wip

src/run.py

@@ -255,13 +255,14 @@ def run_tracker(
  tracker_motion_model = env_motion_model if tracker_motion_model is None else tracker_motion_model
  tracker_sensor_model = env_sensor_model if tracker_sensor_model is None else tracker_sensor_model
 
- tracker_model = tracker(meas_model=tracker_meas_model, sensor_model=tracker_sensor_model, motion_model=tracker_motion_model, gating_size=tracker_P_G, **tracker_params)
-
- filepath = get_images_dir(__file__) + "/" + tracker_model.__class__.__name__ + f"-P_D={env_P_D}-lambda_c={env_lambda_c}"
-
- tracker_estimations = track(object_data, meas_data, tracker_model)
+ filepath = get_images_dir(__file__) + "/" + f"-P_D={env_P_D}-lambda_c={env_lambda_c}"
+ tracker_estimations = None
+ if tracker is not None:
+ tracker_model = tracker(meas_model=tracker_meas_model, sensor_model=tracker_sensor_model, motion_model=tracker_motion_model, gating_size=tracker_P_G, **tracker_params)
+  tracker_estimations = track(object_data, meas_data, tracker_model)
  visulaize(object_data, meas_data, tracker_estimations, filepath)
- gospa = get_gospa(object_data, tracker_estimations) # noqa
- motmetrics = get_motmetrics(object_data, tracker_estimations) # noqa F841
+ if tracker_estimations is not None:
+ gospa = get_gospa(object_data, tracker_estimations) # noqa
+ motmetrics = get_motmetrics(object_data, tracker_estimations) # noqa F841
  if os.getenv("ANIMATE", "False") == "True":
  animate(object_data, meas_data, tracker_estimations, filepath)

tests/MOT/n_mot_test.py

@@ -4,7 +4,7 @@
 from src.scenarios.initial_conditions import all_object_scenarios
 from src.trackers.n_object_trackers import GlobalNearestNeighboursTracker
 
-from ..test_trackers import ( # noqa
+from ..testing_trackers import ( # noqa
  env_clutter_rate,
  env_detection_probability,
  env_measurement_model,

tests/PHD/phd_test.py

@@ -6,7 +6,7 @@
 from src.scenarios.initial_conditions import all_object_scenarios
 from src.trackers.multiple_object_trackers.PHD import GMPHD
 
-from ..test_trackers import ( # noqa
+from ..testing_trackers import ( # noqa
  env_clutter_rate,
  env_detection_probability,
  env_measurement_model,

tests/PMBM/pmbm_test.py

@@ -8,7 +8,7 @@
 )
 from src.trackers.multiple_object_trackers.PMBM.pmbm import PMBM
 
-from ..test_trackers import ( # noqa
+from ..testing_trackers import ( # noqa
  env_clutter_rate,
  env_detection_probability,
  env_measurement_model,

tests/SOT/sot_test.py

@@ -11,7 +11,7 @@
 )
 from src.utils.get_path import delete_images_dir
 
-from ..test_trackers import ( # noqa
+from ..testing_trackers import ( # noqa
  env_clutter_rate,
  env_detection_probability,
  env_measurement_model,

tests/motion_modeling/object_data_generator_test.py

@@ -1,76 +1,35 @@
 import os
-from dataclasses import asdict
 
 import pytest
 
-from src.configs import GroundTruthConfig, SensorModelConfig
-from src.measurement_models import (
- ConstantVelocityMeasurementModel,
- RangeBearingMeasurementModel,
-)
-from src.motion_models import ConstantVelocityMotionModel, CoordinateTurnMotionModel
-from src.run import animate, visulaize
-from src.scenarios.scenario_configs import (
- linear_n_mot,
- linear_sot,
- nonlinear_n_mot,
- nonlinear_sot,
-)
-from src.simulator import MeasurementData
-from src.simulator.object_data_generator import ObjectData
-from src.utils.get_path import delete_images_dir, get_images_dir
+from src.measurement_models import ConstantVelocityMeasurementModel
+from src.motion_models import ConstantVelocityMotionModel
+from src.scenarios.initial_conditions import all_object_scenarios
 
 
 dir_path = os.path.dirname(os.path.realpath(__file__))
 
-test_data = [
- (
- linear_sot,
- ConstantVelocityMotionModel,
- "linear_sot_CV.png",
- ConstantVelocityMeasurementModel,
- ),
- (
- nonlinear_sot,
- CoordinateTurnMotionModel,
- "nonlinear_sot_CT.png",
- RangeBearingMeasurementModel,
- ),
- (
- linear_n_mot,
- ConstantVelocityMotionModel,
- "linear_n_mot_CV.png",
- ConstantVelocityMeasurementModel,
- ),
- (
- nonlinear_n_mot,
- CoordinateTurnMotionModel,
- "nonlinear_n_mot_CT.png",
- RangeBearingMeasurementModel,
- ),
-]
 
+@pytest.fixture(params=[x for x in all_object_scenarios if x.motion_model == ConstantVelocityMotionModel])
+def object_motion_fixture(request):
+ yield request.param
 
-@pytest.fixture(scope="session", autouse=True)
-def do_something_before_all_tests():
- # prepare something ahead of all tests
- delete_images_dir(__file__)
 
+@pytest.fixture(params=[ConstantVelocityMeasurementModel(sigma_r=10.0)])
+def env_measurement_model(request):
+ yield request.param
 
-@pytest.mark.parametrize("config, motion_model, output_image_name, meas_model", test_data)
-def test_linear_model_without_noise(config, motion_model, output_image_name, meas_model):
- config = asdict(config)
- ground_truth = GroundTruthConfig(config["object_configs"], config["total_time"])
- motion_model = motion_model(**config)
 
- object_data = ObjectData(ground_truth_config=ground_truth, motion_model=motion_model, if_noisy=False)
+@pytest.fixture
+def env_clutter_rate(request):
+ yield 0.0
 
- sensor_model = SensorModelConfig(**config)
 
- meas_model = meas_model(**config)
- meas_data_gen = MeasurementData(object_data=object_data, sensor_model=sensor_model, meas_model=meas_model)
- meas_data = [next(meas_data_gen) for _ in range(len(object_data))]
- output_image_name = get_images_dir(__file__) + "/" + output_image_name
- visulaize(object_data, meas_data, None, output_image_name)
- if os.getenv("ANIMATE", "False") == "True":
- animate(object_data, meas_data, None, output_image_name)
+@pytest.fixture
+def env_detection_probability(request):
+ yield 1.0
+
+
+@pytest.fixture
+def tracker():
+ yield None, None