public class MultiTargetIMMFilter extends Object implements MultiTargetPredictionFilterIndep<MotionModelID>
Modifier and Type | Field and Description |
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protected double |
delta_t |
protected AbstractMultiStateFactory<MotionModelID> |
factoryX |
protected AbstractMultiStateFactory<MotionModelID> |
factoryZ |
protected Jama.Matrix |
markov
Markov matrix probability of dynamic model switching:
A matrix with size (#dynamicmodels x #dynamicmodels).
|
protected AbstractMultiState<MotionModelID> |
meanX |
protected GaussMixDistribution |
newbornStateDistrib |
protected Jama.Matrix |
newbornStateFromObs |
private MultiObsDistributionIndepGaussMix<MotionModelID> |
p_obs |
protected ExponentialDistribution |
pdeath |
protected Vector<GaussMixDistribution> |
pobs
observation distribution: independent Gaussian mixtures for each target
|
protected LinearTransformGaussNoise[] |
predictors
dynamic models
|
protected LinearTransformGaussNoise |
projector
observation model
|
protected Vector<GaussMixDistribution> |
pstate
state distribution: independent Gaussian mixtures for each target
|
protected Random |
rand |
protected HashMap<Short,Integer> |
targetIDtoIdx |
Constructor and Description |
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MultiTargetIMMFilter(MultiTargetIMMFilter imm)
Copy constructor.
|
MultiTargetIMMFilter(Vector<GaussMixDistribution> initialStateDistrib,
LinearTransformGaussNoise observationModel,
LinearTransformGaussNoise[] dynamicsModels,
Jama.Matrix markov,
double delta_t,
ExponentialDistribution targetDeathDistrib,
GaussMixDistribution newbornStateDistrib,
Jama.Matrix stateFromObs,
AbstractMultiStateFactory<MotionModelID> factoryX,
AbstractMultiStateFactory<MotionModelID> factoryZ)
Constructor that initializes the internal random generator with seed 1.
|
MultiTargetIMMFilter(Vector<GaussMixDistribution> initialStateDistrib,
LinearTransformGaussNoise observationModel,
LinearTransformGaussNoise[] dynamicsModels,
Jama.Matrix markov,
double delta_t,
ExponentialDistribution targetDeathDistrib,
GaussMixDistribution newbornStateDistrib,
Jama.Matrix stateFromObs,
AbstractMultiStateFactory<MotionModelID> factoryX,
AbstractMultiStateFactory<MotionModelID> factoryZ,
Random rand)
Constructor.
|
Modifier and Type | Method and Description |
---|---|
MultiTargetPredictionFilterIndep<MotionModelID> |
copy() |
Set<Short> |
getExistingTargetIDs() |
AbstractMultiState<MotionModelID> |
getMean() |
AbstractMultiObservationDistributionIndep<MotionModelID,MotionModelID> |
getObservationDistribution() |
protected void |
letTargetsDie()
Let targets die randomly using the specified distribution of target death and the internal random generator.
|
void |
predict()
Prediction step method
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void |
update(AbstractMultiState<MotionModelID> observation,
DataAssociation association)
Update step method given a multi-target observation
|
protected Vector<GaussMixDistribution> pstate
protected Vector<GaussMixDistribution> pobs
protected AbstractMultiState<MotionModelID> meanX
private MultiObsDistributionIndepGaussMix<MotionModelID> p_obs
protected LinearTransformGaussNoise[] predictors
protected LinearTransformGaussNoise projector
protected Random rand
protected Jama.Matrix markov
protected AbstractMultiStateFactory<MotionModelID> factoryX
protected AbstractMultiStateFactory<MotionModelID> factoryZ
protected double delta_t
protected ExponentialDistribution pdeath
protected GaussMixDistribution newbornStateDistrib
protected Jama.Matrix newbornStateFromObs
public MultiTargetIMMFilter(MultiTargetIMMFilter imm)
public MultiTargetIMMFilter(Vector<GaussMixDistribution> initialStateDistrib, LinearTransformGaussNoise observationModel, LinearTransformGaussNoise[] dynamicsModels, Jama.Matrix markov, double delta_t, ExponentialDistribution targetDeathDistrib, GaussMixDistribution newbornStateDistrib, Jama.Matrix stateFromObs, AbstractMultiStateFactory<MotionModelID> factoryX, AbstractMultiStateFactory<MotionModelID> factoryZ)
initialStateDistrib
- distributions of the different independent targets' statesobservationModel
- observation modeldynamicsModels
- multiple dynamic modelsmarkov
- model transition matrix: each column holds the probabilities to switch from the dynamic model of column-index to the corresponding model of row-indexdelta_t
- time steptargetDeathDistrib
- distribution of the death/survival of targets depending on last time of associationnewbornStateDistrib
- distribution of newborn targetsstateFromObs
- a matrix to transform an observation (vector) to a state vectorfactoryX
- multi-state factoryfactoryZ
- multi-observation factorypublic MultiTargetIMMFilter(Vector<GaussMixDistribution> initialStateDistrib, LinearTransformGaussNoise observationModel, LinearTransformGaussNoise[] dynamicsModels, Jama.Matrix markov, double delta_t, ExponentialDistribution targetDeathDistrib, GaussMixDistribution newbornStateDistrib, Jama.Matrix stateFromObs, AbstractMultiStateFactory<MotionModelID> factoryX, AbstractMultiStateFactory<MotionModelID> factoryZ, Random rand)
initialStateDistrib
- distributions of the different independent targets' statesobservationModel
- observation modeldynamicsModels
- multiple dynamic modelsmarkov
- model transition matrix: each column holds the probabilities to switch from the dynamic model of column-index to the corresponding model of row-indexdelta_t
- time steptargetDeathDistrib
- distribution of the death/survival of targets depending on last time of associationnewbornStateDistrib
- distribution of newborn targetsstateFromObs
- a matrix to transform an observation (vector) to a state vectorfactoryX
- multi-state factoryfactoryZ
- multi-observation factoryrand
- random generatorpublic void predict()
MultiTargetPredictionFilter
predict
in interface MultiTargetPredictionFilter<AbstractMultiState<MotionModelID>>
public void update(AbstractMultiState<MotionModelID> observation, DataAssociation association)
MultiTargetPredictionFilter
update
in interface MultiTargetPredictionFilter<AbstractMultiState<MotionModelID>>
public AbstractMultiState<MotionModelID> getMean()
getMean
in interface FirstOrderMoment<AbstractMultiState<MotionModelID>>
public MultiTargetPredictionFilterIndep<MotionModelID> copy()
copy
in interface MultiTargetPredictionFilterIndep<MotionModelID>
copy
in interface Copyable<MultiTargetPredictionFilter<AbstractMultiState<MotionModelID>>>
public AbstractMultiObservationDistributionIndep<MotionModelID,MotionModelID> getObservationDistribution()
getObservationDistribution
in interface MultiTargetPredictionFilterIndep<MotionModelID>
protected void letTargetsDie()
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