How to set source index of trackergnn?

Hi,

I am using several trackerGNN to form tracks on simulated measurements. Each trackerGNN initialization corresponds to a new sensor. That is,

for jj=1:nSensors

sensors(jj).tracker = trackerGNN('FilterInitializationFcn',@initcvkf,'ConfirmationThreshold',[4 5],'DeletionThreshold',10);

end

I would like to then fuse these tracks across the sensors.

nSensors = nCombine;

internalSource1 = fuserSourceConfiguration(1,'IsInternalSource',true);

internalSource2 = fuserSourceConfiguration(2,'IsInternalSource',false);

fuser = trackFuser('MaxNumSources',2,'SourceConfigurations',{internalSource1;internalSource2},'StateFusion','Cross');

fusedTracks = fuser(localTracks,ii);

To do this, I need to have a defined SourceIndex for each track point, I think. How do I set this SourceIndex? I would like to do it initially such as when I call trackerGNN but I cant seem to get that to work.

Thanks

Answer 1

[Prashant Arora]

Hi Ryan,

trackerGNN has "TrackerIndex" property that controls the SourceIndex of the output tracks.

See the property documentation below for more information.

Multi-sensor, multi-object tracker using GNN assignment - MATLAB (mathworks.com)

Thanks,

Prashant

[Ryan Fogle]

That works! Thanks