nrl-tracker 0.21.4__py3-none-any.whl → 0.22.0__py3-none-any.whl

{nrl_tracker-0.21.4.dist-info → nrl_tracker-0.22.0.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: nrl-tracker
-Version: 0.21.4
+Version: 0.22.0
 Summary: Python port of the U.S. Naval Research Laboratory's Tracker Component Library for target tracking algorithms
 Author: Original: David F. Crouse, Naval Research Laboratory
 Maintainer: Python Port Contributors
@@ -60,7 +60,7 @@ Requires-Dist: plotly>=5.15.0; extra == "visualization"
 
 # Tracker Component Library (Python)
 
-[![PyPI version](https://img.shields.io/badge/pypi-v0.21.4-blue.svg)](https://pypi.org/project/nrl-tracker/)
+[![PyPI version](https://img.shields.io/badge/pypi-v0.22.0-blue.svg)](https://pypi.org/project/nrl-tracker/)
 [![Python 3.10+](https://img.shields.io/badge/python-3.10+-blue.svg)](https://www.python.org/downloads/)
 [![License: Public Domain](https://img.shields.io/badge/License-Public%20Domain-brightgreen.svg)](https://en.wikipedia.org/wiki/Public_domain)
 [![Code style: black](https://img.shields.io/badge/code%20style-black-000000.svg)](https://github.com/psf/black)

nrl_tracker-0.22.0.dist-info/RECORD

@@ -0,0 +1,150 @@
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+pytcl/terrain/__init__.py,sha256=-WEQ-nK1e_OPe6qwjvAEC1t6-pQRd4oV4UZziqSYnzg,3915
+pytcl/terrain/dem.py,sha256=1XI4p-vSDN1gLGmxSZNm-_KuQC35QoXmXqcq84pqEcM,20780
+pytcl/terrain/loaders.py,sha256=6bm_ADLHMJvDGkUVNFgbQfBvJMC5jLPrnDpZBv4Qg0A,27000
+pytcl/terrain/visibility.py,sha256=Aa0e-iCBALMuyt2GfTWrYAqFTg9BLIxNZWBePwNpxWw,22719
+pytcl/trackers/__init__.py,sha256=ljp9C6MvdbMV4fL_RWccZQ34c4pvkkzB3P69SLvXCp8,1584
+pytcl/trackers/hypothesis.py,sha256=dv9w26ZZhy6HQlX4_yOT02pwtaDbskPbxHOnSkkeFho,17377
+pytcl/trackers/mht.py,sha256=wveWgOcTJkNey8hSF-25tCsMGNyRtCmub6e95xRbDDY,20726
+pytcl/trackers/multi_target.py,sha256=fPBgTWYqInUxAF-15c1eFgRIed9GjWm7gl4JHVuL3NI,10633
+pytcl/trackers/single_target.py,sha256=HiGxkxqqbmUAbhhlKy1YvRD6Mvq6nIfcM1cGFI2ZIdA,6622
+pytcl/transponders/__init__.py,sha256=5fL4u3lKCYgPLo5uFeuZbtRZkJPABntuKYGUvVgMMEI,41
+nrl_tracker-0.22.0.dist-info/LICENSE,sha256=rB5G4WppIIUzMOYr2N6uyYlNJ00hRJqE5tie6BMvYuE,1612
+nrl_tracker-0.22.0.dist-info/METADATA,sha256=I8qnfiIoHmaKz-haPqUSwemAT1HwCzKkXCQKdcYD350,10005
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+nrl_tracker-0.22.0.dist-info/RECORD,,

pytcl/__init__.py

@@ -20,7 +20,7 @@ References
        no. 5, pp. 18-27, May 2017.
 """
 
-__version__ = "0.21.4"
+__version__ = "0.22.0"
 __author__ = "Python Port Contributors"
 __original_author__ = "David F. Crouse, Naval Research Laboratory"
 
@@ -30,16 +30,14 @@ __original_author__ = "David F. Crouse, Naval Research Laboratory"
 # Specialized domains (Phase 6)
 # Assignment algorithms (Phase 5)
 # Core utilities
-from pytcl import (
-    assignment_algorithms,
-    astronomical,
-    atmosphere,
-    core,
-    navigation,
-    performance_evaluation,
-    plotting,
-    trackers,
-)
+from pytcl import assignment_algorithms
+from pytcl import astronomical
+from pytcl import atmosphere
+from pytcl import core
+from pytcl import navigation
+from pytcl import performance_evaluation
+from pytcl import plotting
+from pytcl import trackers
 
 
 # Version tuple for programmatic access

pytcl/assignment_algorithms/__init__.py

@@ -9,48 +9,38 @@ This module provides:
 - Data association algorithms (GNN, JPDA)
 """
 
-from pytcl.assignment_algorithms.data_association import (
-    AssociationResult,
-    compute_association_cost,
-    gated_gnn_association,
-    gnn_association,
-    nearest_neighbor,
-)
-from pytcl.assignment_algorithms.gating import (
-    chi2_gate_threshold,
-    compute_gate_volume,
-    ellipsoidal_gate,
-    gate_measurements,
-    mahalanobis_distance,
-    rectangular_gate,
-)
-from pytcl.assignment_algorithms.jpda import (
-    JPDAResult,
-    JPDAUpdate,
-    compute_likelihood_matrix,
-    jpda,
-    jpda_probabilities,
-    jpda_update,
-)
-from pytcl.assignment_algorithms.three_dimensional import (
-    Assignment3DResult,
-    assign3d,
-    assign3d_auction,
-    assign3d_lagrangian,
-    decompose_to_2d,
-    greedy_3d,
-)
-from pytcl.assignment_algorithms.two_dimensional import (
-    AssignmentResult,
-    KBestResult,
-    assign2d,
-    auction,
-    hungarian,
-    kbest_assign2d,
-    linear_sum_assignment,
-    murty,
-    ranked_assignments,
-)
+from pytcl.assignment_algorithms.data_association import AssociationResult
+from pytcl.assignment_algorithms.data_association import compute_association_cost
+from pytcl.assignment_algorithms.data_association import gated_gnn_association
+from pytcl.assignment_algorithms.data_association import gnn_association
+from pytcl.assignment_algorithms.data_association import nearest_neighbor
+from pytcl.assignment_algorithms.gating import chi2_gate_threshold
+from pytcl.assignment_algorithms.gating import compute_gate_volume
+from pytcl.assignment_algorithms.gating import ellipsoidal_gate
+from pytcl.assignment_algorithms.gating import gate_measurements
+from pytcl.assignment_algorithms.gating import mahalanobis_distance
+from pytcl.assignment_algorithms.gating import rectangular_gate
+from pytcl.assignment_algorithms.jpda import JPDAResult
+from pytcl.assignment_algorithms.jpda import JPDAUpdate
+from pytcl.assignment_algorithms.jpda import compute_likelihood_matrix
+from pytcl.assignment_algorithms.jpda import jpda
+from pytcl.assignment_algorithms.jpda import jpda_probabilities
+from pytcl.assignment_algorithms.jpda import jpda_update
+from pytcl.assignment_algorithms.three_dimensional import Assignment3DResult
+from pytcl.assignment_algorithms.three_dimensional import assign3d
+from pytcl.assignment_algorithms.three_dimensional import assign3d_auction
+from pytcl.assignment_algorithms.three_dimensional import assign3d_lagrangian
+from pytcl.assignment_algorithms.three_dimensional import decompose_to_2d
+from pytcl.assignment_algorithms.three_dimensional import greedy_3d
+from pytcl.assignment_algorithms.two_dimensional import AssignmentResult
+from pytcl.assignment_algorithms.two_dimensional import KBestResult
+from pytcl.assignment_algorithms.two_dimensional import assign2d
+from pytcl.assignment_algorithms.two_dimensional import auction
+from pytcl.assignment_algorithms.two_dimensional import hungarian
+from pytcl.assignment_algorithms.two_dimensional import kbest_assign2d
+from pytcl.assignment_algorithms.two_dimensional import linear_sum_assignment
+from pytcl.assignment_algorithms.two_dimensional import murty
+from pytcl.assignment_algorithms.two_dimensional import ranked_assignments
 
 __all__ = [
     # 2D Assignment

pytcl/assignment_algorithms/data_association.py

@@ -5,18 +5,17 @@ This module provides algorithms for associating measurements to tracks,
 including Global Nearest Neighbor (GNN) and related methods.
 """
 
-from typing import List, NamedTuple, Optional
+from typing import List
+from typing import NamedTuple
+from typing import Optional
 
 import numpy as np
-from numpy.typing import ArrayLike, NDArray
-
-from pytcl.assignment_algorithms.gating import (
-    mahalanobis_batch,
-    mahalanobis_distance,
-)
-from pytcl.assignment_algorithms.two_dimensional import (
-    assign2d,
-)
+from numpy.typing import ArrayLike
+from numpy.typing import NDArray
+
+from pytcl.assignment_algorithms.gating import mahalanobis_batch
+from pytcl.assignment_algorithms.gating import mahalanobis_distance
+from pytcl.assignment_algorithms.two_dimensional import assign2d
 
 
 class AssociationResult(NamedTuple):

pytcl/assignment_algorithms/gating.py

@@ -5,11 +5,13 @@ This module provides gating methods to determine which measurements
 fall within a validation region around predicted track states.
 """
 
-from typing import List, Tuple
+from typing import List
+from typing import Tuple
 
 import numpy as np
 from numba import njit
-from numpy.typing import ArrayLike, NDArray
+from numpy.typing import ArrayLike
+from numpy.typing import NDArray
 from scipy.stats import chi2
 
 
@@ -19,9 +21,9 @@ def _mahalanobis_distance_2d(
     S_inv: np.ndarray,
 ) -> float:
     """JIT-compiled Mahalanobis distance for 2D innovations."""
-    return innovation[0] * (
-        S_inv[0, 0] * innovation[0] + S_inv[0, 1] * innovation[1]
-    ) + innovation[1] * (S_inv[1, 0] * innovation[0] + S_inv[1, 1] * innovation[1])
+    return innovation[0] * (S_inv[0, 0] * innovation[0] + S_inv[0, 1] * innovation[1]) + innovation[
+        1
+    ] * (S_inv[1, 0] * innovation[0] + S_inv[1, 1] * innovation[1])
 
 
 @njit(cache=True, fastmath=True)

pytcl/assignment_algorithms/jpda.py

@@ -9,11 +9,15 @@ This is more sophisticated than GNN which makes hard assignment decisions,
 as JPDA can handle measurement origin uncertainty in cluttered environments.
 """
 
-from typing import List, NamedTuple, Optional, Tuple
+from typing import List
+from typing import NamedTuple
+from typing import Optional
+from typing import Tuple
 
 import numpy as np
 from numba import njit
-from numpy.typing import ArrayLike, NDArray
+from numpy.typing import ArrayLike
+from numpy.typing import NDArray
 from scipy.stats import chi2
 
 from pytcl.assignment_algorithms.gating import mahalanobis_distance
@@ -94,9 +98,7 @@ def compute_measurement_likelihood(
         return 0.0
 
     mahal_sq = innovation @ np.linalg.solve(innovation_cov, innovation)
-    likelihood = (
-        detection_prob * np.exp(-0.5 * mahal_sq) / np.sqrt((2 * np.pi) ** m * det_S)
-    )
+    likelihood = detection_prob * np.exp(-0.5 * mahal_sq) / np.sqrt((2 * np.pi) ** m * det_S)
 
     return likelihood
 
@@ -210,9 +212,7 @@ def jpda_probabilities(
     if n_tracks <= 5 and n_meas <= 5:
         beta = _jpda_exact(likelihood_matrix, gated, detection_prob, clutter_density)
     else:
-        beta = _jpda_approximate(
-            likelihood_matrix, gated, detection_prob, clutter_density
-        )
+        beta = _jpda_approximate(likelihood_matrix, gated, detection_prob, clutter_density)
 
     return beta
 
@@ -258,9 +258,7 @@ def _jpda_exact(
             if gated[track_idx, meas_idx] and track_idx not in used_tracks:
                 current_assignment.append(track_idx)
                 used_tracks.add(track_idx)
-                yield from generate_hypotheses(
-                    meas_idx + 1, current_assignment, used_tracks
-                )
+                yield from generate_hypotheses(meas_idx + 1, current_assignment, used_tracks)
                 used_tracks.remove(track_idx)
                 current_assignment.pop()
 
@@ -298,9 +296,7 @@ def _jpda_exact(
         hypothesis_probs = [p / total_prob for p in hypothesis_probs]
 
     # Compute marginal association probabilities
-    for h_idx, (assignment, prob) in enumerate(
-        zip(hypothesis_assignments, hypothesis_probs)
-    ):
+    for h_idx, (assignment, prob) in enumerate(zip(hypothesis_assignments, hypothesis_probs)):
         detected_tracks = set()
         for j, track_idx in enumerate(assignment):
             if track_idx >= 0:

pytcl/assignment_algorithms/three_dimensional/__init__.py

@@ -5,14 +5,12 @@ This module provides algorithms for solving 3D assignment problems,
 which arise in multi-sensor data fusion and multi-scan tracking.
 """
 
-from pytcl.assignment_algorithms.three_dimensional.assignment import (
-    Assignment3DResult,
-    assign3d,
-    assign3d_auction,
-    assign3d_lagrangian,
-    decompose_to_2d,
-    greedy_3d,
-)
+from pytcl.assignment_algorithms.three_dimensional.assignment import Assignment3DResult
+from pytcl.assignment_algorithms.three_dimensional.assignment import assign3d
+from pytcl.assignment_algorithms.three_dimensional.assignment import assign3d_auction
+from pytcl.assignment_algorithms.three_dimensional.assignment import assign3d_lagrangian
+from pytcl.assignment_algorithms.three_dimensional.assignment import decompose_to_2d
+from pytcl.assignment_algorithms.three_dimensional.assignment import greedy_3d
 
 __all__ = [
     "Assignment3DResult",

pytcl/assignment_algorithms/three_dimensional/assignment.py

@@ -11,10 +11,14 @@ cost subject to the constraint that each index appears in at most one
 selected tuple.
 """
 
-from typing import List, NamedTuple, Optional, Tuple
+from typing import List
+from typing import NamedTuple
+from typing import Optional
+from typing import Tuple
 
 import numpy as np
-from numpy.typing import ArrayLike, NDArray
+from numpy.typing import ArrayLike
+from numpy.typing import NDArray
 from scipy.optimize import linear_sum_assignment as scipy_lsa
 
 

pytcl/assignment_algorithms/two_dimensional/__init__.py

@@ -6,19 +6,15 @@ the 2D assignment problem (bipartite matching), as well as k-best
 assignment algorithms for Multiple Hypothesis Tracking.
 """
 
-from pytcl.assignment_algorithms.two_dimensional.assignment import (
-    AssignmentResult,
-    assign2d,
-    auction,
-    hungarian,
-    linear_sum_assignment,
-)
-from pytcl.assignment_algorithms.two_dimensional.kbest import (
-    KBestResult,
-    kbest_assign2d,
-    murty,
-    ranked_assignments,
-)
+from pytcl.assignment_algorithms.two_dimensional.assignment import AssignmentResult
+from pytcl.assignment_algorithms.two_dimensional.assignment import assign2d
+from pytcl.assignment_algorithms.two_dimensional.assignment import auction
+from pytcl.assignment_algorithms.two_dimensional.assignment import hungarian
+from pytcl.assignment_algorithms.two_dimensional.assignment import linear_sum_assignment
+from pytcl.assignment_algorithms.two_dimensional.kbest import KBestResult
+from pytcl.assignment_algorithms.two_dimensional.kbest import kbest_assign2d
+from pytcl.assignment_algorithms.two_dimensional.kbest import murty
+from pytcl.assignment_algorithms.two_dimensional.kbest import ranked_assignments
 
 __all__ = [
     # 2D Assignment

pytcl/assignment_algorithms/two_dimensional/assignment.py

@@ -5,10 +5,13 @@ This module provides algorithms for solving the 2D assignment (bipartite matchin
 problem, which is fundamental to data association in target tracking.
 """
 
-from typing import NamedTuple, Optional, Tuple
+from typing import NamedTuple
+from typing import Optional
+from typing import Tuple
 
 import numpy as np
-from numpy.typing import ArrayLike, NDArray
+from numpy.typing import ArrayLike
+from numpy.typing import NDArray
 from scipy.optimize import linear_sum_assignment as scipy_lsa
 
 

pytcl/assignment_algorithms/two_dimensional/kbest.py

@@ -6,16 +6,18 @@ This module provides algorithms for finding the k best solutions to the
 Multiple Hypothesis Tracking (MHT).
 """
 
-from typing import List, NamedTuple, Optional, Tuple
+from typing import List
+from typing import NamedTuple
+from typing import Optional
+from typing import Tuple
 
 import numpy as np
-from numpy.typing import ArrayLike, NDArray
+from numpy.typing import ArrayLike
+from numpy.typing import NDArray
 from scipy.optimize import linear_sum_assignment as scipy_lsa
 
-from pytcl.assignment_algorithms.two_dimensional.assignment import (
-    AssignmentResult,
-    assign2d,
-)
+from pytcl.assignment_algorithms.two_dimensional.assignment import AssignmentResult
+from pytcl.assignment_algorithms.two_dimensional.assignment import assign2d
 
 
 class KBestResult(NamedTuple):
@@ -335,9 +337,7 @@ def _partition_solution(
 
     for i in range(start_idx, n_assigned):
         # Require assignments 0..i-1, forbid assignment i
-        new_required = required + [
-            (row_ind[j], col_ind[j]) for j in range(start_idx, i)
-        ]
+        new_required = required + [(row_ind[j], col_ind[j]) for j in range(start_idx, i)]
         new_forbidden = forbidden + [(row_ind[i], col_ind[i])]
 
         # Solve constrained problem