Where is the non-tunable property 'pStateSize' located in the TOMHT tracker?

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Joost 2021 年 11 月 18 日
コメント済み: Elad Kivelevitch 2021 年 11 月 22 日
When I use the Matlab coder to create C++ code of the TOMHT tracker, an Error while checking for run-Time errors with Matlab Coder occurs. This error occurs at the line that calls the TOMHTtracker: tracks = tracker(detections,time), where tracker is a trackerTOMHT object.
The error says: Failed to compute constant value for nontunable property 'pStateSize'. In code generation, nontunable properties can only be assigned constant values.
We build our own IMM composed of a CVKF, CAKF and CTUKF. If we use any of these 3 filters instead of our IMM, their are no runtime errors found by the Matlab coder, so we must have made a mistake in the IMM. However, I cannot find the 'pStateSize' property anywhere. I was wondering if you could help me to solve this issue.
Thank you very much,


Elad Kivelevitch
Elad Kivelevitch 2021 年 11 月 18 日
編集済み: Elad Kivelevitch 2021 年 11 月 18 日
I believe the error would be coming from matlabshared.tracking.internal.fusion.ObjectTrack. This is the internal object track object that is managed by the tracker for each target. What it means is that in code generation we could not figure out the state size of the object.
However, I am not sure why you would run into this issue in your code. This could be something we should fix.
Could you provide a little more information. What does your FilterInitializationFcn look like (maybe if you can attach that)?
And also, please let me know which MATLAB release you're currently using.
  7 件のコメント
Elad Kivelevitch
Elad Kivelevitch 2021 年 11 月 22 日
Hi Joost,
This seems like something we would like to take the time to look into.
To allow you to move forward, please consider adding your switchimm2D back to the IMM filter. The built-in switchimm function tries to handle multiple cases of 2D to 3D, 3D to 2D, 3D to 3D, etc. There might be a case that isn't supported fully and needs resolution.


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