addData
Description
addData(
adds the specified track ID data trackdata
,timestamps
,trackID
,classID
,position
)trackID
, class ID data
classID
, and position data position
with the
corresponding timestamps timestamps
to the actorTracklist
object trackdata
.
addData(___,
specifies
additional options using name-value arguments, in addition to all input arguments from the
previous syntax. For example, Name=Value
)Velocity={[4 1 0; 2 2 1]}
adds velocities
of the form [vx
vy
vz] for two actors at one timestamp.
Note
This function requires the Scenario Builder for Automated Driving Toolbox™ support package. You can install Scenario Builder for Automated Driving Toolbox from the Add-On Explorer. For more information about installing add-ons, see Get and Manage Add-Ons.
Examples
Create Empty Actor Track List Object and Add Data
Create an empty actorTracklist
object.
actorObject = actorTracklist
actorObject = actorTracklist with properties: TimeStamp: [] TrackIDs: [] ClassIDs: [] Position: [] Dimension: [] Orientation: [] Velocity: [] Speed: [] StartTime: [] EndTime: [] NumSamples: 0 UniqueTrackIDs: []
Load recorded actor track list data into the workspace.
data = load("actorTracklistData.mat");
Extract the recorded timestamps and the actor track IDs, class IDs, and position information from the data.
t = data.timestamps; % Extract timestamps trackids = data.actorTrackIDs; % Extract track IDs classids = data.actorClassIDs; % Extract class IDs pos = data.actorPosition; % Extract position information
Add the first five rows of data to the empty actorTracklist
object.
addData(actorObject,t(1:5),trackids(1:5),classids(1:5),pos(1:5))
Display the details of the actorTracklist
object.
disp(actorObject)
actorTracklist with properties: TimeStamp: [5x1 double] TrackIDs: {5x1 cell} ClassIDs: {5x1 cell} Position: {5x1 cell} Dimension: [] Orientation: [] Velocity: [] Speed: [] StartTime: 3.8300e-04 EndTime: 0.2003 NumSamples: 5 UniqueTrackIDs: [3x1 string]
Input Arguments
trackdata
— Actor track list information
actorTracklist
object
Actor track list information, specified as an actorTracklist
object.
timestamps
— Recording timestamps of track information to add
scalar | N-by-1 vector
Recording timestamps of track information to add, specified as a scalar or an N-element column vector. N is the number of timestamps. Units are in seconds.
Data Types: single
| double
trackID
— Track IDs of actors
N-by-1 string array | N-by-1 cell array
Track IDs of the actors, specified as an N-by-1 string array or an N-by-1 cell array. N is the number of timestamps for which you are adding information.
For a single recorded actor across each timestamp, specify
trackID
as an N-by-1 string array.
For a multiple recorded actors across each timestamp, specify
trackID
as an N-by-1 cell array. Each cell
contains the track IDs of the actors to add at the corresponding timestamp, specified as
a 1-by-M string array. M is the number of actors
at the timestamp.
classID
— Classification IDs of actors
N-element column vector | N-by-1 cell array
Classification IDs of the actors, specified as an N-element column vector or an N-by-1 cell array. N is the number of timestamps for which you are adding information.
For a single recorded actor across each timestamp, specify
classID
as an N-by-1 vector.
For a multiple recorded actors across each timestamp, specify
classID
as an N-by-1 cell array. Each cell
contains the class IDs of the detected actors to add at the corresponding timestamp,
specified as an M-element row vector of nonnegative integers.
M is the number of actors at the timestamp.
You must specify each class ID as one of these nonnegative integers:
1
— Car2
— Truck3
— Bicycle4
— Pedestrian0
— Others
position
— Positions of actors
N-by-1 cell array
Positions of actors with respect to the ego frame, specified as an N-by-1 cell array. N is the number of timestamps for which you are adding information. Each cell contains the positions of the actors detected at the corresponding timestamp, specified as an M-by-3 numeric matrix. M is the number of actors at the timestamp. Each row specifies the position of an actor in the form [x y z]. Units are in meters.
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: addData(trackdata,timestamps,trackID,classID,position,Velocity={[4 1 0;
2 2 1]})
adds velocities of the form [vx
vy
vz] for two actors at one timestamp.
Dimension
— Dimensions of the actors
N-by-1 cell array
Dimensions of the actors, specified as an N-by-1 cell array. N is the number of timestamps for which you are adding information. Each cell contains the dimensions of the actors detected at the corresponding timestamp, specified as an M-by-3 numeric matrix. M is the number of actors at the timestamp. Each row specifies the dimension of an actor in the form [length width height]. Units are in meters.
Orientation
— Orientations of the actors
N-by-1 cell array
Orientations of the actors, specified as an N-by-1 cell array. N is the number of timestamps for which you are adding information. Each cell contains the orientations of the actors detected at the corresponding timestamp, specified as an M-by-3 numeric matrix. M is the number of actors at the timestamp. Each row specifies the orientation of an actor in the form [yaw pitch roll]. Units are in degrees.
Speed
— Speeds of actors
N-by-1 cell array
Speeds of the actors with respect to the ego frame, specified as an N-by-1 cell array. N is the number of timestamps for which you are adding information. Each cell contains the speeds of the actors detected at the corresponding timestamp, specified as an M-element numeric row vector. M is the number of actors at the timestamp. Units are in meters per second.
Velocity
— Velocities of actors
N-by-1 cell array
Velocities of the actors with respect to the ego frame, specified as an N-by-1 cell array. N is the number of timestamps for which you are adding information. Each cell contains the velocities of the actors detected at the corresponding timestamp, specified as an M-by-3 numeric matrix. M is the number of actors at a timestamp. Each row specifies the velocity of an actor in the form [vx vy vz]. Units are in meters per second.
Version History
Introduced in R2023a
See Also
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