saf_tracker

Files
file	saf_tracker.c
	Particle filtering based 3D multi-target tracker (SAF_TRACKER_MODULE)
file	saf_tracker.h
	Particle filtering based 3D multi-target tracker (SAF_TRACKER_MODULE)
file	saf_tracker_internal.c
	Particle filtering based 3D multi-target tracker (SAF_TRACKER_MODULE)
file	saf_tracker_internal.h
	Particle filtering based 3D multi-target tracker (SAF_TRACKER_MODULE)

Data Structures
struct	tracker3d_config
	User parameters for tracker3d. More...

Functions
void	tracker3d_create (void **const phT3d, tracker3d_config tpars)
	Creates an instance of the mighty tracker3d.
void	tracker3d_destroy (void **const phT3d)
	Destroys an instance of the mighty tracker3d.
void	tracker3d_reset (void *const hT3d)
	Resets an instance of the mighty tracker3d.
void	tracker3d_step (void *const hT3d, float *newObs_xyz, int nObs, float **target_pos_xyz, float **target_var_xyz, int **target_IDs, int *nTargets)
	Tracker time step to update & predict current target locations and to parse new measurements/observations, as described in [1].

Detailed Description

Particle-filtering based 3D multi-target tracker

Function Documentation

tracker3d_create()

void tracker3d_create	(	void **const	phT3d,
		tracker3d_config	tpars )

Creates an instance of the mighty tracker3d.

Test

test__tracker3d()

Parameters

[in]	phT3d	(&) address of tracker3d handle
[in]	tpars	Tracker configuration/user parameter struct

Definition at line 49 of file saf_tracker.c.

tracker3d_destroy()

void tracker3d_destroy

(

void **const

phT3d

)

Destroys an instance of the mighty tracker3d.

Parameters

[in]

phT3d

(&) address of tracker3d handle

Definition at line 126 of file saf_tracker.c.

tracker3d_reset()

void tracker3d_reset

(

void *const

hT3d

)

Resets an instance of the mighty tracker3d.

Parameters

[in]

hT3d

tracker3d handle

Definition at line 154 of file saf_tracker.c.

tracker3d_step()

void tracker3d_step	(	void *const	hT3d,
		float *	newObs_xyz,
		int	nObs,
		float **	target_pos_xyz,
		float **	target_var_xyz,
		int **	target_IDs,
		int *	nTargets )

Tracker time step to update & predict current target locations and to parse new measurements/observations, as described in [1].

Note

It is assumed that this will be called every step in time (tpars.dt). If there are no new observations/measurements then still call this function, but set newObs_xyz=NULL and/or, nObs=0.

Parameters

[in]	hT3d	tracker3d handle
[in]	newObs_xyz	New observations/measurements; nObs x 3
[in]	nObs	Number of new observations/measurements
[out]	target_pos_xyz	(&) Current target positions; nTargets x 3
[out]	target_var_xyz	(&) Current target variances; nTargets x 3
[out]	target_IDs	(&) Unique target IDs; nTargets x 1
[out]	nTargets	(&) Current number of targets being tracked

See also

[1] McCormack, L., Politis, A. Sa"rkka", S., and Pulkki, V., 2021. Real-Time Tracking of Multiple Acoustical Sources Utilising Rao-Blackwellised Particle Filtering. In 29th European Signal Processing Conference (EUSIPCO), (pp. 206-210).

Definition at line 167 of file saf_tracker.c.