Undetected objects misdirected again

[mihsamusev]

Hi, thanks for sharing this great code. Im unsure whether its a mistake or i dont understand something. Does this correspond to the update of the undetected objects modeled by Poisson point process that are missdetected again? Shouldn't it have a factor 1 - self.detection_probability then? My reference is the handout 5 from the edX course "Multi-Object Tracking for Automotive Systems" that describes the PMBM update.

pmbm/pmbm/pmbm.py

Lines 137 to 140 in 9fc4dbb

	# Update current tracks
	for target_id, target in self.targets.items():
	target.update(measurements, classes, self.current_time, self.filt)
	self.poisson.update(self.detection_probability)

[mihsamusev]

Does 1 - self.detection_probability correspond to:

pmbm/pmbm/config.py

Line 20 in 9fc4dbb

poisson_reduce_factor=0.1,

And the undetected objects mixture weights are reduced in gated_new_targets() method:

pmbm/pmbm/pmbm.py

Lines 516 to 517 in 9fc4dbb

	# Update the Poisson weight to compensate for also being a Bernoulli
	self.poisson.reduce_weight(index=ix)