In ick003/vesselett: A suite of target tracking algorithm, with a specialization for marine radar

knitr::opts_chunk$set(
  collapse = TRUE,
  comment = "#>",
  fig.width = 7, 
  fig.height = 4
)

library(vesselett)
data(box_tracking)
trackx <-  dplyr::select(dplyr::mutate(dplyr::filter(box_tracking, dplyr::between(video_time,min(video_time),min(video_time)+1)),
   xmin = x-lx/2, ymin = y, xmax = x + lx/2, ymax = y+ly, time = frame) ,ymin, xmin, ymax, xmax, time)

 varnames = c("ymin", "xmin", "ymax", "xmax")
 init_field = list(list(m = c(unlist(trackx[1,varnames]), "v_ymin"=0, "v_ymax" = 0, "v_xmin"=0, "v_xmax"=0), P = diag(10, nrow = 8), w = 1, l = 1),
                   list(m = c(unlist(trackx[2,varnames]), "v_ymin"=0, "v_ymax" = 0, "v_xmin"=0, "v_xmax"=0), P = diag(10, nrow = 8), w = 1, l = 6))
res = pf_tracker(trackx, T_s = 1, varnames = varnames, type = "constant-velocity-model", 
                 sigma2_process = 1e1, sigma2_measure = 1e1,init_field = init_field, tau = 1e-2,
                 resampling = "systematic",  gate = 100, boostAssociation = "Pollard2011", boost = TRUE, alpha = 0.2, position_only = TRUE)

library(ggplot2)
ggplot(res$Tracks) +
 geom_rect(aes(xmin = xmin, xmax = xmax, ymin = ymin, ymax = ymax, col = as.factor(component)), fill = NA) +
 geom_rect(data = trackx, aes(xmin = xmin, xmax = xmax, ymin = ymin, ymax = ymax), alpha = 0.1, fill = NA, col = "black", size = 0.1) 

ick003/vesselett documentation built on July 20, 2020, 9:08 p.m.