Source code for stonesoup.tracker.pointprocess

# -*- coding: utf-8 -*-
from .base import Tracker
from ..base import Property
from ..reader import DetectionReader
from ..types.state import TaggedWeightedGaussianState
from ..types.mixture import GaussianMixture
from ..types.numeric import Probability
from ..types.track import Track
from ..updater import Updater
from ..hypothesiser.gaussianmixture import GaussianMixtureHypothesiser
from ..mixturereducer.gaussianmixture import GaussianMixtureReducer

[docs]class PointProcessMultiTargetTracker(Tracker): """ Base class for Gaussian Mixture (GM) style implementations of point process derived filters """ detector: DetectionReader = Property( doc="Detector used to generate detection objects.") updater: Updater = Property( doc="Updater used to update the objects to their new state.") hypothesiser: GaussianMixtureHypothesiser = Property( doc="Association algorithm to pair predictions to detections") reducer: GaussianMixtureReducer = Property( doc="Reducer used to reduce the number of components in the mixture.") extraction_threshold: Probability = Property( default=0.9, doc="Threshold to extract components from the mixture.") birth_component: TaggedWeightedGaussianState = Property( default=None, doc="The birth component. The weight should be " "equal to the mean of the expected number of " "births per timestep (Poission distributed). " "The tag should be " ":attr:`TaggedWeightedGaussianState.BIRTH`") def __init__(self, *args, **kwargs): super().__init__(*args, **kwargs) self.target_tracks = dict() self.gaussian_mixture = GaussianMixture() @property def tracks(self): tracks = set() for track in self.target_tracks.values(): tracks.add(track) return tracks def __iter__(self): self.detector_iter = iter(self.detector) return super().__iter__()
[docs] def update_tracks(self): """ Updates the tracks (:class:`Track`) associated with the filter. Parameters ========== self : :class:`GaussianMixtureMultiTargetTracker` Current GM Multi Target Tracker at time :math:`k` Note ====== Each track shares a unique tag with its associated component """ for component in self.gaussian_mixture: tag = component.tag if tag != component.BIRTH: # Sanity check for birth component if tag in self.target_tracks: # Track found, so update it track = self.target_tracks[tag] track.states.append(component) else: # No Track found, so create a new one only if we are # reasonably confident its a target if component.weight > \ self.extraction_threshold: self.target_tracks[tag] = Track([component], id=tag)
def __next__(self): time, detections = next(self.detector_iter) # Add birth component self.birth_component.timestamp = time self.gaussian_mixture.append(self.birth_component) # Perform GM Prediction and generate hypotheses hypotheses = self.hypothesiser.hypothesise( self.gaussian_mixture.components, detections, time ) # Perform GM Update self.gaussian_mixture = self.updater.update(hypotheses) # Reduce mixture - Pruning and Merging self.gaussian_mixture.components = \ self.reducer.reduce(self.gaussian_mixture.components) # Update the tracks self.update_tracks() self.end_tracks() return time, self.tracks
[docs] def end_tracks(self): """ Ends the tracks (:class:`Track`) that do not have an associated component within the filter. Parameters ========== self : :class:`GaussianMixtureMultiTargetTracker` Current GM Multi Target Tracker at time :math:`k` """ component_tags = {component.tag for component in self.gaussian_mixture} # Delete the track for key in self.target_tracks.keys() - component_tags: del self.target_tracks[key]
@property def extracted_target_states(self): """ Extract all target states from the Gaussian Mixture that are above an extraction threshold. """ return [component for component in self.gaussian_mixture if component.weight > self.extraction_threshold] @property def estimated_number_of_targets(self): """ The number of hypothesised targets. """ if self.gaussian_mixture: estimated_number_of_targets = sum(component.weight for component in self.gaussian_mixture) else: estimated_number_of_targets = 0 return estimated_number_of_targets