class AERPF(Block):
""" Simple particle filter """
Block.alias('aer_pf')
Block.input('track_log')
Block.output('particles', 'All particles')
Block.output('hps', 'A list of coherent hypotheses')
Block.config('min_track_dist', 'Minimum distance between tracks')
Block.config('max_vel', 'Maximum velocity')
Block.config('max_bound', 'Largest size of the uncertainty')
Block.config('max_hp', 'Maximum number of hypotheses to produce.')
def init(self):
params = dict(max_vel=self.config.max_vel,
min_track_dist=self.config.min_track_dist,
max_bound=self.config.max_bound)
self.pdm = ParticleTrackerMultiple(**params)
def update(self):
tracks = self.input.track_log
self.pdm.add_observations(tracks)
particles = self.pdm.get_all_particles()
if len(particles) > 0:
self.output.particles = particles
max_hp = self.config.max_hp
hps = self.pdm.get_coherent_hypotheses(max_hp)
self.output.hps = hps
class AERPF(Block):
""" Simple particle filter """
Block.alias('aer_pf')
Block.input('track_log')
Block.output('particles', 'All particles')
Block.output('hps', 'A list of coherent hypotheses')
Block.config('min_track_dist', 'Minimum distance between tracks')
Block.config('max_vel', 'Maximum velocity')
Block.config('max_bound', 'Largest size of the uncertainty')
Block.config('max_hp', 'Maximum number of hypotheses to produce.')
def init(self):
params = dict(max_vel=self.config.max_vel,
min_track_dist=self.config.min_track_dist,
max_bound=self.config.max_bound)
self.pdm = ParticleTrackerMultiple(**params)
def update(self):
tracks = self.input.track_log
self.pdm.add_observations(tracks)
particles = self.pdm.get_all_particles()
if len(particles) > 0:
self.output.particles = particles
max_hp = self.config.max_hp
hps = self.pdm.get_coherent_hypotheses(max_hp)
self.output.hps = hps
def init(self):
params = dict(max_vel=self.config.max_vel,
min_track_dist=self.config.min_track_dist,
max_bound=self.config.max_bound)
self.pdm = ParticleTrackerMultiple(**params)
def init(self):
params = dict(max_vel=self.config.max_vel,
min_track_dist=self.config.min_track_dist,
max_bound=self.config.max_bound)
self.pdm = ParticleTrackerMultiple(**params)