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danstowell / gmphd

GM-PHD filter implementation in python (Gaussian mixture probability hypothesis density filter)
GNU General Public License v3.0
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Variable 'pkk' line #163 gmphd.py is not used #3

Open JohnPekl opened 3 years ago

JohnPekl commented 3 years ago

Your code did not use pkk though you calculated.

pkk = [dot(eye(len(k[index])) - dot(k[index], self.h), comp.cov)

JohnPekl commented 3 years ago

According to Table I, I think your code should change in this line #180 in gmphd.py from comp.cov to pkk[j].

image

danstowell commented 3 years ago

Thank you - I agree with you, that looks like an error in the implementation. Thanks for finding it!

Replacing comp.cov with pkk[j] gives me a "singular matrix error" when I run my synthetic example. I may need to dig through and remember this old code, to work out how to fix this.