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Change return type and add track ID metadata to Track2GaussianDetectionFeeder #871

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merged 3 commits into from
Oct 4, 2023
Merged

Change return type and add track ID metadata to Track2GaussianDetectionFeeder #871

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5e42e8c
Change Tracks2GaussianDetectionFeeder return type to a set
sdhiscocks Oct 3, 2023
f1b8a00
Add track id to metadata in Tracks2GaussianDetectionFeeder
sdhiscocks Oct 3, 2023
fed952c
Fix tests for Tracks2GaussianDetectionFeeder
sdhiscocks Oct 3, 2023
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20 changes: 13 additions & 7 deletions stonesoup/feeder/tests/test_track.py
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Original file line number Diff line number Diff line change
Expand Up @@ -34,16 +34,22 @@ def test_Track2GaussianDetectionFeeder(tracks):
assert len(detections) == len(tracks)

# Check that the correct state was taken from each track
assert np.all([detections[i].timestamp == tracks[i][-1].timestamp for i in range(len(tracks))])
assert np.all([detections[i].timestamp == time for i in range(len(tracks))])
assert np.all([detection.timestamp == track.timestamp
for track in tracks
for detection in detections if detection.metadata['track_id'] == track.id])
assert np.all([detection.timestamp == time for detection in detections])

# Check that the dimension of each detection is correct
assert np.all([len(detections[i].state_vector) == len(tracks[i][-1].state_vector)
for i in range(len(tracks))])
assert np.all([len(detection.state_vector) == len(track.state_vector)
for track in tracks
for detection in detections if detection.metadata['track_id'] == track.id])
assert np.all([len(detection.state_vector) == detection.measurement_model.ndim
for detection in detections])

# Check that the detection has the correct mean and covariance
for i in range(len(tracks)):
assert np.all(detections[i].state_vector == tracks[i][-1].state_vector)
assert np.all(detections[i].covar == tracks[i][-1].covar)
for track in tracks:
detection = next(iter(detection
for detection in detections
if detection.metadata['track_id'] == track.id))
assert np.all(detection.state_vector == track.state_vector)
assert np.all(detection.covar == track.covar)
7 changes: 5 additions & 2 deletions stonesoup/feeder/track.py
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Original file line number Diff line number Diff line change
Expand Up @@ -19,14 +19,17 @@ class Tracks2GaussianDetectionFeeder(DetectionFeeder):
@BufferedGenerator.generator_method
def data_gen(self):
for time, tracks in self.reader:
detections = []
detections = set()
for track in tracks:
dim = len(track.state.state_vector)
detections.append(
metadata = track.metadata.copy()
metadata['track_id'] = track.id
detections.add(
GaussianDetection.from_state(
track.state,
measurement_model=LinearGaussian(
dim, list(range(dim)), np.asarray(track.covar)),
metadata=metadata,
target_type=GaussianDetection)
)

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