Merge pull request #870 from dstl/track2track_fix

Fix track to track associations type
dstl · Oct 4, 2023 · 467a0a8 · 467a0a8
2 parents 6000941 + 220e243
commit 467a0a8
Show file tree

Hide file tree

Showing 2 changed files with 15 additions and 12 deletions.
diff --git a/stonesoup/dataassociator/_assignment.py b/stonesoup/dataassociator/_assignment.py
@@ -1,4 +1,5 @@
 import copy
+from itertools import islice
 
 import numpy as np
 from scipy.optimize import linear_sum_assignment
@@ -92,17 +93,17 @@ def multidimensional_deconfliction(association_set):
 
 def conflicts(assoc1, assoc2):
     if hasattr(assoc1, 'time_range') and hasattr(assoc2, 'time_range') and \
-            len(assoc1.objects.intersection(assoc2.objects)) > 0 and \
-            (assoc1.time_range & assoc2.time_range).duration.total_seconds() > 0 and \
+            assoc1.objects.intersection(assoc2.objects) and \
+            assoc1.time_range & assoc2.time_range and \
             assoc1 != assoc2:
         return True
     else:
         return False
 
 
 def check_if_no_conflicts(association_set):
-    for assoc1 in range(0, len(association_set)):
-        for assoc2 in range(assoc1, len(association_set)):
-            if conflicts(list(association_set)[assoc1], list(association_set)[assoc2]):
+    for n, assoc1 in enumerate(association_set):
+        for assoc2 in islice(association_set, n, None):
+            if conflicts(assoc1, assoc2):
                 return False
     return True
diff --git a/stonesoup/dataassociator/tracktotrack.py b/stonesoup/dataassociator/tracktotrack.py
@@ -1,6 +1,8 @@
 from operator import attrgetter
 from typing import Set
 
+from ordered_set import OrderedSet
+
 from .base import TrackToTrackAssociator
 from ..base import Property
 from ..measures import Measure, Euclidean, EuclideanWeighted
@@ -106,7 +108,7 @@ def associate_tracks(self, tracks_set_1: Set[Track], tracks_set_2: Set[Track]):
             raise ValueError("Must provide mapping of position components to pos_map")
 
         if not self.measure:
-            state1 = list(tracks_set_1)[0][0]
+            state1 = next(iter(tracks_set_1))[0]
             total = len(state1.state_vector)
             if not self.pos_map:
                 self.pos_map = [i for i in range(total)]
@@ -175,15 +177,15 @@ def associate_tracks(self, tracks_set_1: Set[Track], tracks_set_2: Set[Track]):
                         if n_unsuccessful >= self.consec_misses_end and \
                                 start_timestamp:
                             associations.add(TimeRangeAssociation(
-                                (track1, track2),
+                                OrderedSet((track1, track2)),
                                 TimeRange(start_timestamp, end_timestamp)))
                             start_timestamp = None
 
                 # close any open associations
                 if start_timestamp:
                     end_timestamp = track1_states[-1].timestamp
                     associations.add(TimeRangeAssociation(
-                        (track1, track2),
+                        OrderedSet((track1, track2)),
                         TimeRange(start_timestamp, end_timestamp)))
 
         if self.one_to_one:
@@ -347,7 +349,7 @@ def associate_tracks(self, tracks_set: Set[Track], truth_set: Set[GroundTruthPat
                     # in a row end the association and record
                     if n_failures >= self.consec_misses_end:
                         associations.add(TimeRangeAssociation(
-                            (track, current_truth),
+                            OrderedSet((track, current_truth)),
                             TimeRange(start_timestamp, end_timestamp)))
 
                         # If the current potential association
@@ -369,7 +371,7 @@ def associate_tracks(self, tracks_set: Set[Track], truth_set: Set[GroundTruthPat
             if current_truth:
 
                 associations.add(TimeRangeAssociation(
-                    (track, current_truth),
+                    OrderedSet((track, current_truth)),
                     TimeRange(start_timestamp, end_timestamp)))
 
         return AssociationSet(associations)
@@ -410,13 +412,13 @@ def associate_tracks(self, tracks_set, truths_set):
                 if track.id == truth.id:
                     try:
                         associations.add(
-                            TimeRangeAssociation((track, truth),
+                            TimeRangeAssociation(OrderedSet((track, truth)),
                                                  TimeRange(max(track[0].timestamp,
                                                                truth[0].timestamp),
                                                            min(track[-1].timestamp,
                                                                truth[-1].timestamp))))
                     except (TypeError, ValueError):
                         # A timestamp is None, or non-overlapping timestamps (start > end)
-                        associations.add(Association((track, truth)))
+                        associations.add(Association(OrderedSet((track, truth))))
 
         return AssociationSet(associations)