00001 // **************************************************************************** 00002 // This file is part of the Integrating Vision Toolkit (IVT). 00003 // 00004 // The IVT is maintained by the Karlsruhe Institute of Technology (KIT) 00005 // (www.kit.edu) in cooperation with the company Keyetech (www.keyetech.de). 00006 // 00007 // Copyright (C) 2014 Karlsruhe Institute of Technology (KIT). 00008 // All rights reserved. 00009 // 00010 // Redistribution and use in source and binary forms, with or without 00011 // modification, are permitted provided that the following conditions are met: 00012 // 00013 // 1. Redistributions of source code must retain the above copyright 00014 // notice, this list of conditions and the following disclaimer. 00015 // 00016 // 2. Redistributions in binary form must reproduce the above copyright 00017 // notice, this list of conditions and the following disclaimer in the 00018 // documentation and/or other materials provided with the distribution. 00019 // 00020 // 3. Neither the name of the KIT nor the names of its contributors may be 00021 // used to endorse or promote products derived from this software 00022 // without specific prior written permission. 00023 // 00024 // THIS SOFTWARE IS PROVIDED BY THE KIT AND CONTRIBUTORS “AS IS” AND ANY 00025 // EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED 00026 // WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 00027 // DISCLAIMED. IN NO EVENT SHALL THE KIT OR CONTRIBUTORS BE LIABLE FOR ANY 00028 // DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES 00029 // (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00030 // LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND 00031 // ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 00032 // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF 00033 // THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 00034 // **************************************************************************** 00035 // **************************************************************************** 00036 // Filename: ParticleFilterFrameworkFloat.h 00037 // Author: Pedram Azad 00038 // Date: 07.05.2009 00039 // **************************************************************************** 00040 00041 00042 #ifndef __PARTICLE_FILTER_FRAMEWORK_FLOAT_H__ 00043 #define __PARTICLE_FILTER_FRAMEWORK_FLOAT_H__ 00044 00045 00046 00047 // **************************************************************************** 00048 // CParticleFilterFrameworkFloat 00049 // **************************************************************************** 00050 00055 class CParticleFilterFrameworkFloat 00056 { 00057 public: 00058 // constructor 00059 CParticleFilterFrameworkFloat(int nParticles, int nDimension); 00060 00061 // destructor 00062 ~CParticleFilterFrameworkFloat(); 00063 00064 00065 // public methods 00066 double ParticleFilter(float *pResultMeanConfiguration, float fSigmaFactor = 1.0f); 00067 double CalculateProbabilityForConfiguration(const float *pConfiguration); 00068 virtual void GetConfiguration(float *pBestConfiguration, float fMeanFactor); 00069 virtual void GetBestConfiguration(float *pBestConfiguration); 00070 virtual void GetMeanConfiguration(float *pMeanConfiguration); 00071 virtual void GetPredictedConfiguration(float *pPredictedConfiguration); 00072 00073 00074 protected: 00075 // protected methods 00076 int PickBaseSample(); 00077 void CalculateMean(); 00078 00079 // virtual methods (framework methods to be implemented: design pattern "framwork" with "template methods") 00080 virtual void UpdateModel(int nParticle) = 0; 00081 virtual void PredictNewBases(float fSigmaFactor) = 0; 00082 virtual double CalculateProbability(bool bSeparateCall = true) = 0; 00083 virtual void CalculateFinalProbabilities() { } 00084 00085 00086 // protected attributes 00087 float *mean_configuration; 00088 float *last_configuration; 00089 00090 float *sigma; 00091 float *lower_limit; 00092 float *upper_limit; 00093 00094 // particle related attributes 00095 int m_nDimension; 00096 int m_nParticles; 00097 double c_total; 00098 float **s; 00099 float **s_temp; 00100 double *c; 00101 double *pi; 00102 float *temp; 00103 }; 00104 00105 00106 00107 #endif /* __PARTICLE_FILTER_FRAMEWORK_FLOAT_H__ */