MultiObjectTracking/filter at master · kudlicka/MultiObjectTracking · GitHub

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#!/bin/bash

NPARTICLES=16384
NSAMPLES=200

# PF:
cat > config/filter_pf.json <<EOF
{
  "model": {
    "class": "Multi"
  },
  "sampler": {
    "trigger": 1.0,
    "nparticles": $NPARTICLES,
    "nsamples": $NSAMPLES
  }
}
EOF
birch sample --input input/filter.json --config config/filter_pf.json --output output/filter_pf.yml

# RCPF:
for ZERO_THRESHOLD_MODE in pf apf
do
    for THRESHOLD_QUANTILE in 0.5 0.6 0.7 0.8 0.9 0.95 0.99
    do
        cat > config/filter_rcpf_${ZERO_THRESHOLD_MODE}_${THRESHOLD_QUANTILE}.json <<EOF
{
  "model": {
    "class": "Multi"
  },
  "sampler": {
    "class": "RCPF",
    "nparticles": $NPARTICLES,
    "nsamples": $NSAMPLES,
    "threshold_quantile": $THRESHOLD_QUANTILE,
    "zero_threshold_mode": "$ZERO_THRESHOLD_MODE"
  }
}
EOF
        birch sample --config "config/filter_rcpf_${ZERO_THRESHOLD_MODE}_${THRESHOLD_QUANTILE}.json" --input input/filter.json --output "output/filter_rcpf_${ZERO_THRESHOLD_MODE}_${THRESHOLD_QUANTILE}.yml" --diagnostic "diagnostic/filter_rcpf_${ZERO_THRESHOLD_MODE}_${THRESHOLD_QUANTILE}.yml"
    done
done