# -*- coding: utf-8 -*-
from typing import MutableMapping
from .groundtruth import GroundTruthPath
from .state import CategoricalState
from .state import State, GaussianState, StateVector
from ..base import Property
from ..models.measurement import MeasurementModel
[docs]class Detection(State):
"""Detection type"""
measurement_model: MeasurementModel = Property(
default=None,
doc="The measurement model used to generate the detection (the default is ``None``)")
metadata: MutableMapping = Property(
default=None, doc='Dictionary of metadata items for Detections.')
def __init__(self, state_vector, *args, **kwargs):
super().__init__(state_vector, *args, **kwargs)
if self.metadata is None:
self.metadata = {}
[docs]class GaussianDetection(Detection, GaussianState):
"""GaussianDetection type"""
[docs]class Clutter(Detection):
"""Clutter type for detections classed as clutter
This is same as :class:`~.Detection`, but can be used to identify clutter
for metrics and analysis purposes.
"""
[docs]class TrueDetection(Detection):
"""TrueDetection type for detections that come from ground truth
This is same as :class:`~.Detection`, but can be used to identify true
detections for metrics and analysis purposes.
"""
groundtruth_path: GroundTruthPath = Property(
doc="Ground truth path that this detection came from")
[docs]class MissedDetection(Detection):
"""Detection type for a missed detection
This is same as :class:`~.Detection`, but it is used in
MultipleHypothesis to indicate the null hypothesis (no
detections are associated with the specified track).
"""
state_vector: StateVector = Property(default=None, doc="State vector. Default `None`.")
def __init__(self, state_vector=None, *args, **kwargs):
super().__init__(state_vector, *args, **kwargs)
def __bool__(self):
return False
[docs]class CategoricalDetection(Detection, CategoricalState):
"""Categorical detection type."""
[docs]class TrueCategoricalDetection(TrueDetection, CategoricalDetection):
"""TrueCategoricalDetection type for categorical detections that come from ground truth."""