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phd-courses
Multiple Target Tracking
Commits
92238c01
Commit
92238c01
authored
3 years ago
by
Anton Kullberg
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py: removed tqdm from IMM/Basic tracker
parent
174c9cc3
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src/trackers.py
+2
-2
2 additions, 2 deletions
src/trackers.py
with
2 additions
and
2 deletions
src/trackers.py
+
2
−
2
View file @
92238c01
...
@@ -52,7 +52,7 @@ class BasicTracker():
...
@@ -52,7 +52,7 @@ class BasicTracker():
numpy.ndarray (nx x nx x K)
numpy.ndarray (nx x nx x K)
State error covariance per time.
State error covariance per time.
"""
"""
for
k
,
meas_k
in
tqdm
.
tqdm
(
enumerate
(
Y
)
,
desc
=
"
Evaluating measurements:
"
,
total
=
len
(
Y
))
:
for
k
,
meas_k
in
enumerate
(
Y
):
# Calculate prediction error of each measurement
# Calculate prediction error of each measurement
yhat
=
self
.
filt
.
sensor_model
[
'
h
'
](
x
[:
2
,
k
])
yhat
=
self
.
filt
.
sensor_model
[
'
h
'
](
x
[:
2
,
k
])
eps
=
meas_k
-
yhat
[:,
None
]
eps
=
meas_k
-
yhat
[:,
None
]
...
@@ -116,7 +116,7 @@ class IMMTracker():
...
@@ -116,7 +116,7 @@ class IMMTracker():
"""
"""
xm
=
np
.
repeat
(
np
.
expand_dims
(
x
,
-
1
),
self
.
filt
.
nmodes
,
axis
=-
1
)
xm
=
np
.
repeat
(
np
.
expand_dims
(
x
,
-
1
),
self
.
filt
.
nmodes
,
axis
=-
1
)
Pm
=
np
.
repeat
(
np
.
expand_dims
(
P
,
-
1
),
self
.
filt
.
nmodes
,
axis
=-
1
)
Pm
=
np
.
repeat
(
np
.
expand_dims
(
P
,
-
1
),
self
.
filt
.
nmodes
,
axis
=-
1
)
for
k
,
meas_k
in
tqdm
.
tqdm
(
enumerate
(
Y
)
,
desc
=
"
IMM evaluating measurements:
"
,
total
=
len
(
Y
))
:
for
k
,
meas_k
in
enumerate
(
Y
):
# Get the mixed estimate
# Get the mixed estimate
xhat
,
Phat
=
self
.
filt
.
mix
(
xm
[:,
k
,
:],
Pm
[:,
:,
k
,
:])
xhat
,
Phat
=
self
.
filt
.
mix
(
xm
[:,
k
,
:],
Pm
[:,
:,
k
,
:])
# Calculate prediction error of each measurement
# Calculate prediction error of each measurement
...
...
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