gates.MotionGate
class MotionGate:Mahalanobis chi-squared gate over a Kalman covariance field.
For each (tracklet, detection) pair, the squared Mahalanobis distance
``d2 = (x - z)^T S^{-1} (x - z)`` is computed from the predicted
tracklet mean ``x``, the projected covariance ``S`` on ``cov_field``,
and the detection measurement ``z``. Pairs with ``d2 <= max_chi2``
are admitted; the rest are rejected.
Parameters
| Name | Type | Description |
|---|---|---|
| mean_field | str | Name of the field on :class:`~unitrack.data.Tracklets` and :class:`~unitrack.data.Detections` holding the state mean used to form the residual. |
| cov_field | str | Name of the field on :class:`~unitrack.data.Tracklets` holding the projected measurement covariance ``S``. |
| max_chi2 | float | Chi-squared threshold on the squared Mahalanobis distance. A common choice is the 0.95 quantile of the chi-squared distribution at the measurement dimensionality (e.g. ``9.4877`` for 4 degrees of freedom, as used by SORT/DeepSORT). |
Members
property
Source: unitrack/gates/motion.py:13