Merge pull request #717 from dstl/remove_assign

Change 2d assignment implementation to SciPy version
dstl · Sep 15, 2022 · 2b69b97 · 2b69b97
2 parents 501294b + 38449c4
commit 2b69b97
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diff --git a/stonesoup/dataassociator/_assignment.py b/stonesoup/dataassociator/_assignment.py
diff --git a/stonesoup/dataassociator/neighbour.py b/stonesoup/dataassociator/neighbour.py
@@ -1,8 +1,8 @@
 import itertools
 
 import numpy as np
+from scipy.optimize import linear_sum_assignment
 
-from ._assignment import assign2D
 from .base import DataAssociator
 from ..base import Property
 from ..hypothesiser import Hypothesiser
@@ -234,11 +234,9 @@ def associate(self, tracks, detections, timestamp, **kwargs):
         # to assign tracks to nearest detection
         # Maximise flag = true for probability instance
         # (converts minimisation problem to maximisation problem)
-        gain, col4row, row4col = assign2D(
-            distance_matrix, probability_flag)
-
-        # Ensure the problem was feasible
-        if gain is None:
+        try:
+            row4col, col4row = linear_sum_assignment(distance_matrix, probability_flag)
+        except ValueError:
             raise RuntimeError("Assignment was not feasible")
 
         # Generate dict of key/value pairs