From 128b20b64878888445dbe75992b8d20e47550f14 Mon Sep 17 00:00:00 2001
From: Anton Kullberg <anton.kullberg@liu.se>
Date: Fri, 12 Nov 2021 10:36:45 +0100
Subject: [PATCH] refactor: removed obsolete code
---
src/trackers.py | 26 --------------------------
1 file changed, 26 deletions(-)
diff --git a/src/trackers.py b/src/trackers.py
index 555e14b..9f4ed2f 100644
--- a/src/trackers.py
+++ b/src/trackers.py
@@ -804,29 +804,3 @@ def get_association_matrix(meas, tracks, logic_params, gater):
py = stats.multivariate_normal.pdf(val_meas.squeeze().T, mean=yhat.flatten(), cov=H@track['P'][-1]@H.T+track['filt'].sensor_model['R'])
association_matrix[validation_matrix[:, ti], ti] = np.log(track['filt'].sensor_model['PD']*py/(1-track['filt'].sensor_model['PD'])) # PG assumed = 1
return association_matrix, validation_matrix
-
-### Obsolete
-def compute_prob(association_matrix, validation_matrix, logic_params):
- # Association matrix is assumed to consist of tracks and FA, no NT.
- ny = association_matrix.shape[0]
- ntracks = association_matrix.shape[1]-ny
- P = np.zeros((ny, ntracks))
-
- def rec_find_associations(association_matrix, assoc_done, logic_params):
- inds = np.where(association_matrix[0, :] != -np.inf)[0] # These are the nodes necessary to look at
- this_assoc = []
- for k, i in enumerate(inds):
- if i not in assoc_done:
- if association_matrix.shape[0] != 1:
- assoc = rec_compute_prob(association_matrix[1:, :], [[i]], logic_params)
- this_assoc.extend(assoc)
- else:
- this_assoc.append([i])
- result = []
- for assoc in assoc_done:
- for th_assoc in this_assoc:
- result.append(assoc + th_assoc)
- return result
-
- possible_associations = rec_find_associations(association_matrix, [[]], logic_params) # Recursively finds possible measurement hypothesis
- return res
--
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