# plotDetection

Plot set of detections in theater detection plotter

## Description

plotDetection(detPlotter,positions) specifies positions of M detected objects whose positions are plotted by the detection plotter detPlotter. Specify the positions as an M-by-3 matrix, where each column of the matrix corresponds to the x-, y-, and z-coordinates of the detected object locations.

plotDetection(detPlotter,positions,velocities) also specifies the corresponding velocities of the detections. Velocities are plotted as line vectors emanating from the center positions of the detections. If specified, velocities must have the same dimensions as positions.

example

plotDetection(detPlotter,positions,___,labels) also specifies a cell vector of length M whose elements contain the text labels corresponding to the M detections specified in the positions matrix. If omitted, no labels are plotted.

plotDetection(detPlotter,positions,___,covariances) also specifies the covariances of the M detection uncertainties, where the covariances are a 3-by-3-by-M matrix of covariances that are centered at the positions of each detection. The uncertainties are plotted as an ellipsoid

## Examples

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Create a theater plot.

tp = theaterPlot('XLim',[0,90],'YLim',[-35,35],'ZLim',[1,10]);

Create a detection plotter with the name Radar Detections.

Update the detection plotter with three detections labeled 'R1', 'R2', and 'R3' positioned in units of meters at $\left(30,5,4\right)$, $\left(30,-10,2\right)$, and $\left(30,15,1\right)$ with corresponding velocities (in m/s) of $\left(-10,\text{\hspace{0.17em}}0,\text{\hspace{0.17em}}2\right)$, $\left(-10,\text{\hspace{0.17em}}3,\text{\hspace{0.17em}}1\right)$, and $\left(-10,\text{\hspace{0.17em}}-4,1\right)$, respectively.

positions = [30, 5, 4; 30, -10, 2; 30, 15, 1];
velocities = [-10, 0, 2; -10, 3, 1; -10, -4, 1];
labels = {'R1','R2','R3'};

## Input Arguments

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Detection plotter, specified as a detectionPlotter object.

Detection positions, specified as an M-by-3 real-valued matrix, where M is the number of detections. Each column of the matrix corresponds to the x-, y-, and z-coordinates of the detection positions in meters.

Detection velocities, specified as an M-by-3 real-valued matrix, where M is the number of detections. Each column of the matrix corresponds to the x-, y-, and z-velocities of the detections. If specified, velocities must have the same dimensions as positions.

Detection labels, specified as a M-by-1 cell array of character vectors, where M is the number of detections. The input argument labels contains the text labels corresponding to the M detections specified in positions. If labels is omitted, no labels are plotted.

Detection uncertainties of M tracked objects, specified as a 3-by-3-by-M real-valued array of covariances. The covariances are centered at the positions of each detection and are plotted as an ellipsoid.