Merge pull request #787 from dstl/clutter_fov

Add is_clutter_detectable method to sensors

stonesoup/sensor/passive.py

@@ -4,6 +4,7 @@
 from ..models.measurement.nonlinear import CartesianToElevationBearing
 from ..sensor.sensor import SimpleSensor
 from ..types.array import CovarianceMatrix
+from ..types.detection import Detection
 from ..types.groundtruth import GroundTruthState
 
 
@@ -40,3 +41,6 @@ def measurement_model(self):
 
     def is_detectable(self, state: GroundTruthState) -> bool:
         return True
+
+    def is_clutter_detectable(self, state: Detection) -> bool:
+        return True

stonesoup/sensor/radar/radar.py

@@ -18,7 +18,7 @@
 from ...sensor.actionable import ActionableProperty
 from ...sensor.sensor import Sensor, SimpleSensor
 from ...types.array import CovarianceMatrix
-from ...types.detection import TrueDetection
+from ...types.detection import TrueDetection, Detection
 from ...types.groundtruth import GroundTruthState
 from ...types.numeric import Probability
 from ...types.state import StateVector
@@ -63,6 +63,9 @@ def is_detectable(self, state: GroundTruthState) -> bool:
         true_range = measurement_vector[1, 0]  # Bearing(0), Range(1)
         return true_range <= self.max_range
 
+    def is_clutter_detectable(self, state: Detection) -> bool:
+        return state.state_vector[1, 0] <= self.max_range
+
 
 class RadarBearing(SimpleSensor):
     """A simple radar sensor that generates measurements of targets, using a
@@ -110,6 +113,9 @@ def is_detectable(self, state: GroundTruthState) -> bool:
         true_range = measurement_vector[1, 0]  # Bearing(0), Range(1)
         return true_range <= self.max_range
 
+    def is_clutter_detectable(self, state: Detection) -> bool:
+        return True
+
 
 class RadarRotatingBearingRange(RadarBearingRange):
     """A simple rotating radar, with set field-of-view (FOV) angle, range and\
@@ -179,6 +185,17 @@ def is_detectable(self, state: GroundTruthState) -> bool:
 
         return fov_min <= bearing_t <= fov_max and true_range <= self.max_range
 
+    def is_clutter_detectable(self, state: Detection) -> bool:
+        measurement_vector = state.state_vector
+
+        # Check if state falls within sensor's FOV
+        fov_min = -self.fov_angle / 2
+        fov_max = +self.fov_angle / 2
+        bearing_t = measurement_vector[0, 0]
+        true_range = measurement_vector[1, 0]
+
+        return fov_min <= bearing_t <= fov_max and true_range <= self.max_range
+
 
 class RadarRotatingBearing(RadarBearing):
     """A simple rotating radar, with set field-of-view (FOV) angle, range and\

stonesoup/sensor/radar/tests/test_radar.py

@@ -791,4 +791,4 @@ def test_clutter_model(radar, clutter_params):
         truth = State(StateVector([1, 1, 1, 1]), timestamp=datetime.datetime.now())
     measurements = radar.measure({truth})
     assert len([target for target in measurements if (isinstance(target, TrueDetection))]) == 1
-    assert len(measurements) > 1
+    assert len(measurements) >= 1

stonesoup/sensor/sensor.py

@@ -7,7 +7,7 @@
 from .base import PlatformMountable
 from ..base import Property
 from ..models.clutter.clutter import ClutterModel
-from ..types.detection import TrueDetection
+from ..types.detection import TrueDetection, Detection
 from ..types.groundtruth import GroundTruthState
 
 
@@ -119,14 +119,20 @@ def measure(self, ground_truths: Set[GroundTruthState], noise: Union[np.ndarray,
         if self.clutter_model is not None:
             self.clutter_model.measurement_model = measurement_model
             clutter = self.clutter_model.function(ground_truths)
-            detections = set.union(detections, clutter)
+            detectable_clutter = [cltr for cltr in clutter
+                                  if self.is_clutter_detectable(cltr)]
+            detections = set.union(detections, detectable_clutter)
 
         return detections
 
     @abstractmethod
     def is_detectable(self, state: GroundTruthState) -> bool:
         raise NotImplementedError
 
+    @abstractmethod
+    def is_clutter_detectable(self, state: Detection) -> bool:
+        raise NotImplementedError
+
 
 class SensorSuite(Sensor):
     """Sensor composition type