nrl-tracker 0.4.2__py3-none-any.whl → 0.21.1__py3-none-any.whl

{nrl_tracker-0.4.2.dist-info → nrl_tracker-0.21.1.dist-info}/METADATA

@@ -1,12 +1,13 @@
 Metadata-Version: 2.1
 Name: nrl-tracker
-Version: 0.4.2
+Version: 0.21.1
 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
-Project-URL: Homepage, https://github.com/nedonatelli/TCL
+Project-URL: Homepage, https://pytcl.readthedocs.io/en
+Project-URL: Documentation, https://pytcl.readthedocs.io/en/latest/docs.html
+Project-URL: Repository, https://github.com/nedonatelli/TCL
 Project-URL: Bug Tracker, https://github.com/nedonatelli/TCL/issues
-Project-URL: Documentation, https://github.com/nedonatelli/TCL#readme
 Project-URL: Original MATLAB Library, https://github.com/USNavalResearchLaboratory/TrackerComponentLibrary
 Keywords: tracking,kalman-filter,target-tracking,data-association,estimation,navigation,coordinate-systems,signal-processing
 Classifier: Development Status :: 3 - Alpha
@@ -29,7 +30,7 @@ Requires-Dist: numpy>=1.24.0
 Requires-Dist: scipy>=1.10.0
 Requires-Dist: numba>=0.57.0
 Provides-Extra: all
-Requires-Dist: nrl-tracker[astronomy,dev,geodesy,optimization,visualization]; extra == "all"
+Requires-Dist: nrl-tracker[astronomy,dev,geodesy,optimization,signal,visualization]; extra == "all"
 Provides-Extra: astronomy
 Requires-Dist: astropy>=5.0; extra == "astronomy"
 Requires-Dist: jplephem>=2.18; extra == "astronomy"
@@ -39,7 +40,8 @@ Requires-Dist: pytest-cov>=4.0.0; extra == "dev"
 Requires-Dist: pytest-xdist>=3.0.0; extra == "dev"
 Requires-Dist: hypothesis>=6.0.0; extra == "dev"
 Requires-Dist: black>=23.0.0; extra == "dev"
-Requires-Dist: ruff>=0.1.0; extra == "dev"
+Requires-Dist: isort>=5.12.0; extra == "dev"
+Requires-Dist: flake8>=7.0.0; extra == "dev"
 Requires-Dist: mypy>=1.0.0; extra == "dev"
 Requires-Dist: pre-commit>=3.0.0; extra == "dev"
 Requires-Dist: sphinx>=6.0.0; extra == "dev"
@@ -51,17 +53,23 @@ Requires-Dist: pyproj>=3.4.0; extra == "geodesy"
 Requires-Dist: geographiclib>=2.0; extra == "geodesy"
 Provides-Extra: optimization
 Requires-Dist: cvxpy>=1.3.0; extra == "optimization"
+Provides-Extra: signal
+Requires-Dist: pywavelets>=1.4.0; extra == "signal"
 Provides-Extra: visualization
 Requires-Dist: plotly>=5.15.0; extra == "visualization"
 
 # Tracker Component Library (Python)
 
+[![PyPI version](https://img.shields.io/badge/pypi-v0.21.1-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)
+[![Tests](https://img.shields.io/badge/tests-1530%20passing-success.svg)](https://github.com/nedonatelli/TCL)
 
 A Python port of the [U.S. Naval Research Laboratory's Tracker Component Library](https://github.com/USNavalResearchLaboratory/TrackerComponentLibrary), a comprehensive collection of algorithms for target tracking, estimation, coordinate systems, and related mathematical functions.
 
+**800+ functions** | **144 modules** | **1,530 tests** | **15+ algorithm categories**
+
 ## Overview
 
 The Tracker Component Library provides building blocks for developing target tracking algorithms, including:
@@ -191,9 +199,9 @@ pytcl/
 
 ## Documentation
 
-- [API Reference](https://tracker-component-library-python.readthedocs.io/en/latest/api/)
-- [Tutorials](https://tracker-component-library-python.readthedocs.io/en/latest/tutorials/)
-- [Examples](https://tracker-component-library-python.readthedocs.io/en/latest/examples/)
+- [API Reference](https://pytcl.readthedocs.io/en/latest/api/)
+- [User Guides](https://pytcl.readthedocs.io/en/latest/user_guide/)
+- [Examples](examples/)
 
 ## Comparison with Original MATLAB Library
 

nrl_tracker-0.21.1.dist-info/RECORD

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pytcl/__init__.py

@@ -20,29 +20,26 @@ References
        no. 5, pp. 18-27, May 2017.
 """
 
-__version__ = "0.4.2"
+__version__ = "0.18.0"
 __author__ = "Python Port Contributors"
 __original_author__ = "David F. Crouse, Naval Research Laboratory"
 
-# Core utilities
-from pytcl import core
-
-# Assignment algorithms (Phase 5)
-from pytcl import assignment_algorithms
-
-# Specialized domains (Phase 6)
-from pytcl import astronomical
-from pytcl import navigation
-from pytcl import atmosphere
-
-# End-to-end trackers (Phase 7)
-from pytcl import trackers
-
-# Performance evaluation
-from pytcl import performance_evaluation
-
 # Plotting utilities
-from pytcl import plotting
+# Performance evaluation
+# End-to-end trackers (Phase 7)
+# Specialized domains (Phase 6)
+# Assignment algorithms (Phase 5)
+# Core utilities
+from pytcl import (
+    assignment_algorithms,
+    astronomical,
+    atmosphere,
+    core,
+    navigation,
+    performance_evaluation,
+    plotting,
+    trackers,
+)
 
 
 # Version tuple for programmatic access

pytcl/assignment_algorithms/__init__.py

@@ -2,43 +2,54 @@
 Assignment algorithms for data association in target tracking.
 
 This module provides:
-- 2D assignment algorithms (Hungarian, Auction, JVC)
+- 2D assignment algorithms (Hungarian, Auction)
+- K-best 2D assignment (Murty's algorithm)
+- 3D assignment algorithms (Lagrangian relaxation, Auction)
 - Gating methods (ellipsoidal, rectangular)
 - Data association algorithms (GNN, JPDA)
 """
 
-from pytcl.assignment_algorithms.two_dimensional import (
-    hungarian,
-    auction,
-    linear_sum_assignment,
-    assign2d,
-    AssignmentResult,
+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,
-    rectangular_gate,
     gate_measurements,
     mahalanobis_distance,
-    chi2_gate_threshold,
-    compute_gate_volume,
-)
-
-from pytcl.assignment_algorithms.data_association import (
-    gnn_association,
-    nearest_neighbor,
-    compute_association_cost,
-    gated_gnn_association,
-    AssociationResult,
+    rectangular_gate,
 )
-
 from pytcl.assignment_algorithms.jpda import (
     JPDAResult,
     JPDAUpdate,
+    compute_likelihood_matrix,
     jpda,
-    jpda_update,
     jpda_probabilities,
-    compute_likelihood_matrix,
+    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,
 )
 
 __all__ = [
@@ -48,6 +59,18 @@ __all__ = [
     "linear_sum_assignment",
     "assign2d",
     "AssignmentResult",
+    # K-Best 2D Assignment
+    "KBestResult",
+    "murty",
+    "kbest_assign2d",
+    "ranked_assignments",
+    # 3D Assignment
+    "Assignment3DResult",
+    "assign3d",
+    "assign3d_lagrangian",
+    "assign3d_auction",
+    "greedy_3d",
+    "decompose_to_2d",
     # Gating
     "ellipsoidal_gate",
     "rectangular_gate",

pytcl/assignment_algorithms/data_association.py

@@ -5,16 +5,18 @@ This module provides algorithms for associating measurements to tracks,
 including Global Nearest Neighbor (GNN) and related methods.
 """
 
-from typing import Optional, NamedTuple, List
+from typing import List, NamedTuple, Optional
+
 import numpy as np
 from numpy.typing import ArrayLike, NDArray
 
-from pytcl.assignment_algorithms.two_dimensional import (
-    assign2d,
-)
 from pytcl.assignment_algorithms.gating import (
+    mahalanobis_batch,
     mahalanobis_distance,
 )
+from pytcl.assignment_algorithms.two_dimensional import (
+    assign2d,
+)
 
 
 class AssociationResult(NamedTuple):
@@ -102,7 +104,7 @@ def compute_association_cost(
         else:
             H_per_track = H_arr
 
-    # Compute cost matrix
+    # Compute cost matrix using batch Mahalanobis distance for performance
     cost_matrix = np.full((n_tracks, n_meas), np.inf, dtype=np.float64)
 
     for i in range(n_tracks):
@@ -110,9 +112,17 @@ def compute_association_cost(
         z_pred = H @ X[i]
         S = H @ P[i] @ H.T  # Innovation covariance
 
-        for j in range(n_meas):
-            innovation = Z[j] - z_pred
-            cost_matrix[i, j] = mahalanobis_distance(innovation, S)
+        # Compute innovations for all measurements at once
+        innovations = Z - z_pred  # (n_meas, meas_dim)
+
+        # Use batch Mahalanobis distance (JIT-compiled)
+        try:
+            S_inv = np.linalg.inv(S)
+            mahalanobis_batch(innovations, S_inv, cost_matrix[i])
+        except np.linalg.LinAlgError:
+            # Fallback if S is singular
+            for j in range(n_meas):
+                cost_matrix[i, j] = mahalanobis_distance(innovations[j], S)
 
     return cost_matrix
 

pytcl/assignment_algorithms/gating.py

@@ -5,12 +5,52 @@ This module provides gating methods to determine which measurements
 fall within a validation region around predicted track states.
 """
 
-from typing import Tuple, List
+from typing import List, Tuple
+
 import numpy as np
+from numba import njit
 from numpy.typing import ArrayLike, NDArray
 from scipy.stats import chi2
 
 
+@njit(cache=True, fastmath=True)
+def _mahalanobis_distance_2d(
+    innovation: np.ndarray,
+    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])
+
+
+@njit(cache=True, fastmath=True)
+def _mahalanobis_distance_3d(
+    innovation: np.ndarray,
+    S_inv: np.ndarray,
+) -> float:
+    """JIT-compiled Mahalanobis distance for 3D innovations."""
+    result = 0.0
+    for i in range(3):
+        for j in range(3):
+            result += innovation[i] * S_inv[i, j] * innovation[j]
+    return result
+
+
+@njit(cache=True, fastmath=True)
+def _mahalanobis_distance_general(
+    innovation: np.ndarray,
+    S_inv: np.ndarray,
+) -> float:
+    """JIT-compiled Mahalanobis distance for general dimension."""
+    n = len(innovation)
+    result = 0.0
+    for i in range(n):
+        for j in range(n):
+            result += innovation[i] * S_inv[i, j] * innovation[j]
+    return result
+
+
 def mahalanobis_distance(
     innovation: ArrayLike,
     innovation_covariance: ArrayLike,
@@ -299,8 +339,41 @@ def compute_gate_volume(
     return float(volume)
 
 
+@njit(cache=True, fastmath=True, parallel=False)
+def mahalanobis_batch(
+    innovations: np.ndarray,
+    S_inv: np.ndarray,
+    output: np.ndarray,
+) -> None:
+    """
+    Compute Mahalanobis distances for a batch of innovations.
+
+    JIT-compiled for performance. Computes squared Mahalanobis distances
+    for multiple innovations against a single covariance matrix.
+
+    Parameters
+    ----------
+    innovations : ndarray
+        Innovations of shape (n_measurements, dim).
+    S_inv : ndarray
+        Inverse of innovation covariance matrix of shape (dim, dim).
+    output : ndarray
+        Output array of shape (n_measurements,) to store distances.
+    """
+    n_meas = innovations.shape[0]
+    dim = innovations.shape[1]
+
+    for i in range(n_meas):
+        result = 0.0
+        for j in range(dim):
+            for k in range(dim):
+                result += innovations[i, j] * S_inv[j, k] * innovations[i, k]
+        output[i] = result
+
+
 __all__ = [
     "mahalanobis_distance",
+    "mahalanobis_batch",
     "ellipsoidal_gate",
     "rectangular_gate",
     "gate_measurements",

pytcl/assignment_algorithms/jpda.py

@@ -9,7 +9,8 @@ This is more sophisticated than GNN which makes hard assignment decisions,
 as JPDA can handle measurement origin uncertainty in cluttered environments.
 """
 
-from typing import NamedTuple, List, Optional, Tuple
+from typing import List, NamedTuple, Optional, Tuple
+
 import numpy as np
 from numpy.typing import ArrayLike, NDArray
 from scipy.stats import chi2

pytcl/assignment_algorithms/three_dimensional/__init__.py

@@ -0,0 +1,24 @@
+"""
+Three-dimensional assignment algorithms.
+
+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,
+)
+
+__all__ = [
+    "Assignment3DResult",
+    "assign3d",
+    "assign3d_lagrangian",
+    "assign3d_auction",
+    "greedy_3d",
+    "decompose_to_2d",
+]