initializeTrack

Initialize new track

Since R2020a

Syntax

trackID = initializeTrack(tracker,track)

trackID = initializeTrack(tracker,track,filter)

Description

trackID = initializeTrack(tracker,track) initializes a new track in the tracker. The tracker must be updated at least once before initializing a track. If the track is initialized successfully, the tracker assigns the output trackID to the track, sets the UpdateTime of the track equal to the last step time in the tracker, and synchronizes the data in the input track to the initialized track.

A warning is issued if the tracker already maintains the maximum number of tracks specified by itsMaxNumTracks property. In this case, the trackID is returned as 0, which indicates a failure to initialize the track.

trackID = initializeTrack(tracker,track,filter) initializes a new track in the tracker, using a specified tracking filter, filter.

Examples

Initialize Track in multiObjectTracker

Create a multi-object tracker and update the tracker with detections at $\mathit{t}=0$ and $\mathit{t}=1$second.

tracker = multiObjectTracker

tracker = 
  multiObjectTracker with properties:

                  TrackerIndex: 0
       FilterInitializationFcn: 'initcvkf'
           AssignmentThreshold: [30 Inf]
                  MaxNumTracks: 200
              MaxNumDetections: Inf
                 MaxNumSensors: 20

                  OOSMHandling: 'Terminate'

         ConfirmationThreshold: [2 3]
             DeletionThreshold: [5 5]

            HasCostMatrixInput: false
    HasDetectableTrackIDsInput: false
               StateParameters: [1x1 struct]

                     NumTracks: 0
            NumConfirmedTracks: 0

detection1 = objectDetection(0,[1;1;1]);
detection2 = objectDetection(1,[1.1;1.2;1.1]);
tracker(detection1,0);
currentTrack = tracker(detection2,1);

As seen from the NumTracks property, the tracker now maintains one track.

tracker

tracker = 
  multiObjectTracker with properties:

                  TrackerIndex: 0
       FilterInitializationFcn: 'initcvkf'
           AssignmentThreshold: [30 Inf]
                  MaxNumTracks: 200
              MaxNumDetections: Inf
                 MaxNumSensors: 20

                  OOSMHandling: 'Terminate'

         ConfirmationThreshold: [2 3]
             DeletionThreshold: [5 5]

            HasCostMatrixInput: false
    HasDetectableTrackIDsInput: false
               StateParameters: [1x1 struct]

                     NumTracks: 1
            NumConfirmedTracks: 1

Create a new track using the objectTrack object.

newTrack = objectTrack()

newTrack = 
  objectTrack with properties:

                     TrackID: 1
                    BranchID: 0
                 SourceIndex: 1
                  UpdateTime: 0
                         Age: 1
                       State: [6x1 double]
             StateCovariance: [6x6 double]
             StateParameters: [1x1 struct]
               ObjectClassID: 0
    ObjectClassProbabilities: 1
                  TrackLogic: 'History'
             TrackLogicState: 1
                 IsConfirmed: 1
                   IsCoasted: 0
              IsSelfReported: 1
            ObjectAttributes: [1x1 struct]

Initialize a track in the GNN tracker object using the newly created track.

trackID = initializeTrack(tracker,newTrack)

trackID = uint32

2

As seen from the NumTracks property, the tracker now maintains two tracks.

tracker

tracker = 
  multiObjectTracker with properties:

                  TrackerIndex: 0
       FilterInitializationFcn: 'initcvkf'
           AssignmentThreshold: [30 Inf]
                  MaxNumTracks: 200
              MaxNumDetections: Inf
                 MaxNumSensors: 20

                  OOSMHandling: 'Terminate'

         ConfirmationThreshold: [2 3]
             DeletionThreshold: [5 5]

            HasCostMatrixInput: false
    HasDetectableTrackIDsInput: false
               StateParameters: [1x1 struct]

                     NumTracks: 2
            NumConfirmedTracks: 2

Input Arguments

tracker — Multi-object tracker

multiObjectTracker System object™

Multi-object tracker, specified as a multiObjectTracker System object.

track — New track to be initialized

objectTrack object | structure

New track to be initialized, specified as an objectTrack object or a structure. If specified as a structure, the name, variable type, and data size of the fields of the structure must be the same as the name, variable type, and data size of the corresponding properties of the objectTrack object.

Data Types: struct | object

filter — Filter object

trackingKF | trackingEKF | trackingUKF

Filter object, specified as a trackingKF, trackingEKF, or trackingUKF object.

Output Arguments

trackID — Track identifier

nonnegative integer

Track identifier, returned as a nonnegative integer. trackID is returned as 0 if the track is not initialized successfully.

Example: 2

Version History

Introduced in R2020a