def get_global_hypothesis(self, tracks, conflicting_tracks):
"""
Generate a global hypothesis by finding the maximum weighted independent
set of a graph with tracks as vertices, and edges between conflicting tracks.
"""
gh_graph = WeightedGraph()
for index, track in enumerate(tracks):
s = track.get_track_score()
gh_graph.add_weighted_vertex(str(index), s)
gh_graph.set_edges(conflicting_tracks)
mwis_ids = gh_graph.mwis()
return mwis_ids
def global_hypothesis(self, track_trees, conflicting_tracks):
"""
Generate a global hypothesis by finding the maximum weighted independent
set of a graph with tracks as vertices, and edges between conflicting tracks.
"""
logging.info("Running MWIS on weighted track trees...\n")
gh_graph = WeightedGraph()
for index, kalman_filter in enumerate(track_trees):
gh_graph.add_weighted_vertex(str(index),
kalman_filter.get_track_score())
gh_graph.set_edges(conflicting_tracks)
mwis_ids = gh_graph.mwis()
logging.info("Completed MWIS.\n")
return mwis_ids
def global_hypothesis(track_trees, t):
MWIS_tracks = []
gh_graph = WeightedGraph()
tracks = [item for sublist in track_trees for item in sublist]
if tracks:
conflicting_tracks = []
for track_index, track in enumerate(tracks):
for conflict_index, conflict_track in enumerate(
tracks[track_index:]):
conflict_index += track_index
if any(x in track.get_past_measurements()
for x in conflict_track.get_past_measurements()):
if track_index != conflict_index:
conflicting_tracks.append(
(track_index, conflict_index))
for index, kalman_filter in enumerate(tracks):
gh_graph.add_weighted_vertex(str(index),
kalman_filter.get_score(t))
gh_graph.set_edges(conflicting_tracks)
mwis_ids = gh_graph.mwis()
for index in list(mwis_ids):
MWIS_tracks.append([tracks[index]])
for track_index, track in enumerate(MWIS_tracks):
track = track[0]
for conflict_index, conflict_track in enumerate(MWIS_tracks):
conflict_track = conflict_track[0]
if abs(track.get_state() - conflict_track.get_state()
) < 10 and conflict_track.is_con() and track.is_con():
if track_index != conflict_index:
if track.get_score(t) > conflict_track.get_score(t):
track.kill()
return MWIS_tracks
