tdoa_est.py 文件源码

def make_detection_extractor(detections, matches):
    rxpair_detections = collections.defaultdict(list)
    for group in matches:
        for det0_id, det1_id in itertools.combinations(group, 2):
            det0 = detections[det0_id]
            det1 = detections[det1_id]
            if det0.rxid > det1.rxid:
                det0, det1 = det1, det0
            rxpair_detections[(det0.rxid, det1.rxid)].append((det0, det1))

    timestamps = {}
    for pair, detections in rxpair_detections.iteritems():
        detections.sort(cmp=lambda x, y: x[0].timestamp < y[0].timestamp)
        timestamps[pair] = [d[0].timestamp for d in detections]

    def extract(rxid0, rxid1, timestamp_start, timestamp_stop):
        assert rxid0 < rxid1
        pair = (rxid0, rxid1)
        left = bisect_left(timestamps[pair], timestamp_start)
        right = bisect_right(timestamps[pair], timestamp_stop)
        detection_pairs = rxpair_detections[pair][left:right]

        if len(detection_pairs) > 1:
            sdoa = np.array([d[0].soa - d[1].soa for d in detection_pairs])
            is_outlier = stat_tools.is_outlier(sdoa)
            detection_pairs = list(itertools.compress(detection_pairs,
                                                      ~is_outlier))

        return detection_pairs

    return extract