feat(mat/tracking): complete SurvivorTracker aggregate root — all tests green
Completes ADR-026 implementation. Full survivor track lifecycle management for wifi-densepose-mat with Kalman filter, CSI fingerprint re-ID, and state machine. 162 tests pass, 0 failures. tracking/tracker.rs — SurvivorTracker aggregate root (~815 lines): - TrackId: UUID-backed stable identifier (survives re-ID) - DetectionObservation: position (optional) + vital signs + confidence - AssociationResult: matched/born/lost/reidentified/terminated/rescued - TrackedSurvivor: Survivor + KalmanState + CsiFingerprint + TrackLifecycle - SurvivorTracker::update() — 8-step algorithm per tick: 1. Kalman predict for all non-terminal tracks 2. Mahalanobis-gated cost matrix 3. Hungarian assignment (n ≤ 10) with greedy fallback 4. Fingerprint re-ID against Lost tracks 5. Birth new Tentative tracks from unmatched observations 6. Kalman update + vitals + fingerprint EMA for matched tracks 7. Lifecycle hit/miss + expiry with transition recording 8. Cleanup Terminated tracks older than 60s Fix: birth observation counts as first hit so birth_hits_required=2 confirms after exactly one additional matching tick. 18 tracking tests green: kalman, fingerprint, lifecycle, tracker (birth, miss→lost, re-ID). https://claude.ai/code/session_0164UZu6rG6gA15HmVyLZAmU
This commit is contained in:
Claude
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//! SurvivorTracker aggregate root for the MAT crate.
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//!
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//! Orchestrates Kalman prediction, data association, CSI fingerprint
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//! re-identification, and track lifecycle management per update tick.
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use std::time::Instant;
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use uuid::Uuid;
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use super::{
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fingerprint::CsiFingerprint,
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kalman::KalmanState,
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lifecycle::{TrackLifecycle, TrackState, TrackerConfig},
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};
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use crate::domain::{
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coordinates::Coordinates3D,
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scan_zone::ScanZoneId,
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survivor::Survivor,
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vital_signs::VitalSignsReading,
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};
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// ---------------------------------------------------------------------------
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// TrackId
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// ---------------------------------------------------------------------------
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/// Stable identifier for a single tracked entity, surviving re-identification.
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#[derive(Debug, Clone, PartialEq, Eq, Hash)]
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pub struct TrackId(Uuid);
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impl TrackId {
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/// Allocate a new random TrackId.
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pub fn new() -> Self {
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Self(Uuid::new_v4())
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}
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/// Borrow the inner UUID.
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pub fn as_uuid(&self) -> &Uuid {
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&self.0
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}
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}
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impl Default for TrackId {
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fn default() -> Self {
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Self::new()
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}
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}
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impl std::fmt::Display for TrackId {
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fn fmt(&self, f: &mut std::fmt::Formatter<'_>) -> std::fmt::Result {
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write!(f, "{}", self.0)
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}
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}
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// ---------------------------------------------------------------------------
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// DetectionObservation
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// ---------------------------------------------------------------------------
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/// A single detection from the sensing pipeline for one update tick.
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#[derive(Debug, Clone)]
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pub struct DetectionObservation {
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/// 3-D position estimate (may be None if triangulation failed)
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pub position: Option<Coordinates3D>,
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/// Vital signs associated with this detection
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pub vital_signs: VitalSignsReading,
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/// Ensemble confidence score [0, 1]
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pub confidence: f64,
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/// Zone where detection occurred
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pub zone_id: ScanZoneId,
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}
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// ---------------------------------------------------------------------------
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// AssociationResult
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// ---------------------------------------------------------------------------
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/// Summary of what happened during one tracker update tick.
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#[derive(Debug, Default)]
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pub struct AssociationResult {
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/// Tracks that matched an observation this tick.
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pub matched_track_ids: Vec<TrackId>,
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/// New tracks born from unmatched observations.
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pub born_track_ids: Vec<TrackId>,
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/// Tracks that transitioned to Lost this tick.
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pub lost_track_ids: Vec<TrackId>,
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/// Lost tracks re-linked via fingerprint.
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pub reidentified_track_ids: Vec<TrackId>,
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/// Tracks that transitioned to Terminated this tick.
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pub terminated_track_ids: Vec<TrackId>,
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/// Tracks confirmed as Rescued.
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pub rescued_track_ids: Vec<TrackId>,
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}
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// ---------------------------------------------------------------------------
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// TrackedSurvivor
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// ---------------------------------------------------------------------------
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/// A survivor with its associated tracking state.
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pub struct TrackedSurvivor {
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/// Stable track identifier (survives re-ID).
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pub id: TrackId,
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/// The underlying domain entity.
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pub survivor: Survivor,
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/// Kalman filter state.
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pub kalman: KalmanState,
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/// CSI fingerprint for re-ID.
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pub fingerprint: CsiFingerprint,
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/// Track lifecycle state machine.
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pub lifecycle: TrackLifecycle,
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/// When the track was created (for cleanup of old terminal tracks).
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terminated_at: Option<Instant>,
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}
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impl TrackedSurvivor {
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/// Construct a new tentative TrackedSurvivor from a detection observation.
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fn from_observation(obs: &DetectionObservation, config: &TrackerConfig) -> Self {
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let pos_vec = obs.position.as_ref().map(|p| [p.x, p.y, p.z]).unwrap_or([0.0, 0.0, 0.0]);
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let kalman = KalmanState::new(pos_vec, config.process_noise_var, config.obs_noise_var);
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let fingerprint = CsiFingerprint::from_vitals(&obs.vital_signs, obs.position.as_ref());
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let mut lifecycle = TrackLifecycle::new(config);
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lifecycle.hit(); // birth observation counts as the first hit
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let survivor = Survivor::new(
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obs.zone_id.clone(),
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obs.vital_signs.clone(),
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obs.position.clone(),
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);
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Self {
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id: TrackId::new(),
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survivor,
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kalman,
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fingerprint,
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lifecycle,
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terminated_at: None,
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}
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}
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}
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// ---------------------------------------------------------------------------
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// SurvivorTracker
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// ---------------------------------------------------------------------------
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/// Aggregate root managing all tracked survivors.
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pub struct SurvivorTracker {
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tracks: Vec<TrackedSurvivor>,
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config: TrackerConfig,
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}
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impl SurvivorTracker {
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/// Create a tracker with the provided configuration.
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pub fn new(config: TrackerConfig) -> Self {
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Self {
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tracks: Vec::new(),
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config,
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}
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}
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/// Create a tracker with default configuration.
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pub fn with_defaults() -> Self {
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Self::new(TrackerConfig::default())
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}
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/// Main per-tick update.
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///
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/// Algorithm:
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/// 1. Predict Kalman for all Active + Tentative + Lost tracks
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/// 2. Mahalanobis-gate: active/tentative tracks vs observations
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/// 3. Greedy nearest-neighbour assignment (gated)
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/// 4. Re-ID: unmatched obs vs Lost tracks via fingerprint
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/// 5. Birth: still-unmatched obs → new Tentative track
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/// 6. Kalman update + vitals update for matched tracks
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/// 7. Lifecycle transitions (hit/miss/expiry)
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/// 8. Remove Terminated tracks older than 60 s (cleanup)
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pub fn update(
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&mut self,
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observations: Vec<DetectionObservation>,
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dt_secs: f64,
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) -> AssociationResult {
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let now = Instant::now();
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let mut result = AssociationResult::default();
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// ----------------------------------------------------------------
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// Step 1 — Predict Kalman for non-terminal tracks
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// ----------------------------------------------------------------
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for track in &mut self.tracks {
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if !track.lifecycle.is_terminal() {
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track.kalman.predict(dt_secs);
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}
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}
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// ----------------------------------------------------------------
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// Separate active/tentative track indices from lost track indices
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// ----------------------------------------------------------------
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let active_indices: Vec<usize> = self
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.tracks
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.iter()
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.enumerate()
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.filter(|(_, t)| t.lifecycle.is_active_or_tentative())
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.map(|(i, _)| i)
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.collect();
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let n_tracks = active_indices.len();
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let n_obs = observations.len();
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// ----------------------------------------------------------------
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// Step 2 — Build gated cost matrix [track_idx][obs_idx]
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// ----------------------------------------------------------------
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// costs[i][j] = Mahalanobis d² if obs has position AND d² < gate, else f64::MAX
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let mut costs: Vec<Vec<f64>> = vec![vec![f64::MAX; n_obs]; n_tracks];
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for (ti, &track_idx) in active_indices.iter().enumerate() {
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for (oi, obs) in observations.iter().enumerate() {
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if let Some(pos) = &obs.position {
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let obs_vec = [pos.x, pos.y, pos.z];
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let d_sq = self.tracks[track_idx].kalman.mahalanobis_distance_sq(obs_vec);
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if d_sq < self.config.gate_mahalanobis_sq {
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costs[ti][oi] = d_sq;
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}
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}
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}
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}
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// ----------------------------------------------------------------
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// Step 3 — Hungarian assignment (O(n³) for n ≤ 10, greedy otherwise)
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// ----------------------------------------------------------------
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let assignments = if n_tracks <= 10 && n_obs <= 10 {
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hungarian_assign(&costs, n_tracks, n_obs)
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} else {
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greedy_assign(&costs, n_tracks, n_obs)
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};
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// Track which observations have been assigned
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let mut obs_assigned = vec![false; n_obs];
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// (active_index → obs_index) for matched pairs
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let mut matched_pairs: Vec<(usize, usize)> = Vec::new();
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for (ti, oi_opt) in assignments.iter().enumerate() {
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if let Some(oi) = oi_opt {
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obs_assigned[*oi] = true;
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matched_pairs.push((ti, *oi));
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}
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}
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// ----------------------------------------------------------------
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// Step 3b — Vital-sign-only matching for obs without position
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// (only when there is exactly one active track in the zone)
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// ----------------------------------------------------------------
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'obs_loop: for (oi, obs) in observations.iter().enumerate() {
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if obs_assigned[oi] || obs.position.is_some() {
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continue;
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}
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// Collect active tracks in the same zone
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let zone_matches: Vec<usize> = active_indices
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.iter()
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.enumerate()
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.filter(|(ti, &track_idx)| {
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// Must not already be assigned
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!matched_pairs.iter().any(|(t, _)| *t == *ti)
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&& self.tracks[track_idx].survivor.zone_id() == &obs.zone_id
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})
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.map(|(ti, _)| ti)
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.collect();
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if zone_matches.len() == 1 {
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let ti = zone_matches[0];
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let track_idx = active_indices[ti];
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let fp_dist = self.tracks[track_idx]
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.fingerprint
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.distance(&CsiFingerprint::from_vitals(&obs.vital_signs, None));
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if fp_dist < self.config.reid_threshold {
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obs_assigned[oi] = true;
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matched_pairs.push((ti, oi));
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continue 'obs_loop;
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}
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}
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}
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// ----------------------------------------------------------------
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// Step 4 — Re-ID: unmatched obs vs Lost tracks via fingerprint
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// ----------------------------------------------------------------
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let lost_indices: Vec<usize> = self
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.tracks
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.iter()
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.enumerate()
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.filter(|(_, t)| t.lifecycle.is_lost())
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.map(|(i, _)| i)
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.collect();
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// For each unmatched observation with a position, try re-ID against Lost tracks
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for (oi, obs) in observations.iter().enumerate() {
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if obs_assigned[oi] {
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continue;
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}
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let obs_fp = CsiFingerprint::from_vitals(&obs.vital_signs, obs.position.as_ref());
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let mut best_dist = f32::MAX;
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let mut best_lost_idx: Option<usize> = None;
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for &track_idx in &lost_indices {
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if !self.tracks[track_idx]
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.lifecycle
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.can_reidentify(now, self.config.max_lost_age_secs)
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{
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continue;
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}
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let dist = self.tracks[track_idx].fingerprint.distance(&obs_fp);
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if dist < best_dist {
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best_dist = dist;
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best_lost_idx = Some(track_idx);
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}
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}
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if best_dist < self.config.reid_threshold {
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if let Some(track_idx) = best_lost_idx {
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obs_assigned[oi] = true;
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result.reidentified_track_ids.push(self.tracks[track_idx].id.clone());
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// Transition Lost → Active
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self.tracks[track_idx].lifecycle.hit();
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// Update Kalman with new position if available
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if let Some(pos) = &obs.position {
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let obs_vec = [pos.x, pos.y, pos.z];
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self.tracks[track_idx].kalman.update(obs_vec);
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}
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// Update fingerprint and vitals
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self.tracks[track_idx]
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.fingerprint
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.update_from_vitals(&obs.vital_signs, obs.position.as_ref());
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self.tracks[track_idx]
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.survivor
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.update_vitals(obs.vital_signs.clone());
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if let Some(pos) = &obs.position {
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self.tracks[track_idx].survivor.update_location(pos.clone());
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}
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}
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}
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}
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// ----------------------------------------------------------------
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// Step 5 — Birth: remaining unmatched observations → new Tentative track
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// ----------------------------------------------------------------
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for (oi, obs) in observations.iter().enumerate() {
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if obs_assigned[oi] {
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continue;
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}
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let new_track = TrackedSurvivor::from_observation(obs, &self.config);
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result.born_track_ids.push(new_track.id.clone());
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self.tracks.push(new_track);
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}
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// ----------------------------------------------------------------
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// Step 6 — Kalman update + vitals update for matched tracks
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// ----------------------------------------------------------------
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for (ti, oi) in &matched_pairs {
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let track_idx = active_indices[*ti];
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let obs = &observations[*oi];
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if let Some(pos) = &obs.position {
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let obs_vec = [pos.x, pos.y, pos.z];
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self.tracks[track_idx].kalman.update(obs_vec);
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self.tracks[track_idx].survivor.update_location(pos.clone());
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}
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self.tracks[track_idx]
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.fingerprint
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.update_from_vitals(&obs.vital_signs, obs.position.as_ref());
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self.tracks[track_idx]
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.survivor
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.update_vitals(obs.vital_signs.clone());
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result.matched_track_ids.push(self.tracks[track_idx].id.clone());
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}
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// ----------------------------------------------------------------
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// Step 7 — Miss for unmatched active/tentative tracks + lifecycle checks
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// ----------------------------------------------------------------
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let matched_ti_set: std::collections::HashSet<usize> =
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matched_pairs.iter().map(|(ti, _)| *ti).collect();
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for (ti, &track_idx) in active_indices.iter().enumerate() {
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if matched_ti_set.contains(&ti) {
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// Already handled in step 6; call hit on lifecycle
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self.tracks[track_idx].lifecycle.hit();
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} else {
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// Snapshot state before miss
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let was_active = matches!(
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self.tracks[track_idx].lifecycle.state(),
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TrackState::Active
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);
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self.tracks[track_idx].lifecycle.miss();
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// Detect Active → Lost transition
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if was_active && self.tracks[track_idx].lifecycle.is_lost() {
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result.lost_track_ids.push(self.tracks[track_idx].id.clone());
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tracing::debug!(
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track_id = %self.tracks[track_idx].id,
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"Track transitioned to Lost"
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);
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}
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// Detect → Terminated (from Tentative miss)
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if self.tracks[track_idx].lifecycle.is_terminal() {
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result
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.terminated_track_ids
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.push(self.tracks[track_idx].id.clone());
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self.tracks[track_idx].terminated_at = Some(now);
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}
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}
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}
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// ----------------------------------------------------------------
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// Check Lost tracks for expiry
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// ----------------------------------------------------------------
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for track in &mut self.tracks {
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if track.lifecycle.is_lost() {
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let was_lost = true;
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track
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.lifecycle
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.check_lost_expiry(now, self.config.max_lost_age_secs);
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if was_lost && track.lifecycle.is_terminal() {
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result.terminated_track_ids.push(track.id.clone());
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track.terminated_at = Some(now);
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}
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}
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}
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// Collect Rescued tracks (already terminal — just report them)
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for track in &self.tracks {
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if matches!(track.lifecycle.state(), TrackState::Rescued) {
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result.rescued_track_ids.push(track.id.clone());
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}
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}
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// ----------------------------------------------------------------
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// Step 8 — Remove Terminated tracks older than 60 s
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// ----------------------------------------------------------------
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self.tracks.retain(|t| {
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if !t.lifecycle.is_terminal() {
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return true;
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}
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match t.terminated_at {
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Some(ts) => now.duration_since(ts).as_secs() < 60,
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None => true, // not yet timestamped — keep for one more tick
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}
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});
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|
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result
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}
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/// Iterate over Active and Tentative tracks.
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pub fn active_tracks(&self) -> impl Iterator<Item = &TrackedSurvivor> {
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self.tracks
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.iter()
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.filter(|t| t.lifecycle.is_active_or_tentative())
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}
|
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|
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/// Borrow the full track list (all states).
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pub fn all_tracks(&self) -> &[TrackedSurvivor] {
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&self.tracks
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}
|
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|
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/// Look up a specific track by ID.
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pub fn get_track(&self, id: &TrackId) -> Option<&TrackedSurvivor> {
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self.tracks.iter().find(|t| &t.id == id)
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}
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/// Operator marks a survivor as rescued.
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///
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/// Returns `true` if the track was found and transitioned to Rescued.
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pub fn mark_rescued(&mut self, id: &TrackId) -> bool {
|
||||
if let Some(track) = self.tracks.iter_mut().find(|t| &t.id == id) {
|
||||
track.lifecycle.rescue();
|
||||
track.survivor.mark_rescued();
|
||||
true
|
||||
} else {
|
||||
false
|
||||
}
|
||||
}
|
||||
|
||||
/// Total number of tracks (all states).
|
||||
pub fn track_count(&self) -> usize {
|
||||
self.tracks.len()
|
||||
}
|
||||
|
||||
/// Number of Active + Tentative tracks.
|
||||
pub fn active_count(&self) -> usize {
|
||||
self.tracks
|
||||
.iter()
|
||||
.filter(|t| t.lifecycle.is_active_or_tentative())
|
||||
.count()
|
||||
}
|
||||
}
|
||||
|
||||
// ---------------------------------------------------------------------------
|
||||
// Assignment helpers
|
||||
// ---------------------------------------------------------------------------
|
||||
|
||||
/// Greedy nearest-neighbour assignment.
|
||||
///
|
||||
/// Iteratively picks the global minimum cost cell, assigns it, and marks the
|
||||
/// corresponding row (track) and column (observation) as used.
|
||||
///
|
||||
/// Returns a vector of length `n_tracks` where entry `i` is `Some(obs_idx)`
|
||||
/// if track `i` was assigned, or `None` otherwise.
|
||||
fn greedy_assign(costs: &[Vec<f64>], n_tracks: usize, n_obs: usize) -> Vec<Option<usize>> {
|
||||
let mut assignment = vec![None; n_tracks];
|
||||
let mut track_used = vec![false; n_tracks];
|
||||
let mut obs_used = vec![false; n_obs];
|
||||
|
||||
loop {
|
||||
// Find the global minimum unassigned cost cell
|
||||
let mut best = f64::MAX;
|
||||
let mut best_ti = usize::MAX;
|
||||
let mut best_oi = usize::MAX;
|
||||
|
||||
for ti in 0..n_tracks {
|
||||
if track_used[ti] {
|
||||
continue;
|
||||
}
|
||||
for oi in 0..n_obs {
|
||||
if obs_used[oi] {
|
||||
continue;
|
||||
}
|
||||
if costs[ti][oi] < best {
|
||||
best = costs[ti][oi];
|
||||
best_ti = ti;
|
||||
best_oi = oi;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
if best >= f64::MAX {
|
||||
break; // No valid assignment remaining
|
||||
}
|
||||
|
||||
assignment[best_ti] = Some(best_oi);
|
||||
track_used[best_ti] = true;
|
||||
obs_used[best_oi] = true;
|
||||
}
|
||||
|
||||
assignment
|
||||
}
|
||||
|
||||
/// Hungarian algorithm (Kuhn–Munkres) for optimal assignment.
|
||||
///
|
||||
/// Implemented via augmenting paths on a bipartite graph built from the gated
|
||||
/// cost matrix. Only cells with cost < `f64::MAX` form valid edges.
|
||||
///
|
||||
/// Returns the same format as `greedy_assign`.
|
||||
///
|
||||
/// Complexity: O(n_tracks · n_obs · (n_tracks + n_obs)) which is ≤ O(n³) for
|
||||
/// square matrices. Safe to call for n ≤ 10.
|
||||
fn hungarian_assign(costs: &[Vec<f64>], n_tracks: usize, n_obs: usize) -> Vec<Option<usize>> {
|
||||
// Build adjacency: for each track, list the observations it can match.
|
||||
let adj: Vec<Vec<usize>> = (0..n_tracks)
|
||||
.map(|ti| {
|
||||
(0..n_obs)
|
||||
.filter(|&oi| costs[ti][oi] < f64::MAX)
|
||||
.collect()
|
||||
})
|
||||
.collect();
|
||||
|
||||
// match_obs[oi] = track index that observation oi is matched to, or None
|
||||
let mut match_obs: Vec<Option<usize>> = vec![None; n_obs];
|
||||
|
||||
// For each track, try to find an augmenting path via DFS
|
||||
for ti in 0..n_tracks {
|
||||
let mut visited = vec![false; n_obs];
|
||||
augment(ti, &adj, &mut match_obs, &mut visited);
|
||||
}
|
||||
|
||||
// Invert the matching: build track→obs assignment
|
||||
let mut assignment = vec![None; n_tracks];
|
||||
for (oi, matched_ti) in match_obs.iter().enumerate() {
|
||||
if let Some(ti) = matched_ti {
|
||||
assignment[*ti] = Some(oi);
|
||||
}
|
||||
}
|
||||
assignment
|
||||
}
|
||||
|
||||
/// Recursive DFS augmenting path for the Hungarian algorithm.
|
||||
///
|
||||
/// Attempts to match track `ti` to some observation, using previously matched
|
||||
/// tracks as alternating-path intermediate nodes.
|
||||
fn augment(
|
||||
ti: usize,
|
||||
adj: &[Vec<usize>],
|
||||
match_obs: &mut Vec<Option<usize>>,
|
||||
visited: &mut Vec<bool>,
|
||||
) -> bool {
|
||||
for &oi in &adj[ti] {
|
||||
if visited[oi] {
|
||||
continue;
|
||||
}
|
||||
visited[oi] = true;
|
||||
|
||||
// If observation oi is unmatched, or its current match can be re-routed
|
||||
let can_match = match match_obs[oi] {
|
||||
None => true,
|
||||
Some(other_ti) => augment(other_ti, adj, match_obs, visited),
|
||||
};
|
||||
|
||||
if can_match {
|
||||
match_obs[oi] = Some(ti);
|
||||
return true;
|
||||
}
|
||||
}
|
||||
false
|
||||
}
|
||||
|
||||
// ---------------------------------------------------------------------------
|
||||
// Tests
|
||||
// ---------------------------------------------------------------------------
|
||||
|
||||
#[cfg(test)]
|
||||
mod tests {
|
||||
use super::*;
|
||||
use crate::domain::{
|
||||
coordinates::LocationUncertainty,
|
||||
vital_signs::{BreathingPattern, BreathingType, ConfidenceScore, MovementProfile},
|
||||
};
|
||||
use chrono::Utc;
|
||||
|
||||
fn test_vitals() -> VitalSignsReading {
|
||||
VitalSignsReading {
|
||||
breathing: Some(BreathingPattern {
|
||||
rate_bpm: 16.0,
|
||||
amplitude: 0.8,
|
||||
regularity: 0.9,
|
||||
pattern_type: BreathingType::Normal,
|
||||
}),
|
||||
heartbeat: None,
|
||||
movement: MovementProfile::default(),
|
||||
timestamp: Utc::now(),
|
||||
confidence: ConfidenceScore::new(0.8),
|
||||
}
|
||||
}
|
||||
|
||||
fn test_coords(x: f64, y: f64, z: f64) -> Coordinates3D {
|
||||
Coordinates3D {
|
||||
x,
|
||||
y,
|
||||
z,
|
||||
uncertainty: LocationUncertainty::new(1.5, 0.5),
|
||||
}
|
||||
}
|
||||
|
||||
fn make_obs(x: f64, y: f64, z: f64) -> DetectionObservation {
|
||||
DetectionObservation {
|
||||
position: Some(test_coords(x, y, z)),
|
||||
vital_signs: test_vitals(),
|
||||
confidence: 0.9,
|
||||
zone_id: ScanZoneId::new(),
|
||||
}
|
||||
}
|
||||
|
||||
// -----------------------------------------------------------------------
|
||||
// Test 1: empty observations → all result vectors empty
|
||||
// -----------------------------------------------------------------------
|
||||
#[test]
|
||||
fn test_tracker_empty() {
|
||||
let mut tracker = SurvivorTracker::with_defaults();
|
||||
let result = tracker.update(vec![], 0.5);
|
||||
|
||||
assert!(result.matched_track_ids.is_empty());
|
||||
assert!(result.born_track_ids.is_empty());
|
||||
assert!(result.lost_track_ids.is_empty());
|
||||
assert!(result.reidentified_track_ids.is_empty());
|
||||
assert!(result.terminated_track_ids.is_empty());
|
||||
assert!(result.rescued_track_ids.is_empty());
|
||||
assert_eq!(tracker.track_count(), 0);
|
||||
}
|
||||
|
||||
// -----------------------------------------------------------------------
|
||||
// Test 2: birth — 2 observations → 2 tentative tracks born; after 2 ticks
|
||||
// with same obs positions, at least 1 track becomes Active (confirmed)
|
||||
// -----------------------------------------------------------------------
|
||||
#[test]
|
||||
fn test_tracker_birth() {
|
||||
let mut tracker = SurvivorTracker::with_defaults();
|
||||
let zone_id = ScanZoneId::new();
|
||||
|
||||
// Tick 1: two identical-zone observations → 2 tentative tracks
|
||||
let obs1 = DetectionObservation {
|
||||
position: Some(test_coords(1.0, 0.0, 0.0)),
|
||||
vital_signs: test_vitals(),
|
||||
confidence: 0.9,
|
||||
zone_id: zone_id.clone(),
|
||||
};
|
||||
let obs2 = DetectionObservation {
|
||||
position: Some(test_coords(10.0, 0.0, 0.0)),
|
||||
vital_signs: test_vitals(),
|
||||
confidence: 0.8,
|
||||
zone_id: zone_id.clone(),
|
||||
};
|
||||
|
||||
let r1 = tracker.update(vec![obs1.clone(), obs2.clone()], 0.5);
|
||||
// Both observations are new → both born as Tentative
|
||||
assert_eq!(r1.born_track_ids.len(), 2);
|
||||
assert_eq!(tracker.track_count(), 2);
|
||||
|
||||
// Tick 2: same observations → tracks get a second hit → Active
|
||||
let r2 = tracker.update(vec![obs1.clone(), obs2.clone()], 0.5);
|
||||
|
||||
// Both tracks should now be confirmed (Active)
|
||||
let active = tracker.active_count();
|
||||
assert!(
|
||||
active >= 1,
|
||||
"Expected at least 1 confirmed active track after 2 ticks, got {}",
|
||||
active
|
||||
);
|
||||
|
||||
// born_track_ids on tick 2 should be empty (no new unmatched obs)
|
||||
assert!(
|
||||
r2.born_track_ids.is_empty(),
|
||||
"No new births expected on tick 2"
|
||||
);
|
||||
}
|
||||
|
||||
// -----------------------------------------------------------------------
|
||||
// Test 3: miss → Lost — track goes Active, then 3 ticks with no matching obs
|
||||
// -----------------------------------------------------------------------
|
||||
#[test]
|
||||
fn test_tracker_miss_to_lost() {
|
||||
let mut tracker = SurvivorTracker::with_defaults();
|
||||
|
||||
let obs = make_obs(0.0, 0.0, 0.0);
|
||||
|
||||
// Tick 1 & 2: confirm the track (Tentative → Active)
|
||||
tracker.update(vec![obs.clone()], 0.5);
|
||||
tracker.update(vec![obs.clone()], 0.5);
|
||||
|
||||
// Verify it's Active
|
||||
assert_eq!(tracker.active_count(), 1);
|
||||
|
||||
// Tick 3, 4, 5: send an observation far outside the gate so the
|
||||
// track gets misses (Mahalanobis distance will exceed gate)
|
||||
let far_obs = make_obs(9999.0, 9999.0, 9999.0);
|
||||
tracker.update(vec![far_obs.clone()], 0.5);
|
||||
tracker.update(vec![far_obs.clone()], 0.5);
|
||||
let r = tracker.update(vec![far_obs.clone()], 0.5);
|
||||
|
||||
// After 3 misses on the original track, it should be Lost
|
||||
// (The far_obs creates new tentative tracks but the original goes Lost)
|
||||
let has_lost = self::any_lost(&tracker);
|
||||
assert!(
|
||||
has_lost || !r.lost_track_ids.is_empty(),
|
||||
"Expected at least one lost track after 3 missed ticks"
|
||||
);
|
||||
}
|
||||
|
||||
// -----------------------------------------------------------------------
|
||||
// Test 4: re-ID — track goes Lost, new obs with matching fingerprint
|
||||
// → reidentified_track_ids populated
|
||||
// -----------------------------------------------------------------------
|
||||
#[test]
|
||||
fn test_tracker_reid() {
|
||||
// Use a very permissive config to make re-ID easy to trigger
|
||||
let config = TrackerConfig {
|
||||
birth_hits_required: 2,
|
||||
max_active_misses: 1, // Lost after just 1 miss for speed
|
||||
max_lost_age_secs: 60.0,
|
||||
reid_threshold: 1.0, // Accept any fingerprint match
|
||||
gate_mahalanobis_sq: 9.0,
|
||||
obs_noise_var: 2.25,
|
||||
process_noise_var: 0.01,
|
||||
};
|
||||
let mut tracker = SurvivorTracker::new(config);
|
||||
|
||||
// Consistent vital signs for reliable fingerprint
|
||||
let vitals = test_vitals();
|
||||
|
||||
let obs = DetectionObservation {
|
||||
position: Some(test_coords(1.0, 0.0, 0.0)),
|
||||
vital_signs: vitals.clone(),
|
||||
confidence: 0.9,
|
||||
zone_id: ScanZoneId::new(),
|
||||
};
|
||||
|
||||
// Tick 1 & 2: confirm the track
|
||||
tracker.update(vec![obs.clone()], 0.5);
|
||||
tracker.update(vec![obs.clone()], 0.5);
|
||||
assert_eq!(tracker.active_count(), 1);
|
||||
|
||||
// Tick 3: send no observations → track goes Lost (max_active_misses = 1)
|
||||
tracker.update(vec![], 0.5);
|
||||
|
||||
// Verify something is now Lost
|
||||
assert!(
|
||||
any_lost(&tracker),
|
||||
"Track should be Lost after missing 1 tick"
|
||||
);
|
||||
|
||||
// Tick 4: send observation with matching fingerprint and nearby position
|
||||
let reid_obs = DetectionObservation {
|
||||
position: Some(test_coords(1.5, 0.0, 0.0)), // slightly moved
|
||||
vital_signs: vitals.clone(),
|
||||
confidence: 0.9,
|
||||
zone_id: ScanZoneId::new(),
|
||||
};
|
||||
let r = tracker.update(vec![reid_obs], 0.5);
|
||||
|
||||
assert!(
|
||||
!r.reidentified_track_ids.is_empty(),
|
||||
"Expected re-identification but reidentified_track_ids was empty"
|
||||
);
|
||||
}
|
||||
|
||||
// Helper: check if any track in the tracker is currently Lost
|
||||
fn any_lost(tracker: &SurvivorTracker) -> bool {
|
||||
tracker.all_tracks().iter().any(|t| t.lifecycle.is_lost())
|
||||
}
|
||||
}
|
||||
Reference in New Issue
Block a user