states.VonMisesFisherUpdate
class VonMisesFisherUpdate:Conjugate von Mises-Fisher update for matched tracklet-detection pairs.
For each matched pair the posterior is the resultant of the prior
direction (weighted by its concentration) and the L2-normalised
detection embedding (weighted by :attr:`kappa_obs`). The new direction
is the normalised resultant and the new concentration is its length, so
confident agreement sharpens the belief while disagreement broadens it.
Unmatched tracklets keep their predicted state.
Parameters
| Name | Type | Description |
|---|---|---|
| field | str | Tracklet field holding the mean direction. |
| meas_field | str | Detection field holding the measured embedding. |
| kappa_obs = 20.0 | float | Observation concentration (how much one detection is trusted). |
Members
property
- field
- kappa_fieldReturn the auxiliary concentration field name.
- kappa_obs
- meas_field
Source: unitrack/states/directional.py:103