Error in the Track Fusion

Hello, I was trying to make some test with the example at the link. I realised some error. I could not understand the reason of it. Tracks are generated with the function of deteckAndTrack(), but tracks are represented in Vehicle coordinate frame. Then, at the next step, they are merged with old fused tracks which are represented in the global frame.

You can test yourself, and will see a track list which store tracks represented in different frame.

Am I right and is there an error in the original example? Or am I thinking wrong?

You can see details on the pictures.

[Anurag Ojha]

Hello Muzzafer

Can you share the exact error message you are getting in this case. This will help the contributors to understand the issue better and resolve it.

Answer 1

[Altaïr]

Hey @Muzaffer Citir,

That is a great observation. It is correct that detectAndTrack() outputs tracks in the vehicle coordinate frame. These tracks, along with previously fused tracks, are then passed to the trackFuser, as shown in the highlighted lines.

The trackFuser object is responsible for converting local tracks from the local (vehicle) frame to the central (scenario) frame. Opening the trackFuser class definition by placing the cursor on the 'trackFuser' call and pressing Ctrl+D reveals that, within the fuseAssigned function in the trackFuser.m file, tracks are indeed converted internally.

The transformations between local and central frames are defined in the fuserSourceConfiguration objects. Additional details about this object can be found with the following command:

web(fullfile(docroot, 'fusion/ref/fusersourceconfiguration.html'))