% Set up the display
[videoReader, videoDisplayHandle, bepPlotters, sensor] = helperCreateFCWDemoDisplay('01_city_c2s_fcw_10s.mp4', 'SensorConfigurationData.mat');

% Read the recorded detections file
[visionObjects, radarObjects, inertialMeasurementUnit, laneReports, ...
    timeStep, numSteps] = readSensorRecordingsFile('01_city_c2s_fcw_10s_sensor.mat');

% An initial ego lane is calculated. If the recorded lane information is
% invalid, define the lane boundaries as straight lines half a lane
% distance on each side of the car
laneWidth = 3.6; % meters
egoLane = struct('left', [0 0 laneWidth/2], 'right', [0 0 -laneWidth/2]);

% Prepare some time variables
time = 0;           % Time since the beginning of the recording
currentStep = 0;    % Current timestep
snapTime = 9.3;     % The time to capture a snapshot of the display

% Initialize the tracker
[tracker, positionSelector, velocitySelector] = setupTracker();

while currentStep < numSteps && ishghandle(videoDisplayHandle)
    % Update scenario counters
    currentStep = currentStep + 1;
    time = time + timeStep;

    % Process the sensor detections as objectDetection inputs to the tracker
    [detections, laneBoundaries, egoLane] = processDetections(...
        visionObjects(currentStep), radarObjects(currentStep), ...
        inertialMeasurementUnit(currentStep), laneReports(currentStep), ...
        egoLane, time);

    % Using the list of objectDetections, return the tracks, updated to time
    confirmedTracks = updateTracks(tracker, detections, time);

    % Find the most important object and calculate the forward collision
    % warning
    mostImportantObject = findMostImportantObject(confirmedTracks, egoLane, positionSelector, velocitySelector);

    % Update video and birds-eye plot displays
    frame = readFrame(videoReader);     % Read video frame
    helperUpdateFCWDemoDisplay(frame, videoDisplayHandle, bepPlotters, ...
        laneBoundaries, sensor, confirmedTracks, mostImportantObject, positionSelector, ...
        velocitySelector, visionObjects(currentStep), radarObjects(currentStep));

    % Capture a snapshot
    if time >= snapTime && time < snapTime + timeStep
        snapnow;
    end
end

    function [tracker, positionSelector, velocitySelector] = setupTracker()
        tracker = multiObjectTracker(...
            'FilterInitializationFcn', @initConstantAccelerationFilter, ...
            'AssignmentThreshold', 35, 'ConfirmationThreshold', [2 3], ...
            'DeletionThreshold', 5);

        % The State vector is:
        %   In constant velocity:     State = [x;vx;y;vy]
        %   In constant acceleration: State = [x;vx;ax;y;vy;ay]

        % Define which part of the State is the position. For example:
        %   In constant velocity:     [x;y] = [1 0 0 0; 0 0 1 0] * State
        %   In constant acceleration: [x;y] = [1 0 0 0 0 0; 0 0 0 1 0 0] * State
        positionSelector = [1 0 0 0 0 0; 0 0 0 1 0 0];

        % Define which part of the State is the velocity. For example:
        %   In constant velocity:     [x;y] = [0 1 0 0; 0 0 0 1] * State
        %   In constant acceleration: [x;y] = [0 1 0 0 0 0; 0 0 0 0 1 0] * State
        velocitySelector = [0 1 0 0 0 0; 0 0 0 0 1 0];
    end

function filter = initConstantAccelerationFilter(detection)
% This function shows how to configure a constant acceleration filter. The
% input is an objectDetection and the output is a tracking filter.
% For clarity, this function shows how to configure a trackingKF,
% trackingEKF, or trackingUKF for constant acceleration.
%
% Steps for creating a filter:
%   1. Define the motion model and state
%   2. Define the process noise
%   3. Define the measurement model
%   4. Initialize the state vector based on the measurement
%   5. Initialize the state covariance based on the measurement noise
%   6. Create the correct filter

    % Step 1: Define the motion model and state
    % This example uses a constant acceleration model, so:
    STF = @constacc;     % State-transition function, for EKF and UKF
    STFJ = @constaccjac; % State-transition function Jacobian, only for EKF
    % The motion model implies that the state is [x;vx;ax;y;vy;ay]
    % You can also use constvel and constveljac to set up a constant
    % velocity model, constturn and constturnjac to set up a constant turn
    % rate model, or write your own models.

    % Step 2: Define the process noise
    dt = 0.05; % Known timestep size
    sigma = 1; % Magnitude of the unknown acceleration change rate
    % The process noise along one dimension
    Q1d = [dt^4/4, dt^3/2, dt^2/2; dt^3/2, dt^2, dt; dt^2/2, dt, 1] * sigma^2;
    Q = blkdiag(Q1d, Q1d); % 2-D process noise

    % Step 3: Define the measurement model
    MF = @fcwmeas;       % Measurement function, for EKF and UKF
    MJF = @fcwmeasjac;   % Measurement Jacobian function, only for EKF

    % Step 4: Initialize a state vector based on the measurement
    % The sensors measure [x;vx;y;vy] and the constant acceleration model's
    % state is [x;vx;ax;y;vy;ay], so the third and sixth elements of the
    % state vector are initialized to zero.
    state = [detection.Measurement(1); detection.Measurement(2); 0; detection.Measurement(3); detection.Measurement(4); 0];

    % Step 5: Initialize the state covariance based on the measurement
    % noise. The parts of the state that are not directly measured are
    % assigned a large measurement noise value to account for that.
    L = 100; % A large number relative to the measurement noise
    stateCov = blkdiag(detection.MeasurementNoise(1:2,1:2), L, detection.MeasurementNoise(3:4,3:4), L);

    % Step 6: Create the correct filter.
    % Use 'KF' for trackingKF, 'EKF' for trackingEKF, or 'UKF' for trackingUKF
    FilterType = 'EKF';

    % Creating the filter:
    switch FilterType
        case 'EKF'
            filter = trackingEKF(STF, MF, state,...
                'StateCovariance', stateCov, ...
                'MeasurementNoise', detection.MeasurementNoise(1:4,1:4), ...
                'StateTransitionJacobianFcn', STFJ, ...
                'MeasurementJacobianFcn', MJF, ...
                'ProcessNoise', Q ...
                );
        case 'UKF'
            filter = trackingUKF(STF, MF, state, ...
                'StateCovariance', stateCov, ...
                'MeasurementNoise', detection.MeasurementNoise(1:4,1:4), ...
                'Alpha', 1e-1, ...
                'ProcessNoise', Q ...
                );
        case 'KF' % The ConstantAcceleration model is linear and KF can be used
            % Define the measurement model: measurement = H * state
            % In this case:
            %   measurement = [x;vx;y;vy] = H * [x;vx;ax;y;vy;ay]
            % So, H = [1 0 0 0 0 0; 0 1 0 0 0 0; 0 0 0 1 0 0; 0 0 0 0 1 0]
            %
            % Note that ProcessNoise is automatically calculated by the
            % ConstantAcceleration motion model
            H = [1 0 0 0 0 0; 0 1 0 0 0 0; 0 0 0 1 0 0; 0 0 0 0 1 0];
            filter = trackingKF('MotionModel', '2D Constant Acceleration', ...
                'MeasurementModel', H, 'State', state, ...
                'MeasurementNoise', detection.MeasurementNoise(1:4,1:4), ...
                'StateCovariance', stateCov);
    end
end

    function [detections,laneBoundaries, egoLane] = processDetections...
            (visionFrame, radarFrame, IMUFrame, laneFrame, egoLane, time)
        % Inputs:
        %   visionFrame - objects reported by the vision sensor for this time frame
        %   radarFrame  - objects reported by the radar sensor for this time frame
        %   IMUFrame    - inertial measurement unit data for this time frame
        %   laneFrame   - lane reports for this time frame
        %   egoLane     - the estimated ego lane
        %   time        - the time corresponding to the time frame

        % Remove clutter radar objects
        [laneBoundaries, egoLane] = processLanes(laneFrame, egoLane);
        realRadarObjects = findNonClutterRadarObjects(radarFrame.object,...
            radarFrame.numObjects, IMUFrame.velocity, laneBoundaries);

        % Return an empty list if no objects are reported

        % Counting the total number of objects
        detections = {};
        if (visionFrame.numObjects + numel(realRadarObjects)) == 0
            return;
        end

        % Process the remaining radar objects
        detections = processRadar(detections, realRadarObjects, time);

        % Process video objects
        detections = processVideo(detections, visionFrame, time);
    end

    function mostImportantObject = findMostImportantObject(confirmedTracks,egoLane,positionSelector,velocitySelector)

        % Initialize outputs and parameters
        MIO = [];               % By default, there is no MIO
        trackID = [];           % By default, there is no trackID associated with an MIO
        FCW = 3;                % By default, if there is no MIO, then FCW is 'safe'
        threatColor = 'green';  % By default, the threat color is green
        maxX = 1000;  % Far enough forward so that no track is expected to exceed this distance
        gAccel = 9.8; % Constant gravity acceleration, in m/s^2
        maxDeceleration = 0.4 * gAccel; % Euro NCAP AEB definition
        delayTime = 1.2; % Delay time for a driver before starting to brake, in seconds

        positions = getTrackPositions(confirmedTracks, positionSelector);
        velocities = getTrackVelocities(confirmedTracks, velocitySelector);

        for i = 1:numel(confirmedTracks)
            x = positions(i,1);
            y = positions(i,2);

            relSpeed = velocities(i,1); % The relative speed between the cars, along the lane

            if x < maxX && x > 0 % No point checking otherwise
                yleftLane  = polyval(egoLane.left,  x);
                yrightLane = polyval(egoLane.right, x);
                if (yrightLane <= y) && (y <= yleftLane)
                    maxX = x;
                    trackID = i;
                    MIO = confirmedTracks(i).TrackID;
                    if relSpeed < 0 % Relative speed indicates object is getting closer
                        % Calculate expected braking distance according to
                        % Euro NCAP AEB Test Protocol
                        d = abs(relSpeed) * delayTime + relSpeed^2 / 2 / maxDeceleration;
                        if x <= d % 'warn'
                            FCW = 1;
                            threatColor = 'red';
                        else % 'caution'
                            FCW = 2;
                            threatColor = 'yellow';
                        end
                    end
                end
            end
        end
        mostImportantObject = struct('ObjectID', MIO, 'TrackIndex', trackID, 'Warning', FCW, 'ThreatColor', threatColor);
    end

function [visionObjects, radarObjects, inertialMeasurementUnit, laneReports, ...
    timeStep, numSteps] = readSensorRecordingsFile(sensorRecordingFileName)
% Read Sensor Recordings
% The |ReadDetectionsFile| function reads the recorded sensor data file.
% The recorded data is a single structure that is divided into the
% following substructures:
%
% # |inertialMeasurementUnit|, a struct array with fields: timeStamp,
%   velocity, and yawRate. Each element of the array corresponds to a
%   different timestep.
% # |laneReports|, a struct array with fields: left and right. Each element
%   of the array corresponds to a different timestep.
%   Both left and right are structures with fields: isValid, confidence,
%   boundaryType, offset, headingAngle, and curvature.
% # |radarObjects|, a struct array with fields: timeStamp (see below),
%   numObjects (integer) and object (struct). Each element of the array
%   corresponds to a different timestep.
%   |object| is a struct array, where each element is a separate object,
%   with the fields: id, status, position(x;y;z), velocity(vx,vy,vz),
%   amplitude, and rangeMode.
%   Note: z is always constant and vz=0.
% # |visionObjects|, a struct array with fields: timeStamp (see below),
%   numObjects (integer) and object (struct). Each element of the array
%   corresponds to a different timestep.
%   |object| is a struct array, where each element is a separate object,
%   with the fields: id, classification, position (x;y;z),
%   velocity(vx;vy;vz), size(dx;dy;dz). Note: z=vy=vz=dx=dz=0
%
% The timeStamp for recorded vision and radar objects is a uint64 variable
% holding microseconds since the Unix epoch. Timestamps are recorded about
% 50 milliseconds apart. There is a complete synchronization between the
% recordings of vision and radar detections, therefore the timestamps are
% not used in further calculations.

A = load(sensorRecordingFileName);
visionObjects = A.vision;
radarObjects = A.radar;
laneReports = A.lane;
inertialMeasurementUnit = A.inertialMeasurementUnit;

timeStep = 0.05;                 % Data is provided every 50 milliseconds
numSteps = numel(visionObjects); % Number of recorded timesteps
end

function [laneBoundaries, egoLane] = processLanes(laneReports, egoLane)
% Lane boundaries are updated based on the laneReports from the recordings.
% Since some laneReports contain invalid (isValid = false) reports or
% impossible parameter values (-1e9), these lane reports are ignored and
% the previous lane boundary is used.
leftLane    = laneReports.left;
rightLane   = laneReports.right;

% Check the validity of the reported left lane
cond = (leftLane.isValid && leftLane.confidence) && ...
    ~(leftLane.headingAngle == -1e9 || leftLane.curvature == -1e9);
if cond
    egoLane.left = cast([leftLane.curvature, leftLane.headingAngle, leftLane.offset], 'double');
end

% Update the left lane boundary parameters or use the previous ones
leftParams  = egoLane.left;
leftBoundaries = parabolicLaneBoundary(leftParams);
leftBoundaries.Strength = 1;

% Check the validity of the reported right lane
cond = (rightLane.isValid && rightLane.confidence) && ...
    ~(rightLane.headingAngle == -1e9 || rightLane.curvature == -1e9);
if cond
    egoLane.right  = cast([rightLane.curvature, rightLane.headingAngle, rightLane.offset], 'double');
end

% Update the right lane boundary parameters or use the previous ones
rightParams = egoLane.right;
rightBoundaries = parabolicLaneBoundary(rightParams);
rightBoundaries.Strength = 1;

laneBoundaries = [leftBoundaries, rightBoundaries];
end

function realRadarObjects = findNonClutterRadarObjects(radarObject, numRadarObjects, egoSpeed, laneBoundaries)
% The radar objects include many objects that belong to the clutter.
% Clutter is defined as a stationary object that is not in front of the
% car. The following types of objects pass as nonclutter:
%
% # Any object in front of the car
% # Any moving object in the area of interest around the car, including
%   objects that move at a lateral speed around the car

    % Allocate memory
    normVs = zeros(numRadarObjects, 1);
    inLane = zeros(numRadarObjects, 1);
    inZone = zeros(numRadarObjects, 1);

    % Parameters
    LaneWidth = 3.6;            % What is considered in front of the car
    ZoneWidth = 1.7*LaneWidth;  % A wider area of interest
    minV = 1;                   % Any object that moves slower than minV is considered stationary
    for j = 1:numRadarObjects
        [vx, vy] = calculateGroundSpeed(radarObject(j).velocity(1),radarObject(j).velocity(2),egoSpeed);
        normVs(j) = norm([vx,vy]);
        laneBoundariesAtObject = computeBoundaryModel(laneBoundaries, radarObject(j).position(1));
        laneCenter = mean(laneBoundariesAtObject);
        inLane(j) = (abs(radarObject(j).position(2) - laneCenter) <= LaneWidth/2);
        inZone(j) = (abs(radarObject(j).position(2) - laneCenter) <= max(abs(vy)*2, ZoneWidth));
    end
    realRadarObjectsIdx = union(...
        intersect(find(normVs > minV), find(inZone == 1)), ...
        find(inLane == 1));

    realRadarObjects = radarObject(realRadarObjectsIdx);
end

function [Vx,Vy] = calculateGroundSpeed(Vxi,Vyi,egoSpeed)
% Inputs
%   (Vxi,Vyi) : relative object speed
%   egoSpeed  : ego vehicle speed
% Outputs
%   [Vx,Vy]   : ground object speed

    Vx = Vxi + egoSpeed;    % Calculate longitudinal ground speed
    theta = atan2(Vyi,Vxi); % Calculate heading angle
    Vy = Vx * tan(theta);   % Calculate lateral ground speed

end

function postProcessedDetections = processVideo(postProcessedDetections, visionFrame, t)
% Process the video objects into objectDetection objects
numRadarObjects = numel(postProcessedDetections);
numVisionObjects = visionFrame.numObjects;
if numVisionObjects
    classToUse = class(visionFrame.object(1).position);
    visionMeasCov = cast(diag([2,2,2,100]), classToUse);
    % Process Vision Objects:
    for i=1:numVisionObjects
        object = visionFrame.object(i);
        postProcessedDetections{numRadarObjects+i} = objectDetection(t,...
            [object.position(1); object.velocity(1); object.position(2); 0], ...
            'SensorIndex', 1, 'MeasurementNoise', visionMeasCov, ...
            'MeasurementParameters', {1}, ...
            'ObjectClassID', object.classification, ...
            'ObjectAttributes', {object.id, object.size});
    end
end
end

function postProcessedDetections = processRadar(postProcessedDetections, realRadarObjects, t)
% Process the radar objects into objectDetection objects
numRadarObjects = numel(realRadarObjects);
if numRadarObjects
    classToUse = class(realRadarObjects(1).position);
    radarMeasCov = cast(diag([2,2,2,100]), classToUse);
    % Process Radar Objects:
    for i=1:numRadarObjects
        object = realRadarObjects(i);
        postProcessedDetections{i} = objectDetection(t, ...
            [object.position(1); object.velocity(1); object.position(2); object.velocity(2)], ...
            'SensorIndex', 2, 'MeasurementNoise', radarMeasCov, ...
            'MeasurementParameters', {2}, ...
            'ObjectAttributes', {object.id, object.status, object.amplitude, object.rangeMode});
    end
end
end

function measurement = fcwmeas(state, sensorID)
% The example measurements depend on the sensor type, which is reported by
% the MeasurementParameters property of the objectDetection. The following
% two sensorID values are used:
%   sensorID=1: video objects, the measurement is [x;vx;y].
%   sensorID=2: radar objects, the measurement is [x;vx;y;vy].
% The state is:
%   Constant velocity       state = [x;vx;y;vy]
%   Constant turn           state = [x;vx;y;vy;omega]
%   Constant acceleration   state = [x;vx;ax;y;vy;ay]

    if numel(state) < 6 % Constant turn or constant velocity
        switch sensorID
            case 1 % video
                measurement = [state(1:3); 0];
            case 2 % radar
                measurement = state(1:4);
        end
    else % Constant acceleration
        switch sensorID
            case 1 % video
                measurement = [state(1:2); state(4); 0];
            case 2 % radar
                measurement = [state(1:2); state(4:5)];
        end
    end
end

function jacobian = fcwmeasjac(state, sensorID)
% The example measurements depend on the sensor type, which is reported by
% the MeasurementParameters property of the objectDetection. We choose
% sensorID=1 for video objects and sensorID=2 for radar objects.  The
% following two sensorID values are used:
%   sensorID=1: video objects, the measurement is [x;vx;y].
%   sensorID=2: radar objects, the measurement is [x;vx;y;vy].
% The state is:
%   Constant velocity       state = [x;vx;y;vy]
%   Constant turn           state = [x;vx;y;vy;omega]
%   Constant acceleration   state = [x;vx;ax;y;vy;ay]

    numStates = numel(state);
    jacobian = zeros(4, numStates);

    if numel(state) < 6 % Constant turn or constant velocity
        switch sensorID
            case 1 % video
                jacobian(1,1) = 1;
                jacobian(2,2) = 1;
                jacobian(3,3) = 1;
            case 2 % radar
                jacobian(1,1) = 1;
                jacobian(2,2) = 1;
                jacobian(3,3) = 1;
                jacobian(4,4) = 1;
        end
    else % Constant acceleration
        switch sensorID
            case 1 % video
                jacobian(1,1) = 1;
                jacobian(2,2) = 1;
                jacobian(3,4) = 1;
            case 2 % radar
                jacobian(1,1) = 1;
                jacobian(2,2) = 1;
                jacobian(3,4) = 1;
                jacobian(4,5) = 1;
        end
    end
end