Public Member Functions | Protected Member Functions | Protected Attributes
Tracking::Predictor Class Reference

class Predictor More...

#include <Predictor.h>

Inheritance diagram for Tracking::Predictor:
Inheritance graph
[legend]

List of all members.

Public Member Functions

virtual void movePredicted (const TomGine::tgPose &poseIn, TomGine::tgPose &poseOut, float &c)
 Interface for Prediction/Motion systems.
 Predictor ()
virtual void resample (Distribution &d, int num_particles, Particle variance, bool useMotion=true)
 Resample particles according to current likelihood distribution (move particles)
virtual void sample (Distribution &d, int num_particles, Particle mean, Particle variance)
 Sample new distribution.
virtual void sampleFromGaussian (Distribution &d, int num_particles, Particle mean, Particle variance, float sigma=1.0)
 Adds samples/particles to a distribution d by adding gaussian noise.
void setCamViewVector (TomGine::tgVector3 v)
 Set vector pointing from camera to object mean, to enable zooming.
void setNoConvergence (float v)
 Set the number of particles (in percent) which are voting for no convergence (for capturing fast movement)
virtual void updateTime (double dTime)
 Updates time of prediction system for higher order motion model.

Protected Member Functions

Particle genNoise (float sigma, Particle pConstraint, unsigned int type=GAUSS)
float noise (float sigma, unsigned int type=GAUSS)

Protected Attributes

float c_pred
TomGine::tgVector3 m_cam_view
double m_dTime
float m_noConvergence
float m_powTime
float m_powTimeSteps

Detailed Description

class Predictor

Definition at line 24 of file Predictor.h.


Constructor & Destructor Documentation

Definition at line 8 of file Predictor.cpp.


Member Function Documentation

Particle Predictor::genNoise ( float  sigma,
Particle  pConstraint,
unsigned int  type = GAUSS 
) [protected]

Definition at line 37 of file Predictor.cpp.

void Predictor::movePredicted ( const TomGine::tgPose poseIn,
TomGine::tgPose poseOut,
float &  c 
) [virtual]

Interface for Prediction/Motion systems.

Parameters:
poseInactual pose
poseOutpredicted/moved pose
cconfidence about prediction/movement ( 1.0 = high confidence; 0.0 = no confidence )

Definition at line 88 of file Predictor.cpp.

float Predictor::noise ( float  sigma,
unsigned int  type = GAUSS 
) [protected]

Definition at line 15 of file Predictor.cpp.

void Predictor::resample ( Distribution d,
int  num_particles,
Particle  variance,
bool  useMotion = true 
) [virtual]

Resample particles according to current likelihood distribution (move particles)

Parameters:
dpointer to distribution
num_particlesnumber of particles of resampled likelihood distribution
variancevariance of sampling in each degree of freedom (represented as particle)

Definition at line 95 of file Predictor.cpp.

void Predictor::sample ( Distribution d,
int  num_particles,
Particle  mean,
Particle  variance 
) [virtual]

Sample new distribution.

Parameters:
dpointer to distribution
num_particlesnumber of particles to represent likelihood distribution
meanmean particle of distribution
variancevariance of sampling in each degree of freedom (represented as particle)

Definition at line 184 of file Predictor.cpp.

void Predictor::sampleFromGaussian ( Distribution d,
int  num_particles,
Particle  mean,
Particle  variance,
float  sigma = 1.0 
) [virtual]

Adds samples/particles to a distribution d by adding gaussian noise.

Parameters:
dparticle distribution
num_particlesnumber of particles of resampled likelihood distribution
meanmean particle of distribution
variancevariance of sampling in each degree of freedom (represented as particle)
sigmastandard variation of sampling (dependent on confidence value -> sigma(c))

Reimplemented in Tracking::myPredictor.

Definition at line 65 of file Predictor.cpp.

Set vector pointing from camera to object mean, to enable zooming.

Definition at line 43 of file Predictor.h.

void Tracking::Predictor::setNoConvergence ( float  v) [inline]

Set the number of particles (in percent) which are voting for no convergence (for capturing fast movement)

Definition at line 46 of file Predictor.h.

void Predictor::updateTime ( double  dTime) [virtual]

Updates time of prediction system for higher order motion model.

Parameters:
dTimeTime since last frame

Definition at line 189 of file Predictor.cpp.


Member Data Documentation

float Tracking::Predictor::c_pred [protected]

Definition at line 30 of file Predictor.h.

Definition at line 34 of file Predictor.h.

double Tracking::Predictor::m_dTime [protected]

Definition at line 27 of file Predictor.h.

Definition at line 32 of file Predictor.h.

float Tracking::Predictor::m_powTime [protected]

Definition at line 28 of file Predictor.h.

Definition at line 29 of file Predictor.h.


The documentation for this class was generated from the following files:


blort
Author(s): Michael Zillich, Thomas Mörwald, Johann Prankl, Andreas Richtsfeld, Bence Magyar (ROS version)
autogenerated on Thu Jan 2 2014 11:38:27