CLEAR MOT Associator

[kopytjuk]

Implements the Classification of Events, Activities, and Relationships (CLEAR) Multi-Object Tracking (MOT) association scheme. This assigns a single track trajectory to a single GT trajectory.

Image from [1]

In one of the next PRs I would like to implement MOTP and MOTA metrics.

[1] Bernardin, K., Stiefelhagen, R. Evaluating Multiple Object Tracking Performance: The CLEAR MOT Metrics. J Image Video Proc 2008, 246309 (2008). https://doi.org/10.1155/2008/246309

[sdhiscocks]

Hey @kopytjuk Thanks for the PR. I think this would be a great addition 👍

[kopytjuk]

Hey @kopytjuk Thanks for the PR. I think this would be a great addition 👍

Hey @sdhiscocks, thanks for the reply - the PR is ready for review!

[codecov[bot]]

Codecov Report

All modified and coverable lines are covered by tests :white_check_mark:

Project coverage is 93.65%. Comparing base (ab6af2b) to head (d7ab2c1). Report is 137 commits behind head on main.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #1017      +/-   ##
==========================================
+ Coverage   93.60%   93.65%   +0.05%     
==========================================
  Files         202      203       +1     
  Lines       12990    13104     +114     
  Branches     2651     2674      +23     
==========================================
+ Hits        12159    12273     +114     
  Misses        588      588              
  Partials      243      243              

Flag	Coverage Δ
integration	65.91% <27.04%> (-0.37%)	:arrow_down:
unittests	89.30% <99.18%> (+0.08%)	:arrow_up:

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[kopytjuk]

Hey @sdhiscocks, thanks for your suggestion - I added that - it makes the code definitely more clear and more performant as well!

I changed parts of the code and tried to hide implementation details within private methods. I think the code is ready to review now. Building up on the associations, I would like to implement the MOTA & MOTP metrics in my next PR :)

[sdhiscocks]

Thanks again for the contribution.

Just noted one minor change required to include new module in docs:

diff --git a/docs/source/stonesoup.dataassociator.rst b/docs/source/stonesoup.dataassociator.rst
index dd9d52be..6e2d0034 100644
--- a/docs/source/stonesoup.dataassociator.rst
+++ b/docs/source/stonesoup.dataassociator.rst
@@ -31,6 +31,12 @@ Track-to-track Association
 .. automodule:: stonesoup.dataassociator.tracktotrack
     :show-inheritance:
 
+CLEAR MOT Association
+---------------------
+
+.. automodule:: stonesoup.dataassociator.clearmot
+    :show-inheritance:
+
 Trees
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