www.pudn.com > un_PDAF.zip > Structure_PDAF_Track_Separation.m

function TrackList = Structure_PDAF_Track_Separation(TrackList,DataList,Par) 
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% 
% Structure_PDAF_Track_Separation - identifies tracks with the 
% same track history and discards them. 
% Input: 
%   TrackList    - kalman structure list and more 
%   DataList     - 2 x DataPointsNum contains the relevant data for time (is not used here) 
%   Par          - parameters 
% Output: 
%   TrackList    - kalman structure list and more 
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% 
 
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% 
% parameters 
TrackNum    = Par.TrackNum; 
% proportional to the size of the tracking region 
HistGate    = Par.HistGateLevel*diff(Par.Y1Bounds)*diff(Par.Y2Bounds); 
 
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% 
% determine the distance using history data 
HistDist = ones(TrackNum,TrackNum)*10000; 
for i=1:TrackNum-1,  
    for j=i+1:TrackNum,  
        HistDist(i,j) = sum(std(TrackList{i}.TrackObj.Hist - TrackList{j}.TrackObj.Hist));  
    end;  
end; 
 
SameTracks = HistDist < HistGate; 
 
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% 
% simple decision about track separation: 
% 1.Find the closest tracks and dump them. 
% It is improved using additional logic because it preferes 
% the tracks from top of the list 
 
% determine only the valid tracks and their LifeTimes 
ValidTrackLabel = zeros(1,TrackNum); 
TracksLifeTime  = zeros(1,TrackNum); 
 
% loop throught all tracks 
for i=1:TrackNum, 
     
    % only valid tracks - not in Undefined state 
    if TrackList{i}.TrackObj.State ~= Par.State_Undefined,  
        ValidTrackLabel(i) = 1; % 1 - is OK 
         
        % store life time 
        TracksLifeTime(i) = TrackList{i}.TrackObj.LifeTime; 
    end;   
end; 
 
ValidTrackInd = find(ValidTrackLabel); 
ValidTrackLen = length(ValidTrackInd); 
if ValidTrackLen == 0,  
    if Par.ShowOn, disp('Undefined States - check!!!'); end; 
    return; 
end; 
if Par.ShowOn, fprintf('Valid state tracks number: %d\n',ValidTrackLen); end; 
 
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% 
% sort valid tracks by their life times 
[unused_values,sorted_ind] = sort(TracksLifeTime(ValidTrackInd)); 
SortedTrackInd = ValidTrackInd(sorted_ind(end:-1:1)); % descending order 
 
% chnge matrix rows and discard Undefined tracks 
SameTracks = SameTracks(SortedTrackInd,:); 
 
 
% loop throught valid tracks 
for i=1:ValidTrackLen, 
     
    % determine the closest tracks to track i 
    SameTrackInd = find(SameTracks(i,:)); 
 
    for j=1:length(SameTrackInd), % if isempty(SameTrackInd), wont be executed 
         
        % goes to undefined state 
        TrackList{SameTrackInd(j)}.TrackObj.State = Par.State_Undefined; 
        % reset the row of distance matrix 
        SameTracks(SameTrackInd(j),:) = 0; 
    end; 
end;