Predictor.h

Go to the documentation of this file.

#ifndef __PREDICTOR_H__
#define __PREDICTOR_H__

#include <blort/Tracker/headers.h>
#include <blort/Tracker/Distribution.h>
#include <blort/TomGine/tgVector3.h>
#include <blort/Tracker/Timer.h>

namespace Tracking{

#define GAUSS  0
#define NORMAL 1

class Predictor
{
protected:
        double m_dTime;
        float m_powTime;
        float m_powTimeSteps;
        float c_pred;
        
        float m_noConvergence;
        
        TomGine::tgVector3 m_cam_view;
        
        float noise(float sigma, unsigned int type=GAUSS);
        Particle genNoise(float sigma, Particle pConstraint, unsigned int type=GAUSS);

public:
        Predictor();
        
        void setCamViewVector(TomGine::tgVector3 v){ m_cam_view = v; m_cam_view.normalize(); }
        
        void setNoConvergence(float v){ if(v>=0.0f && v<=1.0f) m_noConvergence = v; }
        
        virtual void sampleFromGaussian(Distribution& d, int num_particles, Particle mean, Particle variance, float sigma=1.0);
        
        virtual void movePredicted(const TomGine::tgPose& poseIn, TomGine::tgPose& poseOut, float &c);
        
        virtual void resample(Distribution& d, int num_particles, Particle variance, bool useMotion=true);
        
        virtual void sample(Distribution& d, int num_particles, Particle mean, Particle variance);
        
        virtual void updateTime(double dTime);
        
};

} /* namespace Tracking */
 
 #endif