Tracking::Distribution Class Reference

#include <Distribution.h>

Public Member Functions
void	calcLikelihood (int convergence=5)
void	calcMean ()
	Calculates weighted mean and stores it in m_meanParticle.
void	clear ()
	Drops all particles of the ParticleList.
float	confidenceFunction (const float &m, const float &e)
	Functional for confidence value.
void	copy (ParticleList &list)
	Copy ParticleList representing distribution std::vector<Particle>
void	copyParticle (Particle &p, unsigned int id)
	Copy a particle from the distribution.
	Distribution ()
void	drawParticlesEdges (TrackerModel &model, Shader *shadeCompare, bool showparticles=false)
void	drawParticlesTextured (TrackerModel &model, Shader *shadeCompare, bool showparticles=false)
float	getC (int id)
	gets confidence level of a particle by id
float	getMaxC ()
	Gets maximum confidence level of last likelihood measure.
float	getMaxW ()
	Gets maximum weighted likelihood of last likelihood measure.
Particle	getMean ()
	Gets weighted mean of likelihood distribution.
float	getMeanC ()
	Gets mean confidence of last likelihood measure.
float	getMinC ()
	Gets minimum confidence level of last likelihood measure.
Particle	getParticle (int id)
	Gets particle from distribution by id.
double	getVarianceC ()
	Calculates variance confidence level of likelihood distribution.
double	getVariancePt ()
	Calculates variance of pose of likelihood distribution.
float	getW (int id)
	Gets weighted likelihood of a particle by id.
void	normalizeW ()
	Recalculates weights of particlelist to sum up to 1.
void	push_back (Particle p)
	Adds a particle to the ParticleList of the distribution.
int	size ()
	Number of particles representing the distribution.
void	updateLikelihood (TrackerModel &model, Shader shadeCompare, TomGine::tgCamera cam, Texture *tex_edge, int res=256)
void	updateLikelihood (TrackerModel &model, Shader *shadeCompare, bool textured, int convergence=5, bool showparticles=false)
	Update confidence levels and weighted likelihoods of distribution.
void	updateQueries ()
	Resize Occlusion Queries on GPU.
	~Distribution ()
Public Attributes
float	c_max
	Maximum confidence level in one likelihood measure.
float	c_mean
float	c_min
TomGine::tgVector3	m_cam_view
Particle	m_meanParticle
	Particle representing weighted mean of particle distribution.
ParticleList	m_particlelist
	List of particles forming the likelihood distribution.
std::vector< unsigned int >	queryEdges
	OpenGL Occlussion Query for counting overall edge pixels.
std::vector< unsigned int >	queryMatches
	OpenGL Occlussion Query for counting matching pixels.
int	v_max
	Maximum number of overall edge pixels of current view.
float	w_max
	Maximum weighted likelihood in one likelihood measure.
float	w_sum
	Sum of all weights, before normalisation (afterwards its 1).

Detailed Description

class Distribution

Definition at line 26 of file Distribution.h.

Constructor & Destructor Documentation

Distribution::Distribution ( )

Definition at line 72 of file Distribution.cpp.

Distribution::~Distribution ( )

Definition at line 77 of file Distribution.cpp.

Member Function Documentation

void Distribution::calcLikelihood ( int convergence = 5 )

Definition at line 229 of file Distribution.cpp.

void Distribution::calcMean ( )

Calculates weighted mean and stores it in m_meanParticle.

Definition at line 33 of file Distribution.cpp.

void Tracking::Distribution::clear ( ) [inline]

Drops all particles of the ParticleList.

Definition at line 101 of file Distribution.h.

float Distribution::confidenceFunction	(	const float &	m,
		const float &	e
	)

Functional for confidence value.

Parameters:

	m	Number of matching pixels
	e	Number of edge pixels of model in curren view

Returns:: Confidence functional

Definition at line 211 of file Distribution.cpp.

void Tracking::Distribution::copy ( ParticleList & list ) [inline]

Copy ParticleList representing distribution std::vector<Particle>

Definition at line 95 of file Distribution.h.

void Tracking::Distribution::copyParticle	(	Particle &	p,
		unsigned int	id
	)			`[inline]`

Copy a particle from the distribution.

Definition at line 98 of file Distribution.h.

void Distribution::drawParticlesEdges	(	TrackerModel &	model,
		Shader *	shadeCompare,
		bool	showparticles = `false`
	)

Definition at line 138 of file Distribution.cpp.

void Distribution::drawParticlesTextured	(	TrackerModel &	model,
		Shader *	shadeCompare,
		bool	showparticles = `false`
	)

Definition at line 171 of file Distribution.cpp.

float Tracking::Distribution::getC ( int id ) [inline]

gets confidence level of a particle by id

Definition at line 89 of file Distribution.h.

float Tracking::Distribution::getMaxC ( ) [inline]

Gets maximum confidence level of last likelihood measure.

Definition at line 80 of file Distribution.h.

float Tracking::Distribution::getMaxW ( ) [inline]

Gets maximum weighted likelihood of last likelihood measure.

Definition at line 77 of file Distribution.h.

Particle Tracking::Distribution::getMean ( ) [inline]

Gets weighted mean of likelihood distribution.

Definition at line 59 of file Distribution.h.

float Tracking::Distribution::getMeanC ( ) [inline]

Gets mean confidence of last likelihood measure.

Definition at line 62 of file Distribution.h.

float Tracking::Distribution::getMinC ( ) [inline]

Gets minimum confidence level of last likelihood measure.

Definition at line 83 of file Distribution.h.

Particle Tracking::Distribution::getParticle ( int id ) [inline]

Gets particle from distribution by id.

Definition at line 65 of file Distribution.h.

double Distribution::getVarianceC ( )

Calculates variance confidence level of likelihood distribution.

Definition at line 84 of file Distribution.cpp.

double Distribution::getVariancePt ( )

Calculates variance of pose of likelihood distribution.

Definition at line 101 of file Distribution.cpp.

float Tracking::Distribution::getW ( int id ) [inline]

Gets weighted likelihood of a particle by id.

Definition at line 86 of file Distribution.h.

void Distribution::normalizeW ( )

Recalculates weights of particlelist to sum up to 1.

Definition at line 117 of file Distribution.cpp.

void Tracking::Distribution::push_back ( Particle p ) [inline]

Adds a particle to the ParticleList of the distribution.

Definition at line 104 of file Distribution.h.

int Tracking::Distribution::size ( ) [inline]

Number of particles representing the distribution.

Definition at line 92 of file Distribution.h.

void Distribution::updateLikelihood	(	TrackerModel &	model,
		Shader *	shadeCompare,
		TomGine::tgCamera *	cam,
		Texture *	tex_edge,
		int	res = `256`
	)

Definition at line 307 of file Distribution.cpp.

void Distribution::updateLikelihood	(	TrackerModel &	model,
		Shader *	shadeCompare,
		bool	textured,
		int	convergence = `5`,
		bool	showparticles = `false`
	)

Update confidence levels and weighted likelihoods of distribution.

Parameters:

	TrackerModel	3D model to be rendered and compared to camera image
	Shader	comparisson shader which draws only pixels matching with the corresponding pixel of the camera image
	textured	flag wether to use textured models or edge models (TextureTracker / EdgeTracker)
	convergence	convergence of weight distribution
	showparticles	makes particle distribution visible on screen