f_compute_remain.m

多目标跟踪 (三维)-算法matlab编制

function [input_mes_rt,input_mes_total_rt]=f_compute_remain(M,input_mes,input_mes_total,new_target_total,asso_mes)
%计算未关联到的量测及数目

temp1=[];
temp2=linspace(0,0,M-1);

for i=2:M 
    mes_index=sum(input_mes_total(1:i-1));
    for j=1:input_mes_total(i) 
         if new_target_total==0
             temp1=[temp1 input_mes(:,mes_index+j)]
             temp2(i-1)=temp2(i-1)+1;
         elseif isempty(find(j==asso_mes(:,M)))
             temp1=[temp1 input_mes(:,mes_index+j)];%未关联上的量测 
             temp2(i-1)=temp2(i-1)+1;
         end
         
     end
end
          
input_mes_rt=temp1;
input_mes_total_rt=temp2;