toolbox (e.g. initcvekf)
I hope this helps,
Trevor
