generateCode

Generate code for tracker object and object functions

Since R2024a

Syntax

generateCode(tracker,fileName)

generateCode(tracker,fileName,Name=Value)

codegenArg = generateCode(___)

Description

generateCode(tracker,fileName) generates code from the tracker specified in tracker and its corresponding object functions. It creates a MEX tracker with the name specified in fileName, and stores the generated MEX tracker in a folder also named fileName. This function also generates code for the getProperty and setProperty function, which you can use to get or set any tunable property of the generated MEX tracker.

generateCode(tracker,fileName,Name=Value) specifies code generation properties using one or more name-value arguments. Unspecified properties have default values.

codegenArg = generateCode(___) returns the arguments used by the code generation function codegen. Use codegenArg to regenerate code from the entry-point functions.

Note

You must have a MATLAB^® Coder™ license to use this object function.

example

Examples

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Generate MEX Code to Track Two Objects

Open Live Script

Create trackerGNN Object and Lock It

Construct a trackerGNN object with the default 2-D constant-velocity Kalman filter initialization function initcvkf.

tracker = trackerGNN(FilterInitializationFcn=@initcvkf, ...
    TrackLogic='Score', ...
    StateParameters=struct('Frame','Rectangular','Position',[0 0 0],'Velocity',[0 0 0]));

To use the generateCode function, lock the tracker first by calling it using real detection information. To check the locked status, use the isLocked function.

isLocked(tracker)

ans = logical
   0

detections = {objectDetection(0,[5;0],"SensorIndex",1, ...
    "ObjectClassID",5,"ObjectAttributes",{struct("ID",1)}); ...
    objectDetection(0,[0;10],"SensorIndex",1, ...
    "ObjectClassID",2,"ObjectAttributes",{struct("ID",2)})};
time = 0;
tracks = tracker(detections,time);
isLocked(tracker)

ans = logical
   1

Generate and run MEX functions

Create MEX functions for the tracker under a directory named myGNNTracker.

codegenArgs = generateCode(tracker,"myGNNTracker");

Generating code.

Code generation successful.

Initialize myGNNTracker with a detection report using the generated step MEX function. The detection report contains two detections with nonzero ObjectClassID, which immediately create confirmed tracks. The MEX tracker resets after generating code and does not retain any detection information that was used to lock it.

[confTracks0,~,~,~] = myGNNTracker('step',detections,0);

Update myGNNTracker with a new detection report. Display the updated tracker state.

detections1 = {objectDetection(1,[25;0],"SensorIndex",1, ...
    "ObjectClassID",5,"ObjectAttributes",{struct("ID",1)}); ...
    objectDetection(1,[0;20],"SensorIndex",1, ...
    "ObjectClassID",2,"ObjectAttributes",{struct("ID",2)})};
[confTracks1,~,~,~] = myGNNTracker("step",detections1,1);
disp(confTracks1(1).State)

disp(confTracks1(2).State)

Predict and display the states of the tracks at a later time using the generated predictTracksToTime MEX function.

predictedTracks5 = myGNNTracker('predictTracksToTime','all',5);
disp(predictedTracks5(1).State)

disp(predictedTracks5(2).State)

Reset MEX Tracker and Start New Simulation With Different StateParameters

Reset MEX tracker using the generated reset MEX function.

myGNNTracker('reset');

Inspect the current parameters of the track state reference frame.

myGNNTracker('getProperty','StateParameters')

ans = struct with fields:
       Frame: 'Rectangular'
    Position: [0 0 0]
    Velocity: [0 0 0]

Change the parameters of the track state reference frame to a rectangular reference frame whose origin position is at [0 1 0] meters and whose origin velocity is [-1 0 0] meters per second with respect to the scenario frame.

StatePara = struct('Frame','Rectangular','Position',[0 1 0],'Velocity',[-1 0 0]);
myGNNTracker('setProperty','StateParameters',StatePara);

Restart the simulation using the same detection reports as before.

[newConfTracks0,~,~,~] = myGNNTracker('step',detections,0);
[newConfTracks1,~,~,~] = myGNNTracker('step',detections1,1);

Display the updated tracker StateParameters.

disp(newConfTracks1(1).StateParameters)

       Frame: 'Rectangular'
    Position: [0 1 0]
    Velocity: [-1 0 0]

disp(newConfTracks1(2).StateParameters)

       Frame: 'Rectangular'
    Position: [0 1 0]
    Velocity: [-1 0 0]

Input Arguments

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`tracker` — Tracker object
`trackerGNN` object | `trackerTOMHT` object | `trackerJPDA` object | `trackerPHD` object

Tracker object, specified as a trackerGNN, trackerTOMHT, trackerJPDA, or trackerPHD object. You must lock the tracker object to use generateCode. To lock the tracker object, call it or use the step function with detection information. To check the locked status of the tracker object, use the isLocked function.

To generate code, any tracker property that requires a function handle as input, such as FilterInitializationFcn, must reference a private function defined in a separate file. It cannot be a local or anonymous function. For trackerGNN, trackerJPDA and trackerTOMHT, you must specify the FilterInitializationFcn property as trackingKF, trackingEKF, trackingCKF, trackingUKF, trackingABF, or trackingMSCEKF.

Tip

You can use real or placeholder detection data to lock the tracker. Once you generate the code, the generated MEX tracker resets and does not retain any detection information that was used to lock it.

`fileName` — Name of MEX tracker and folder containing MEX tracker
string scalar | character vector

Name of the generated MEX tracker and name of the folder containing the generated MEX tracker, specified as a string scalar or character vector.

Example: generateCode(tracker,"myTracker")

Name-Value Arguments

Specify optional pairs of arguments as Name1=Value1,...,NameN=ValueN, where Name is the argument name and Value is the corresponding value. Name-value arguments must appear after other arguments, but the order of the pairs does not matter.

Example: generateCode(tracker,"myTracker",Methods="All",CoderConfig=coder.config("mex"))

`OutputPath` — Path to output folder
string scalar | character vector

Path to output folder to store generated code, specified as a string scalar or character vector. If you do not specify this argument, generateCode uses the current working folder, as returned by pwd.

`CoderConfig` — Configuration object
`coder.config` (default) | code generation configuration object

Configuration object, specified as a code generation configuration object. For more information, see coder.config (MATLAB Coder).

Example: generateCode(tracker,"myJPDATracker",CoderConfig=coder.config("dll"))

`Methods` — Names of tracker object functions
`"ALL"` (default) | array of strings | cell array of character vectors

Names of tracker object functions, specified as an array of strings or as a cell array of character vectors. By default, generateCode function generates code for all the tracker object functions that support code generation. To generate code for only a specific set of tracker object functions, specify the function names as strings or character vectors. For a full list of supported code generation-capable tracker object functions, see the tables below.

`trackerGNN` — Supported object functions
System object™

`trackerGNN` Object Functions	Support and Limitations
`step`	Full support.
`reset`	Full support.
`getProperty`	Full support.
`setProperty`	Full support.
`initializeTrack`	`generateCode` does not support the syntax with function input argument `filter`.
`confirmTrack`	`trackID` must be uint32, single, or double.
`deleteTrack`	`trackID` must be uint32, single, or double.
`getTrackFilterProperties`	`trackID` must be uint32, single, or double. `generateCode` supports only one filter property in a call.
`setTrackFilterProperties`	`trackID` must be uint32, single, or double. `generateCode` supports only one filter property in a call.
`predictTracksToTime`	Input argument `time` must belong to the same class as `detection.Measurement`.

`trackerJPDA` — Supported object functions
System object

`trackerJPDA` Object Functions	Support and Limitations
`step`	Full support.
`reset`	Full support.
`getProperty`	Full support.
`setProperty`	Full support.
`initializeTrack`	`generateCode` does not support the syntax with function input argument `filter`.
`confirmTrack`	`trackID` must be uint32, single, or double.
`deleteTrack`	`trackID` must be uint32, single, or double.
`getTrackFilterProperties`	`trackID` must be uint32, single, or double. `generateCode` supports only one filter property in a call.
`setTrackFilterProperties`	`trackID` must be uint32, single, or double. `generateCode` supports only one filter property in a call.
`predictTracksToTime`	Input argument `time` must belongs to the same class as `detection.Measurement`.

`trackerPHD` — supported object functions
System object

`trackerPHD` Object Functions	Support and Limitations
`step`	Full support.
`reset`	Full support.
`getProperty`	Full support.
`setProperty`	Full support.
`initializeTrack`	`generateCode` does not support the syntax with function input argument `filter`. The internal probability hypothesis density filter of the PHD tracker must be `gmphd`
`deleteTrack`	`trackID` must be uint32, single, or double.
`predictTracksToTime`	Input argument `time` must belongs to the same class as `detection.Measurement`.

`trackerTOMHT` — Supported object functions
System object

`trackerTOMHT` Object Functions	Support and Limitations
`step`	Full support.
`reset`	Full support.
`getProperty`	Full support.
`setProperty`	Full support.
`initializeTrack`	`generateCode` does not support the syntax with function input argument `filter`.
`deleteTrack`	`trackID` must be uint32, single, or double.
`getTrackFilterProperties`	`trackID` must be uint32, single, or double.
`setTrackFilterProperties`	`trackID` must be uint32, single, or double. `generateCode` supports only one filter property in a call.
`predictTracksToTime`	Input argument `time` must be in the same class as `detection.Measurement`.
`getBranches`	Full support.
`confirmBranch`	`branchID` must be uint32, single, or double.
`initializeBranch`	`generateCode` does not support the syntax with function input argument `filter`. `trackID` and `branchID` must be uint32, single, or double.
`deleteBranch`	`branchID` must be uint32, single, or double.

Output Arguments

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`codegenArg` — Compile-time arguments
1-by-N cell array

Compile-time arguments used by codegen (MATLAB Coder) to generate codes, returned as a 1-by-N cell array. Use codegenArg to regenerate code from the entry-point functions saved in the output folder. To integrate additional functions into the generated code, add your entry-point functions and their respective compile-time inputs to codegenArg.

Limitations

You must have a MATLAB Coder license to use this object function.
generateCode behavior is guaranteed only for trackerGNN, trackerJPDA, trackerTOMHT, and trackerPHD. If your tracker is inherited, generateCode can fail or generate code only for tracker functions of supported classes that can generate code.

More About

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`getProperty`

fileName('getProperty',TrackerProperty) returns the value of the property specified in the TrackerProperty argument. TrackerProperty can be any tunable tracker property, 'NumTracks', or 'NumConfirmedTracks'. This function works only for generated code.

For example, myJPDATracker('getProperty', 'DeathRate') returns the value of the DeathRate property for a generated MEX JPDA tracker named myJPDATracker with TrackLogic set to "integrated".

`setProperty`

fileName('setProperty',TrackerProperty,PropertyValue) sets the value of the property specified in the TrackerProperty argument as PropertyValue. TrackerProperty must be a tunable tracker property. This function works only for generated code.

For example, myGNNTracker('setProperty', 'AssignmentThreshold', [20 Inf]) sets the AssignmentThreshold property of the generated MEX tracker named myGNNTracker to [20 Inf].

List of tunable properties of `trackerGNN`, `trackerJPDA`, and `trackerTOMHT`

trackerGNN

AssignmentThreshold
ConfirmationThreshold (tunable only when TrackLogic="Score")
DeletionThreshold (tunable only when TrackLogic="Score")
DetectionProbability
FalseAlarmRate
Volume
Beta
InitialClassProbabilities (the values are tunable only when ClassFusionMethod="Bayes"; number of elements is nontunable)
ClassFusionWeight (tunable only when ClassFusionMethod="Bayes")
StateParameters

trackerJPDA

AssignmentThreshold
ConfirmationThreshold (tunable only when TrackLogic="Integrated")
DeletionThreshold (tunable only when TrackLogic="Integrated")
DetectionProbability
InitializationThreshold
ClutterDensity
NewTargetDensity
DeathRate
InitialClassProbabilities (the values are tunable only when ClassFusionMethod="Bayes"; number of elements is nontunable)
ClassFusionWeight (tunable only when ClassFusionMethod="Bayes")
HitMissThreshold (tunable only when TrackLogic="History")
StateParameters

trackerTOMHT

AssignmentThreshold
ConfirmationThreshold
DeletionThreshold
DetectionProbability
FalseAlarmRate
Volume
Beta
MinBranchProbability
StateParameters

Version History

Introduced in R2024a

generateCode

Syntax

Description

Examples

Generate MEX Code to Track Two Objects

Input Arguments

tracker — Tracker object trackerGNN object | trackerTOMHT object | trackerJPDA object | trackerPHD object

fileName — Name of MEX tracker and folder containing MEX tracker string scalar | character vector

Name-Value Arguments

OutputPath — Path to output folder string scalar | character vector

CoderConfig — Configuration object coder.config (default) | code generation configuration object

Methods — Names of tracker object functions "ALL" (default) | array of strings | cell array of character vectors

trackerGNN — Supported object functions System object™

trackerJPDA — Supported object functions System object

trackerPHD — supported object functions System object

trackerTOMHT — Supported object functions System object

Output Arguments

codegenArg — Compile-time arguments 1-by-N cell array

Limitations

More About

getProperty

setProperty

List of tunable properties of trackerGNN, trackerJPDA, and trackerTOMHT

Version History

See Also

`tracker` — Tracker object
`trackerGNN` object | `trackerTOMHT` object | `trackerJPDA` object | `trackerPHD` object

`fileName` — Name of MEX tracker and folder containing MEX tracker
string scalar | character vector

`OutputPath` — Path to output folder
string scalar | character vector

`CoderConfig` — Configuration object
`coder.config` (default) | code generation configuration object

`Methods` — Names of tracker object functions
`"ALL"` (default) | array of strings | cell array of character vectors

`trackerGNN` — Supported object functions
System object™

`trackerJPDA` — Supported object functions
System object

`trackerPHD` — supported object functions
System object

`trackerTOMHT` — Supported object functions
System object

`codegenArg` — Compile-time arguments
1-by-N cell array

`getProperty`

`setProperty`

List of tunable properties of `trackerGNN`, `trackerJPDA`, and `trackerTOMHT`