# initctgmphd

## Description

initializes a constant turn-rate `phd`

= initctgmphd(`detections`

)`gmphd`

filter based on information provided
in object detections, `detections`

. The data type of the filter is the
same as the data type of measurement in the detections.

The function initializes a constant turn-rate state with the same convention as
`constturn`

and `ctmeas`

, [*x*
*v*_{x}
*y*
*v*_{y}
*ω*
*z*
*v*_{z}], where *ω*
is the turn-rate.

**Note**

This initialization function is not compatible with `trackerGNN`

,
`trackerJPDA`

, and `trackerTOMHT`

System objects.

## Examples

## Input Arguments

## Output Arguments

## Algorithms

You can use

`initctgmphd`

as the`FilterInitializationFcn`

property of`trackingSensorConfiguration`

.When detections are provided as input, the function adds one component to the density, which reflects the mean of the detections. When the function is called without any inputs, a filter is initialized with no components in the density.

The function uses the spread of measurements to specify the positional covariance.

The function configures the process noise of the filter by assuming a unit acceleration standard deviation and a unit angular acceleration standard deviation.

The function specifies a maximum of 500 components in the filter.

The function sets the

`HasExtent`

property of the filter to`true`

if the number of input detections are greater than one.

## Extended Capabilities

## Version History

**Introduced in R2019b**