How to get a return value from a function_handle, when the function_handle is an input to a system object

I am using the Sensor Fusion toolbox. When I create the trackerGNN system object, I set the property 'FilterInitializationFcn' which specifies the filter initialization function. I am using the IMM filter (@initekfimm), so I would like to plot the probability of each model over time, which is the ModelProbabilities property of the IMM filter.

I want @initekfimm to output ModelProbabilities. ModelProbabilities is a property of trackingIMM, which is called from initekfimm.

My plan was to use get(IMM, ‘ModelProbabilities’) and then have initekfimm output ModelProbabilities.

The issue is that the function initekfimm is called from trackerGNN , and trackerGNN can’t output stuff that isn’t listed as one of its properties.

Here is my code:

tracker = trackerGNN( 'FilterInitializationFcn',@initekfimm,...

I want initekfimm to output ModelProbabilities whenever the filter is called. How do I access the outputs of initekfimm?

[dpb]

Probably you'll have to wrap initekfimm in another function that can receive the desired outputs and have it put them into some variable accessible from the rest of the code. Then, of course, you use the handle of your wrapper function instead.

[Mia Levy]

Hi,

Thank you for your answer. What do you mean by "wrap" initekfimm, do you mean just create another function that calls initekfimm, and use that as an input to trackerGNN instead of initekfimm?

Also, how would my wrapper function be able to put the desired outputs into some variable accessible from the rest of the code?

[dpb]

1. Yes
2. Several ways. global is the crudest and only to be relied upon for the simplest of cases or as a temporary hack to test an idea. assignin is another as is scoping functions as internal such that variables share scope.

The ideas are explained in the scope of optimization or other solvers that pass function handles but same ways to share data work for other purposes, too. Paramterize Function

[Mia Levy]

Thank you! I was able to get what I wanted using global.

Answer 1

[Elad Kivelevitch]

Mia,

You can access any property of any tracking filter used in the trackerGNN (and any other tracker) by calling the getTrackFilterProperties method of the tracker.

help trackerGNN/getTrackFilterProperties

I don't know how many objects you are tracking, but let's assume it is only one for now.

You can use the following code:

gnn = trackerGNN('MaxNumTracks',1,'FilterInitializationFcn',@initekfimm);
modelProbs = zeros(3,10); % 10 time steps
for t = 1:10
    detections = {objectDetection(t,zeros(3,1))};
    [~,~,track] = gnn(detections,t); % Get all tracks
    mps = getTrackFilterProperties(gnn,track.TrackID,'ModelProbabilities');
    modelProbs(:,t) = mps{1};
end
plot(1:10,modelProbs)

Elad