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the peopledetection gives you a vector<Rect> and you will have to translate that to a vector<Rect2d> for the multitracker:

// please use Ptr<MultiTracker>, not MultiTracker here, see below
Ptr<MultiTracker> trackers = makePtr<MultiTracker>(trackingAlg);

vector<Rect> v1; // from detection
vector<Rect2d> v2: // for tracking

for (size_t i=0; i<v1.size(); i++) {
    v2.push_back(v1[i]); //Rect2d has a constructor for Rect
}
trackers->add(frame, v2);

then you will have to check the return value from update():

bool ok = trackers->update(frame);
if (! ok) {
       // one of the trackers failed, now unfortunately, you will have to:
       // * create a new Multitracker instance with current image and current detections
       trackers = makePtr<MultiTracker>(trackingAlg);
       // * make a new peopledetection
       // * copy detections to tracking Rect2ds again, and 
       trackers->add(frame, objects);
}