lmb.py 文件源码

def __call__(self, tracker, report):
        """Init new target from report."""
        r = min(report.rB * tracker.params.lambdaB(report),
                tracker.params.rBmax, 1.0)
        print("New target:", r, "lambdaB", tracker.params.lambdaB(report))
        if r < 1e-6:
            return None
        id_ = tracker.new_id()
        model = models.ConstantVelocityModel(self.q, self.pS)

        x0 = np.array([report.z[0], report.z[1], 0.0, 0.0])
        P0 = block_diag(report.R, self.pv)
        pdf = PF.from_gaussian(x0, P0, tracker.params.N_max)

        return Target(id_, model, r, pdf)