www.pudn.com > trackingdemos.zip > plot_scn.m

function fig = plot_scn(target, measurement) 
 
numScans = length(target(1).time); 
% plot the ground truth and the measurements 
fig = figure; 
hold on; 
 
ny = length(target); 
for j=1:ny 
    p0 = plot(target(j).state(1,:), target(j).state(3,:), 'b'); 
end 
 
for i=1:numScans 
    for j=1:length(measurement(i).flag) 
        meas_x = measurement(i).range(j)*cos(measurement(i).bearing(j)) + measurement(i).pos(1); 
        meas_y = measurement(i).range(j)*sin(measurement(i).bearing(j)) + measurement(i).pos(2);         
        if measurement(i).flag(j) == 1 
            p1 = plot(meas_x, meas_y, 'm.'); 
        elseif measurement(i).flag(j) == 0 
            p2 = plot(meas_x, meas_y, 'k*'); 
        else 
            p3 = plot(meas_x, meas_y, 'c+'); 
        end 
    end 
end 
legend([p0, p1, p2, p3], 'target', 'resolved', 'unresolved', 'false'); 
xlabel('x position (m)'); 
ylabel('y position (m)'); 
title('Measurements of the two crossing targets from two sensors'); 
hold off;