User parameters for tracker3d. More...

#include <saf_tracker.h>

Data Fields
int	Np
	Number of Monte Carlo samples/particles.

int	ARE_UNIT_VECTORS
	1: if the Cartesian coordinates are given as unit vectors, 0: if not

int	maxNactiveTargets
	Maximum number of simultaneous targets permitted.

float	noiseLikelihood
	Likelihood of an estimate being noise/clutter between [0..1].

float	measNoiseSD
	Measurement noise standard deviation.

float	noiseSpecDen
	Noise spectral density; influences the smoothness of the traget tracks.

int	ALLOW_MULTI_DEATH
	FLAG whether to allow for multiple target deaths in the same tracker prediction step.

float	init_birth
	PRIOR probability of birth [0 1].

float	alpha_death
	Coefficient influencing the likelihood that a target will die; always >= 1.

float	beta_death
	Coefficient influencing the likelihood that a target will die; always >= 1.

float	dt
	Elapsed time (in seconds) between observations/measurements.

float	W_avg_coeff
	Real-time tracking is based on the particle with highest weight.

int	FORCE_KILL_TARGETS
	FLAG force kill targets that are too close to one another.

float	forceKillDistance
	Euclidian distance at which to kill targets that come too close to other (older) targets (<=).

float	M0 [6]
	[0,1,2] Position of sound source PRIORs (x,y,z), [3,4,5] Mean velocity PRIORs (x,y,z) Note: If there is no reasonable prior position, then you can set higher variances.

float	P0 [6][6]
	Diagonal matrix, [0,1,2] Variance PRIORs of estimates along the x,y,z axes; [3,4,5] Velocity PRIORs of estimates along the x,y,z axes.

float	cd
	PRIOR probability of noise.

Detailed Description

User parameters for tracker3d.

Definition at line 59 of file saf_tracker.h.

Field Documentation

◆ ALLOW_MULTI_DEATH

int tracker3d_config::ALLOW_MULTI_DEATH

FLAG whether to allow for multiple target deaths in the same tracker prediction step.

1: enabled, 0: disabled

Definition at line 76 of file saf_tracker.h.

◆ alpha_death

float tracker3d_config::alpha_death

Coefficient influencing the likelihood that a target will die; always >= 1.

Definition at line 80 of file saf_tracker.h.

◆ ARE_UNIT_VECTORS

int tracker3d_config::ARE_UNIT_VECTORS

1: if the Cartesian coordinates are given as unit vectors, 0: if not

Definition at line 65 of file saf_tracker.h.

◆ beta_death

float tracker3d_config::beta_death

Coefficient influencing the likelihood that a target will die; always >= 1.

Definition at line 82 of file saf_tracker.h.

◆ cd

float tracker3d_config::cd

PRIOR probability of noise.

Definition at line 106 of file saf_tracker.h.

◆ dt

float tracker3d_config::dt

Elapsed time (in seconds) between observations/measurements.

Definition at line 84 of file saf_tracker.h.

◆ FORCE_KILL_TARGETS

int tracker3d_config::FORCE_KILL_TARGETS

FLAG force kill targets that are too close to one another.

In these cases, the target which has been 'alive' for the least amount of of time is killed; 1: enabled, 0: disabled

Definition at line 90 of file saf_tracker.h.

◆ forceKillDistance

float tracker3d_config::forceKillDistance

Euclidian distance at which to kill targets that come too close to other (older) targets (<=).

Definition at line 94 of file saf_tracker.h.

◆ init_birth

float tracker3d_config::init_birth

PRIOR probability of birth [0 1].

Definition at line 79 of file saf_tracker.h.

◆ M0

float tracker3d_config::M0[6]

[0,1,2] Position of sound source PRIORs (x,y,z), [3,4,5] Mean velocity PRIORs (x,y,z) Note: If there is no reasonable prior position, then you can set higher variances.

Definition at line 97 of file saf_tracker.h.

◆ maxNactiveTargets

int tracker3d_config::maxNactiveTargets

Maximum number of simultaneous targets permitted.

Definition at line 67 of file saf_tracker.h.

◆ measNoiseSD

float tracker3d_config::measNoiseSD

Measurement noise standard deviation.

Estimates within this standard deviation range belong to the same target

Definition at line 71 of file saf_tracker.h.

◆ noiseLikelihood

float tracker3d_config::noiseLikelihood

Likelihood of an estimate being noise/clutter between [0..1].

Definition at line 69 of file saf_tracker.h.

◆ noiseSpecDen

float tracker3d_config::noiseSpecDen

Noise spectral density; influences the smoothness of the traget tracks.

Definition at line 74 of file saf_tracker.h.

◆ Np

int tracker3d_config::Np

Number of Monte Carlo samples/particles.

The more complex the distribution is, the more particles required (but also the more computationally expensive the tracker becomes).

Definition at line 60 of file saf_tracker.h.

◆ P0

float tracker3d_config::P0[6][6]

Diagonal matrix, [0,1,2] Variance PRIORs of estimates along the x,y,z axes; [3,4,5] Velocity PRIORs of estimates along the x,y,z axes.

Definition at line 102 of file saf_tracker.h.

◆ W_avg_coeff

float tracker3d_config::W_avg_coeff

Real-time tracking is based on the particle with highest weight.

A one-pole averaging filter is used to smooth these weights over time [0..0.999]

Definition at line 86 of file saf_tracker.h.

The documentation for this struct was generated from the following file:

framework/modules/saf_tracker/saf_tracker.h

Data Fields