# -*- coding: utf-8 -*-
from .base import Gater
from ..base import Property
[docs]class FilteredDetectionsGater(Gater):
"""Wrapper for Hypothesisers - filters input data
Wrapper for any type of hypothesiser - filters the 'detections' before
they are fed into the hypothesiser.
"""
metadata_filter: str = Property(
doc="Metadata attribute used to filter which detections tracks are valid for association.")
match_missing: bool = Property(
default=True,
doc="Match detections with missing metadata. Default 'True'.")
[docs] def hypothesise(self, track, detections, *args, **kwargs):
"""
Parameters
==========
track : :class:`Track`
A track that contains the target's state
detections : list of :class:`Detection`
Retrieved measurements
Returns
=======
: :class:`MultipleHypothesis`
A list containing the hypotheses between each prediction-detections
pair.
Note: The specific subclass of :class:`SingleHypothesis` returned
depends on the :class:`Hypothesiser` used.
"""
track_metadata = track.metadata.get(self.metadata_filter)
if (track_metadata is None) and self.match_missing:
match_detections = detections
else:
match_metadata = [track_metadata]
if self.match_missing:
match_metadata.append(None)
match_detections = {
detection for detection in detections
if detection.metadata.get(
self.metadata_filter) in match_metadata}
return self.hypothesiser.hypothesise(
track, match_detections, *args, **kwargs)