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

pytcl/terrain/__init__.py

@@ -52,44 +52,38 @@ Examples
 """
 
 # DEM interface
-from pytcl.terrain.dem import (
-    DEMGrid,
-    DEMMetadata,
-    DEMPoint,
-    TerrainGradient,
-    create_flat_dem,
-    create_synthetic_terrain,
-    get_elevation_profile,
-    interpolate_dem,
-    merge_dems,
-)
+from pytcl.terrain.dem import DEMGrid
+from pytcl.terrain.dem import DEMMetadata
+from pytcl.terrain.dem import DEMPoint
+from pytcl.terrain.dem import TerrainGradient
+from pytcl.terrain.dem import create_flat_dem
+from pytcl.terrain.dem import create_synthetic_terrain
+from pytcl.terrain.dem import get_elevation_profile
+from pytcl.terrain.dem import interpolate_dem
+from pytcl.terrain.dem import merge_dems
 
 # Data loaders
-from pytcl.terrain.loaders import (
-    EARTH2014_PARAMETERS,
-    GEBCO_PARAMETERS,
-    Earth2014Metadata,
-    GEBCOMetadata,
-    create_test_earth2014_dem,
-    create_test_gebco_dem,
-    get_data_dir,
-    get_earth2014_metadata,
-    get_gebco_metadata,
-    load_earth2014,
-    load_gebco,
-)
+from pytcl.terrain.loaders import EARTH2014_PARAMETERS
+from pytcl.terrain.loaders import GEBCO_PARAMETERS
+from pytcl.terrain.loaders import Earth2014Metadata
+from pytcl.terrain.loaders import GEBCOMetadata
+from pytcl.terrain.loaders import create_test_earth2014_dem
+from pytcl.terrain.loaders import create_test_gebco_dem
+from pytcl.terrain.loaders import get_data_dir
+from pytcl.terrain.loaders import get_earth2014_metadata
+from pytcl.terrain.loaders import get_gebco_metadata
+from pytcl.terrain.loaders import load_earth2014
+from pytcl.terrain.loaders import load_gebco
 
 # Visibility functions
-from pytcl.terrain.visibility import (
-    HorizonPoint,
-    LOSResult,
-    ViewshedResult,
-    compute_horizon,
-    line_of_sight,
-    radar_coverage_map,
-    terrain_masking_angle,
-    viewshed,
-)
+from pytcl.terrain.visibility import HorizonPoint
+from pytcl.terrain.visibility import LOSResult
+from pytcl.terrain.visibility import ViewshedResult
+from pytcl.terrain.visibility import compute_horizon
+from pytcl.terrain.visibility import line_of_sight
+from pytcl.terrain.visibility import radar_coverage_map
+from pytcl.terrain.visibility import terrain_masking_angle
+from pytcl.terrain.visibility import viewshed
 
 __all__ = [
     # DEM data structures

pytcl/terrain/dem.py

@@ -25,7 +25,10 @@ References
        198.3 (2014): 1544-1555.
 """
 
-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 NDArray
@@ -193,9 +196,7 @@ class DEMGrid:
 
     def _in_bounds(self, lat: float, lon: float) -> bool:
         """Check if coordinates are within DEM bounds."""
-        return (
-            self.lat_min <= lat <= self.lat_max and self.lon_min <= lon <= self.lon_max
-        )
+        return self.lat_min <= lat <= self.lat_max and self.lon_min <= lon <= self.lon_max
 
     def _get_indices(self, lat: float, lon: float) -> Tuple[int, int, float, float]:
         """Get grid indices and fractional parts for interpolation.
@@ -275,11 +276,7 @@ class DEMGrid:
             z00 = self.data[i, j]
             z01 = self.data[i, j + 1] if j + 1 < self.n_lon else z00
             z10 = self.data[i + 1, j] if i + 1 < self.n_lat else z00
-            z11 = (
-                self.data[i + 1, j + 1]
-                if (i + 1 < self.n_lat and j + 1 < self.n_lon)
-                else z00
-            )
+            z11 = self.data[i + 1, j + 1] if (i + 1 < self.n_lat and j + 1 < self.n_lon) else z00
 
             # Check for nodata
             values = [z00, z01, z10, z11]

pytcl/terrain/loaders.py

@@ -21,7 +21,10 @@ References
 import os
 from functools import lru_cache
 from pathlib import Path
-from typing import Dict, NamedTuple, Optional, Tuple
+from typing import Dict
+from typing import NamedTuple
+from typing import Optional
+from typing import Tuple
 
 import numpy as np
 from numpy.typing import NDArray
@@ -308,8 +311,7 @@ def parse_gebco_netcdf(
         import netCDF4 as nc
     except ImportError:
         raise ImportError(
-            "netCDF4 is required for loading GEBCO files.\n"
-            "Install with: pip install netCDF4"
+            "netCDF4 is required for loading GEBCO files.\n" "Install with: pip install netCDF4"
         )
 
     # Set defaults for global extent
@@ -432,13 +434,9 @@ def parse_earth2014_binary(
 
     # Compute row/column indices
     i_start = max(0, int(np.floor((np.radians(lat_min_deg) - lat_start) / d_lat)))
-    i_end = min(
-        EARTH2014_N_LAT, int(np.ceil((np.radians(lat_max_deg) - lat_start) / d_lat)) + 1
-    )
+    i_end = min(EARTH2014_N_LAT, int(np.ceil((np.radians(lat_max_deg) - lat_start) / d_lat)) + 1)
     j_start = max(0, int(np.floor((np.radians(lon_min_deg) - lon_start) / d_lon)))
-    j_end = min(
-        EARTH2014_N_LON, int(np.ceil((np.radians(lon_max_deg) - lon_start) / d_lon)) + 1
-    )
+    j_end = min(EARTH2014_N_LON, int(np.ceil((np.radians(lon_max_deg) - lon_start) / d_lon)) + 1)
 
     # Read binary data
     # File is stored as int16 big-endian, rows from south to north
@@ -455,9 +453,7 @@ def parse_earth2014_binary(
             f.seek(row_offset + col_offset)
 
             # Read row segment
-            row_data = np.frombuffer(
-                f.read(n_cols * 2), dtype=">i2"
-            )  # big-endian int16
+            row_data = np.frombuffer(f.read(n_cols * 2), dtype=">i2")  # big-endian int16
             data[i, :] = row_data.astype(np.float64)
 
     # Compute actual bounds
@@ -578,8 +574,7 @@ def load_gebco(
     """
     if version not in GEBCO_PARAMETERS:
         raise ValueError(
-            f"Unknown GEBCO version: {version}. "
-            f"Valid versions: {list(GEBCO_PARAMETERS.keys())}"
+            f"Unknown GEBCO version: {version}. " f"Valid versions: {list(GEBCO_PARAMETERS.keys())}"
         )
 
     return _load_gebco_cached(version, lat_min, lat_max, lon_min, lon_max)

pytcl/terrain/visibility.py

@@ -23,7 +23,8 @@ References
        on terrains: a survey." Environment and Planning B 30.5 (2003): 709-728.
 """
 
-from typing import List, NamedTuple
+from typing import List
+from typing import NamedTuple
 
 import numpy as np
 from numpy.typing import NDArray
@@ -184,10 +185,7 @@ def line_of_sight(
     # Compute distances from observer
     dlat = sample_lats - obs_lat
     dlon = sample_lons - obs_lon
-    a = (
-        np.sin(dlat / 2) ** 2
-        + np.cos(obs_lat) * np.cos(sample_lats) * np.sin(dlon / 2) ** 2
-    )
+    a = np.sin(dlat / 2) ** 2 + np.cos(obs_lat) * np.cos(sample_lats) * np.sin(dlon / 2) ** 2
     c = 2 * np.arctan2(np.sqrt(a), np.sqrt(1 - a))
     distances = earth_radius * c
 
@@ -250,9 +248,7 @@ def line_of_sight(
         else:
             grazing_angle = -np.pi / 2
 
-    return LOSResult(
-        visible, grazing_angle, obstacle_distance, obstacle_elevation, min_clearance
-    )
+    return LOSResult(visible, grazing_angle, obstacle_distance, obstacle_elevation, min_clearance)
 
 
 def viewshed(

pytcl/trackers/__init__.py

@@ -5,31 +5,23 @@ This module provides complete tracker implementations that combine
 filtering, data association, and track management.
 """
 
-from pytcl.trackers.hypothesis import (
-    Hypothesis,
-    HypothesisAssignment,
-    HypothesisTree,
-    MHTTrack,
-    MHTTrackStatus,
-    compute_association_likelihood,
-    generate_joint_associations,
-    n_scan_prune,
-    prune_hypotheses_by_probability,
-)
-from pytcl.trackers.mht import (
-    MHTConfig,
-    MHTResult,
-    MHTTracker,
-)
-from pytcl.trackers.multi_target import (
-    MultiTargetTracker,
-    Track,
-    TrackStatus,
-)
-from pytcl.trackers.single_target import (
-    SingleTargetTracker,
-    TrackState,
-)
+from pytcl.trackers.hypothesis import Hypothesis
+from pytcl.trackers.hypothesis import HypothesisAssignment
+from pytcl.trackers.hypothesis import HypothesisTree
+from pytcl.trackers.hypothesis import MHTTrack
+from pytcl.trackers.hypothesis import MHTTrackStatus
+from pytcl.trackers.hypothesis import compute_association_likelihood
+from pytcl.trackers.hypothesis import generate_joint_associations
+from pytcl.trackers.hypothesis import n_scan_prune
+from pytcl.trackers.hypothesis import prune_hypotheses_by_probability
+from pytcl.trackers.mht import MHTConfig
+from pytcl.trackers.mht import MHTResult
+from pytcl.trackers.mht import MHTTracker
+from pytcl.trackers.multi_target import MultiTargetTracker
+from pytcl.trackers.multi_target import Track
+from pytcl.trackers.multi_target import TrackStatus
+from pytcl.trackers.single_target import SingleTargetTracker
+from pytcl.trackers.single_target import TrackState
 
 __all__ = [
     # Single target

pytcl/trackers/hypothesis.py

@@ -13,7 +13,12 @@ References
 """
 
 from enum import Enum
-from typing import Dict, List, NamedTuple, Optional, Set, Tuple
+from typing import Dict
+from typing import List
+from typing import NamedTuple
+from typing import Optional
+from typing import Set
+from typing import Tuple
 
 import numpy as np
 from numpy.typing import NDArray
@@ -294,10 +299,7 @@ def n_scan_prune(
                     hyp_tracks_at_cutoff.add(track_id)
 
         # Keep if tracks match (or if no tracks at cutoff)
-        if (
-            hyp_tracks_at_cutoff == best_tracks_at_cutoff
-            or len(best_tracks_at_cutoff) == 0
-        ):
+        if hyp_tracks_at_cutoff == best_tracks_at_cutoff or len(best_tracks_at_cutoff) == 0:
             pruned.append(hyp)
 
     # Renormalize probabilities
@@ -515,9 +517,7 @@ class HypothesisTree:
         new_hypotheses = []
 
         for hyp in self.hypotheses:
-            for assoc_idx, (assoc, likelihood) in enumerate(
-                zip(associations, likelihoods)
-            ):
+            for assoc_idx, (assoc, likelihood) in enumerate(zip(associations, likelihoods)):
                 # Compute new hypothesis probability
                 new_prob = hyp.probability * likelihood
 

pytcl/trackers/mht.py

@@ -15,20 +15,24 @@ References
        IEEE Trans. Automatic Control, 1979.
 """
 
-from typing import Callable, Dict, List, NamedTuple, Optional, Set
+from typing import Callable
+from typing import Dict
+from typing import List
+from typing import NamedTuple
+from typing import Optional
+from typing import Set
 
 import numpy as np
-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
-from pytcl.trackers.hypothesis import (
-    Hypothesis,
-    HypothesisTree,
-    MHTTrack,
-    MHTTrackStatus,
-    generate_joint_associations,
-)
+from pytcl.trackers.hypothesis import Hypothesis
+from pytcl.trackers.hypothesis import HypothesisTree
+from pytcl.trackers.hypothesis import MHTTrack
+from pytcl.trackers.hypothesis import MHTTrackStatus
+from pytcl.trackers.hypothesis import generate_joint_associations
 
 
 class MHTConfig(NamedTuple):
@@ -223,9 +227,7 @@ class MHTTracker:
         predicted_tracks = self._predict_tracks(current_tracks, F, Q)
 
         # Compute gating and likelihoods
-        gated, likelihood_matrix = self._compute_gating_and_likelihoods(
-            predicted_tracks, Z
-        )
+        gated, likelihood_matrix = self._compute_gating_and_likelihoods(predicted_tracks, Z)
 
         # Generate associations for each hypothesis
         track_id_list = list(predicted_tracks.keys())
@@ -270,9 +272,7 @@ class MHTTracker:
 
         # Update tracks based on associations
         new_tracks_per_assoc: Dict[int, List[MHTTrack]] = {}
-        updated_tracks: Dict[int, Dict[int, MHTTrack]] = (
-            {}
-        )  # assoc_idx -> track_id -> track
+        updated_tracks: Dict[int, Dict[int, MHTTrack]] = {}  # assoc_idx -> track_id -> track
 
         for assoc_idx, assoc in enumerate(associations):
             updated_tracks[assoc_idx] = {}
@@ -295,9 +295,7 @@ class MHTTracker:
                 updated_tracks[assoc_idx][track_id] = upd_track
 
             # Handle unassigned measurements -> new tracks
-            assigned_meas = set(
-                meas_idx for meas_idx in assoc.values() if meas_idx >= 0
-            )
+            assigned_meas = set(meas_idx for meas_idx in assoc.values() if meas_idx >= 0)
             for j in range(n_meas):
                 if j not in assigned_meas:
                     new_track = self._initiate_track(Z[j], j)
@@ -408,9 +406,7 @@ class MHTTracker:
 
         # Clutter and new track terms for unassigned measurements
         n_unassigned = len(Z) - len(used_meas)
-        likelihood *= (
-            self.config.clutter_density + self.config.new_track_weight
-        ) ** n_unassigned
+        likelihood *= (self.config.clutter_density + self.config.new_track_weight) ** n_unassigned
 
         return likelihood
 
@@ -534,9 +530,7 @@ class MHTTracker:
         new_hypotheses = []
 
         for hyp in self.hypothesis_tree.hypotheses:
-            for assoc_idx, (assoc, likelihood) in enumerate(
-                zip(associations, likelihoods)
-            ):
+            for assoc_idx, (assoc, likelihood) in enumerate(zip(associations, likelihoods)):
                 # Compute new hypothesis probability
                 new_prob = hyp.probability * likelihood
 

pytcl/trackers/multi_target.py

@@ -6,15 +6,17 @@ and Kalman filtering with track management (initiation, maintenance, deletion).
 """
 
 from enum import Enum
-from typing import Callable, List, NamedTuple, Optional
+from typing import Callable
+from typing import List
+from typing import NamedTuple
+from typing import Optional
 
 import numpy as np
-from numpy.typing import ArrayLike, NDArray
+from numpy.typing import ArrayLike
+from numpy.typing import NDArray
 
-from pytcl.assignment_algorithms import (
-    chi2_gate_threshold,
-    gnn_association,
-)
+from pytcl.assignment_algorithms import chi2_gate_threshold
+from pytcl.assignment_algorithms import gnn_association
 
 
 class TrackStatus(Enum):

pytcl/trackers/single_target.py

@@ -4,10 +4,13 @@ Single-target tracker implementation.
 This module provides a simple single-target tracker using Kalman filtering.
 """
 
-from typing import Callable, NamedTuple, Optional
+from typing import Callable
+from typing import NamedTuple
+from typing import Optional
 
 import numpy as np
-from numpy.typing import ArrayLike, NDArray
+from numpy.typing import ArrayLike
+from numpy.typing import NDArray
 
 
 class TrackState(NamedTuple):

nrl_tracker-0.21.4.dist-info/RECORD

@@ -1,148 +0,0 @@
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