tracker.py 文件源码

def __analyzeTrackTermination(self):
        deadTracks = []
        for trackIndex, trackNode in enumerate(self.__trackNodes__):
            # Check outside radarRange
            if trackNode.isOutsideRange(self.position, self.radarRange):
                trackNode.status = outofrangeTag
                deadTracks.append(trackIndex)
                log.info("Terminating track {0:} at {1:} since it is out of radarRange".format(
                    trackIndex, np.array_str(self.__trackNodes__[trackIndex].x_0[0:2])))

            # Check if track is to insecure
            elif trackNode.getScore() / (self.N + 1) > self.scoreUpperLimit:
                trackNode.status = toolowscoreTag
                deadTracks.append(trackIndex)
                log.info("Terminating track {0:} at {1:} since its score is above the threshold ({2:.1f}>{3:.1f})".format(
                    trackIndex, np.array_str(self.__trackNodes__[trackIndex].x_0[0:2]),
                    trackNode.getScore() / (self.N + 1), self.scoreUpperLimit))
            elif trackNode.cumulativeNLLR > self.clnnrUpperLimit:
                trackNode.status = toolowscoreTag
                deadTracks.append(trackIndex)
                log.info(
                    "Terminating track {0:} at {1:} since its CNNLR is above the threshold ({2:.1f}>{3:.1f})".format(
                        trackIndex, np.array_str(
                            self.__trackNodes__[trackIndex].x_0[0:2]),
                        trackNode.cumulativeNLLR, self.clnnrUpperLimit))
        return deadTracks