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plotDetection

Plot detections in trackingGlobeViewer

Description

plotDetection(viewer,detections) plots detections on the tracking globe viewer.

example

plotDetection(___,frame) specifies the reference frame used to interpret the coordinates of the detections.

plotDetection(___,Name=Value) specifies options using one or more name-value arguments. For example, plotDetection(viewer,detect,Color=[1 0 0]) specifies the color of the plotted detections as the RGB triplet [1 0 0].

Examples

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Create a tracking globe viewer and specify its reference location. Specify the camera position and orientation.

refloc = [42.366978 -71.022362 50];
viewer = trackingGlobeViewer(ReferenceLocation=refloc);
campos(viewer,42.3374,-71.0605,872.7615);
camorient(viewer,[39 0 -2.7]);

Plot a Cartesian measurement of [0 100 –300] expressed in the sensor frame, which is an NED frame whose origin position is [1000 0 0] with respect to the local NED frame of the viewer. The origin of this local NED frame is the same as the reference location of the viewer.

det1 = objectDetection(0,[0 100 -300],MeasurementParameters=struct("Frame","rectangular",...
    "OriginPosition",[1000 0 0]));
plotDetection(viewer,det1,"NED");

Plot a Cartesian measurement of [0 100 350] expressed in the sensor frame, which a ENU frame whose origin position is [1000 0 0] with respect to the local ENU frame of the viewer. The origin of this local ENU frame is the same as the reference location of the viewer.

det2 = objectDetection(0,[0 100 350],MeasurementParameters= ...
    struct("Frame","rectangular", ...
    "OriginPosition",[1000 0 0], ... 
    "Orientation",eye(3)), ...
    SensorIndex=2); 
plotDetection(viewer,det2,"ENU",Color=[0.5 0.5 0]); 

Plot a Cartesian measurement expressed in the sensor frame, which overlaps the ECEF frame.

det3 = objectDetection(0,[1.5349; -4.4634; 4.2761]*1e6,MeasurementParameters= ...
    struct("Frame","rectangular", ... 
    "OriginPosition",[0 0 0], ... 
    "Orientation",eye(3)), ...
    SensorIndex=3);
plotDetection(viewer,det3,"ECEF",Color=[0 0.5 0]); 

Take a snapshot and show the results.

drawnow
snapshot(viewer)

Input Arguments

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Tracking globe viewer, specified as a trackingGlobeViewer object.1

Object detections, specified as an objectDetection object, an array of objectDetection objects, or a cell array of objectDetection objects.

Reference frame, specified as "NED" for north-east down, "ENU" for east-north-up, or "ECEF" for Earth-centered-Earth-fixed. When specified as "NED" or "ENU", the origin of the reference frame is at the location specified by the ReferenceLocation property of the viewer object.

Data Types: char | string

Name-Value Arguments

Specify optional pairs of arguments as Name1=Value1,...,NameN=ValueN, where Name is the argument name and Value is the corresponding value. Name-value arguments must appear after other arguments, but the order of the pairs does not matter.

Example: plotDetection(viewer,detect,Color=[1 0 0])

Color of detections, specified as:

  • A 1-by-3 RGB triplet — Plot all the detections with the same color.

  • An N-by-3 matrix of RGB triplets — Plot each trajectory line with a different color. N is the number of unique SensorIndex in the detections input. In this way, you can specify different colors for detections generated from different sensors.

Version History

Introduced in R2021b

1 Alignment of boundaries and region labels are a presentation of the feature provided by the data vendors and do not imply endorsement by MathWorks®.