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Python implementation of the Multiple Hypothesis Tracking algorithm

Python 86.29% C++ 13.49% Shell 0.23%

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Incorrect outputted from Murty

I have a cost matrix, (1) Implemented version of Murty in your code did not output any solutions. However, your forked (2) MurtyAlgorithm outputs some solutions.

Which Murty implementation should I use, (1) or (2)?

How can I test one picture or a short video？

Hi, I did not find the right main in this program. When i run the 'python test/test_mht.py', it went wrong. Can you give one example?@ @jonatanolofsson. thx

Main?

I have recently gotten the program to build, I think, but do not know where to start for using the program. What is the design flow of this project? How does one test it?

Also, my assumption that it was built is purely on the event of getting pybind11, Eigen, and tup installed and running tup command in the top directory. This resulted in compiling murty and outputting a compiled library file. But then what do I do?

murty.hpp: In member function 'lap::MurtyState::Slacklist lap::MurtyState::minslack() const': murty.hpp:173:23: error: converting to 'std::tuple<double, unsigned int, unsigned int>' from initializer list would use explicit

* 1) murty: g++ -std=c++17 -Wall -Werror -Wno-unknown-pragmas -pedantic-errors -Wextra -Wcast-align -O3 -fPIC -isystem/usr/include/eigen3  -shared -I../deps/pybind11/include -I/usr/include/python3.5m -I/usr/include/python3.5m  -Wno-unused-result -Wsign-compare -march=x86-64 -mtune=generic -O2 -pipe -fstack-protector-strong  -DNDEBUG -g -fwrapv -O4 -Wall murty.cpp -o murty.cpython-37m-x86_64-linux-gnu.so   
In file included from murty.cpp:5:0:
murty.hpp: In member function 'lap::MurtyState::Slacklist lap::MurtyState::minslack() const':
murty.hpp:173:23: error: converting to 'std::tuple<double, unsigned int, unsigned int>' from initializer list would use explicit constructor 'constexpr std::tuple< <template-parameter-1-1> >::tuple(_UElements&& ...) [with _UElements = {double, unsigned int&, const int&}; <template-parameter-2-2> = void; _Elements = {double, unsigned int, unsigned int}]'
             mslack[i] = {C(i, 0) - u[i] - v[0], i, res[i]};
                       ^
murty.hpp:181:31: error: converting to 'std::tuple<double, unsigned int, unsigned int>' from initializer list would use explicit constructor 'constexpr std::tuple< <template-parameter-1-1> >::tuple(_UElements&& ...) [with _UElements = {double&, unsigned int&, const int&}; <template-parameter-2-2> = void; _Elements = {double, unsigned int, unsigned int}]'
                     mslack[i] = {h, i, res[i]};
                               ^
murty.hpp: In member function 'lap::Murty::ReturnTuple lap::Murty::draw_tuple()':
murty.hpp:232:30: error: converting to 'lap::Murty::ReturnTuple {aka std::tuple<bool, double, Eigen::Matrix<int, -1, 1, 0, -1, 1> >}' from initializer list would use explicit constructor 'constexpr std::tuple< <template-parameter-1-1> >::tuple(_UElements&& ...) [with _UElements = {bool&, double&, Eigen::Matrix<int, -1, 1, 0, -1, 1>&}; <template-parameter-2-2> = void; _Elements = {bool, double, Eigen::Matrix<int, -1, 1, 0, -1, 1>}]'
         return {ok, cost, sol};
                              ^
 *** tup errors ***

No module named 'murty.murty'

I installed tup and executed it in root directory (RHEL) :

[root@localhost tup]# ./tup
[ tup ] [0.000s] Scanning filesystem...
[ tup ] [0.107s] Reading in new environment variables...
[ tup ] [0.107s] Parsing Tupfiles...

[0.004s] mht
[0.002s] mht/murty
[ ] 100%
[ tup ] [0.128s] No files to delete.
[ tup ] [0.128s] Generating .gitignore files...
[ tup ] [0.232s] Executing Commands...
[27.507s] mht/murty: clang++ -Qunused-arguments -std=c++17 -Wall -Werror -Wno-unknown-pragmas -Wfatal-errors -pedantic-errors -Wextra -Wcast-align -O3 -fPIC -isystem/usr/include/eigen3 -shared -I../deps/pybind11/include -I/usr/local/include/python3.7m -I/usr/local/include/python3.7m -Wno-nested-anon-types -Wno-unused-result -Wsign-compare -march=x86-64 -mtune=generic -O2 -pipe -fstack-protector-strong -fno-plt -DNDEBUG -g -fwrapv -O3 -Wall -Wstrict-prototypes murty.cpp -o murty.cpython-37m-x86_64-linux-gnu.so
[ ] 100%
[ tup ] [27.828s] Updated.
[root@localhost tup]#

Then built & installed python3.7 module :
[root@localhost mht]# python3.7 setup.py build
running build
running build_py
[root@localhost mht]# python3.7 setup.py install
running install
running bdist_egg
running egg_info
writing mht.egg-info/PKG-INFO
writing dependency_links to mht.egg-info/dependency_links.txt
writing top-level names to mht.egg-info/top_level.txt
reading manifest file 'mht.egg-info/SOURCES.txt'
writing manifest file 'mht.egg-info/SOURCES.txt'
installing library code to build/bdist.linux-x86_64/egg
running install_lib
running build_py
creating build/bdist.linux-x86_64/egg
creating build/bdist.linux-x86_64/egg/mht
copying build/lib/mht/init.py -> build/bdist.linux-x86_64/egg/mht
copying build/lib/mht/cluster.py -> build/bdist.linux-x86_64/egg/mht
copying build/lib/mht/clusterhyp.py -> build/bdist.linux-x86_64/egg/mht
copying build/lib/mht/hypgen.py -> build/bdist.linux-x86_64/egg/mht
copying build/lib/mht/kf.py -> build/bdist.linux-x86_64/egg/mht
copying build/lib/mht/mht.py -> build/bdist.linux-x86_64/egg/mht
copying build/lib/mht/models.py -> build/bdist.linux-x86_64/egg/mht
copying build/lib/mht/plot.py -> build/bdist.linux-x86_64/egg/mht
copying build/lib/mht/sensors.py -> build/bdist.linux-x86_64/egg/mht
copying build/lib/mht/target.py -> build/bdist.linux-x86_64/egg/mht
copying build/lib/mht/track.py -> build/bdist.linux-x86_64/egg/mht
copying build/lib/mht/utils.py -> build/bdist.linux-x86_64/egg/mht
creating build/bdist.linux-x86_64/egg/murty
copying build/lib/murty/init.py -> build/bdist.linux-x86_64/egg/murty
byte-compiling build/bdist.linux-x86_64/egg/mht/init.py to init.cpython-37.pyc
byte-compiling build/bdist.linux-x86_64/egg/mht/cluster.py to cluster.cpython-37.pyc
byte-compiling build/bdist.linux-x86_64/egg/mht/clusterhyp.py to clusterhyp.cpython-37.pyc
byte-compiling build/bdist.linux-x86_64/egg/mht/hypgen.py to hypgen.cpython-37.pyc
byte-compiling build/bdist.linux-x86_64/egg/mht/kf.py to kf.cpython-37.pyc
byte-compiling build/bdist.linux-x86_64/egg/mht/mht.py to mht.cpython-37.pyc
byte-compiling build/bdist.linux-x86_64/egg/mht/models.py to models.cpython-37.pyc
byte-compiling build/bdist.linux-x86_64/egg/mht/plot.py to plot.cpython-37.pyc
byte-compiling build/bdist.linux-x86_64/egg/mht/sensors.py to sensors.cpython-37.pyc
byte-compiling build/bdist.linux-x86_64/egg/mht/target.py to target.cpython-37.pyc
byte-compiling build/bdist.linux-x86_64/egg/mht/track.py to track.cpython-37.pyc
byte-compiling build/bdist.linux-x86_64/egg/mht/utils.py to utils.cpython-37.pyc
byte-compiling build/bdist.linux-x86_64/egg/murty/init.py to init.cpython-37.pyc
creating build/bdist.linux-x86_64/egg/EGG-INFO
copying mht.egg-info/PKG-INFO -> build/bdist.linux-x86_64/egg/EGG-INFO
copying mht.egg-info/SOURCES.txt -> build/bdist.linux-x86_64/egg/EGG-INFO
copying mht.egg-info/dependency_links.txt -> build/bdist.linux-x86_64/egg/EGG-INFO
copying mht.egg-info/top_level.txt -> build/bdist.linux-x86_64/egg/EGG-INFO
zip_safe flag not set; analyzing archive contents...
creating 'dist/mht-1.0.0-py3.7.egg' and adding 'build/bdist.linux-x86_64/egg' to it
removing 'build/bdist.linux-x86_64/egg' (and everything under it)
Processing mht-1.0.0-py3.7.egg
Removing /usr/local/lib/python3.7/site-packages/mht-1.0.0-py3.7.egg
Copying mht-1.0.0-py3.7.egg to /usr/local/lib/python3.7/site-packages
mht 1.0.0 is already the active version in easy-install.pth

Installed /usr/local/lib/python3.7/site-packages/mht-1.0.0-py3.7.egg
Processing dependencies for mht==1.0.0
Finished processing dependencies for mht==1.0.0

Yet , i'm getting the error "no module named murty.murty"

[root@localhost mht]# cd tests/
[root@localhost tests]# python3.7 test_mht.py
Traceback (most recent call last):
File "test_mht.py", line 24, in
import mht
File "/usr/local/lib/python3.7/site-packages/mht-1.0.0-py3.7.egg/mht/init.py", line 18, in
File "/usr/local/lib/python3.7/site-packages/mht-1.0.0-py3.7.egg/mht/mht.py", line 23, in
File "/usr/local/lib/python3.7/site-packages/mht-1.0.0-py3.7.egg/mht/cluster.py", line 28, in
File "/usr/local/lib/python3.7/site-packages/mht-1.0.0-py3.7.egg/mht/hypgen.py", line 20, in
File "/usr/local/lib/python3.7/site-packages/mht-1.0.0-py3.7.egg/murty/init.py", line 1, in
ModuleNotFoundError: No module named 'murty.murty'

Kindly help fix this problem?

Bug in gaussian_bbox()

cov_ellipse() returns the theta angle in degrees. It should be converted to radians in gaussian_bbox()

mht/mht/utils.py

Line 92 in 2c37332

r1, r2, theta = cov_ellipse(P, nstd)

r1, r2, theta = cov_ellipse(P, nstd)
theta = np.radians(theta)
ux = r1 * cos(theta)
...

no module named murty.murty

I tried to run the program in tests directory after "python setup.py build" was executed， but always got the error showing that "no module named murty.murty". May I ask how to fix this problem?

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