Gater
- class stonesoup.gater.base.Gater(hypothesiser: Union[Hypothesiser, Gater])[source]
Bases:
stonesoup.hypothesiser.base.Hypothesiser
Gater base class
Gaters wrap
Hypothesiser
objects and can be used to modify (typically reduce) the returned hypotheses.- Parameters
hypothesiser (
Union[Hypothesiser, ForwardRef('Gater')]
) – Hypothesiser or Gater that is being wrapped.
- hypothesiser: Union[stonesoup.hypothesiser.base.Hypothesiser, stonesoup.gater.base.Gater]
Hypothesiser or Gater that is being wrapped.
Distance
- class stonesoup.gater.distance.DistanceGater(hypothesiser: Union[Hypothesiser, Gater], measure: Measure, gate_threshold: float)[source]
Bases:
stonesoup.gater.base.Gater
Distance based gater
Uses a measure to calculate the distance between a hypothesis’ measurement prediction and the hypothised measurement, then removes any hypotheses whose calculated distance exceeds the specified gate threshold.
- Parameters
hypothesiser (
Union[Hypothesiser, ForwardRef('Gater')]
) – Hypothesiser or Gater that is being wrapped.measure (
Measure
) – Measure class used to calculate the distance between the measurement prediction and the hypothesised measurement.gate_threshold (
float
) – The gate threshold. Hypotheses whose calculated distance exceeds this threshold will be filtered out.
- measure: stonesoup.measures.Measure
Measure class used to calculate the distance between the measurement prediction and the hypothesised measurement.
- gate_threshold: float
The gate threshold. Hypotheses whose calculated distance exceeds this threshold will be filtered out.
- hypothesise(track, detections, *args, **kwargs)[source]
Hypothesise track and detection association
- Parameters
track (Track) – Track which hypotheses will be generated for.
detections (set of
Detection
) – Detections used to generate hypotheses.timestamp (datetime.datetime) – A timestamp used when evaluating the state and measurement predictions. Note that if a given detection has a non empty timestamp, then prediction will be performed according to the timestamp of the detection.
- Returns
Ordered sequence of “best” to “worse” hypothesis.
- Return type
sequence of
Hypothesis
Filtered
- class stonesoup.gater.filtered.FilteredDetectionsGater(hypothesiser: Union[Hypothesiser, Gater], metadata_filter: str, match_missing: bool = True)[source]
Bases:
stonesoup.gater.base.Gater
Wrapper for Hypothesisers - filters input data
Wrapper for any type of hypothesiser - filters the ‘detections’ before they are fed into the hypothesiser.
- Parameters
hypothesiser (
Union[Hypothesiser, ForwardRef('Gater')]
) – Hypothesiser or Gater that is being wrapped.metadata_filter (
str
) – Metadata attribute used to filter which detections tracks are valid for association.match_missing (
bool
, optional) – Match detections with missing metadata. Default ‘True’.
- metadata_filter: str
Metadata attribute used to filter which detections tracks are valid for association.
- hypothesise(track, detections, *args, **kwargs)[source]
- Parameters
track (
Track
) – A track that contains the target’s statedetections (list of
Detection
) – Retrieved measurements
- Returns
MultipleHypothesis
– A list containing the hypotheses between each prediction-detections pair.Note (The specific subclass of
SingleHypothesis
returned) – depends on theHypothesiser
used.