ProbabilisticSceneRecognition::PSMInference::GaussianKernel Class Reference

#include <GaussianKernel.h>

Public Member Functions
double	evaluate (Eigen::VectorXd pEvidence)
	GaussianKernel (unsigned int pDimension, boost::property_tree::ptree &pPt)
double	getWeight ()
void	initializeVisualizer (boost::shared_ptr< Visualization::ProbabilisticSecondarySceneObjectVisualization > mVisualizer)
void	load (boost::property_tree::ptree &pPt)
void	visualize (boost::shared_ptr< Visualization::ProbabilisticSecondarySceneObjectVisualization > mVisualizer, Eigen::VectorXd pEvidence)
	~GaussianKernel ()

Private Attributes
boost::shared_ptr< Eigen::MatrixXd >	mCovariance
unsigned int	mDimension
boost::shared_ptr< Eigen::VectorXd >	mMean
boost::shared_ptr< Eigen::Matrix3d >	mPositionCovariance
boost::shared_ptr< Eigen::Vector3d >	mPositionMean
double	mWeight

Static Private Attributes
static const int	MC_SAMPLES = 100

Detailed Description

This class implements a single 6D gaussian kernel. It stores a weight, mean vector and covariance matrix.

Definition at line 46 of file inference/model/foreground/ocm/shape/GaussianKernel.h.

Constructor & Destructor Documentation

ProbabilisticSceneRecognition::PSMInference::GaussianKernel::GaussianKernel	(	unsigned int	pDimension,
		boost::property_tree::ptree &	pPt
	)

Constructor.

Parameters

pDimension	The number of dimensions of the kernel.
pPt	Data structure for performing XML operations.

Definition at line 24 of file inference/model/foreground/ocm/shape/GaussianKernel.cpp.

ProbabilisticSceneRecognition::PSMInference::GaussianKernel::~GaussianKernel

(

)

Destructor.

Definition at line 38 of file inference/model/foreground/ocm/shape/GaussianKernel.cpp.

Member Function Documentation

double ProbabilisticSceneRecognition::PSMInference::GaussianKernel::evaluate

(

Eigen::VectorXd

pEvidence

)

Evaluate the gaussian kernel with the given evidence.

Parameters

pEvidence

The evidence to evaluate the kernel with.

Returns

Probability for the given evidence.

Definition at line 71 of file inference/model/foreground/ocm/shape/GaussianKernel.cpp.

double ProbabilisticSceneRecognition::PSMInference::GaussianKernel::getWeight

(

)

Return the weight of the gaussian kernel.

Definition at line 76 of file inference/model/foreground/ocm/shape/GaussianKernel.cpp.

void ProbabilisticSceneRecognition::PSMInference::GaussianKernel::initializeVisualizer

(

boost::shared_ptr< Visualization::ProbabilisticSecondarySceneObjectVisualization >

mVisualizer

)

Initializes the visualization mechanism.

Parameters

mVisualizer

The visualizer for the secondary scene object represented by this node.

Definition at line 61 of file inference/model/foreground/ocm/shape/GaussianKernel.cpp.

void ProbabilisticSceneRecognition::PSMInference::GaussianKernel::load

(

boost::property_tree::ptree &

pPt

)

Loads the working data from an XML file.

Parameters

pPt	Data structure for performing XML operations.

Definition at line 43 of file inference/model/foreground/ocm/shape/GaussianKernel.cpp.

void ProbabilisticSceneRecognition::PSMInference::GaussianKernel::visualize	(	boost::shared_ptr< Visualization::ProbabilisticSecondarySceneObjectVisualization >	mVisualizer,
		Eigen::VectorXd	pEvidence
	)

Evaluates the gaussian kernel for the given evidence and visualizes the result.

Parameters

mVisualizer	The visualizer for the secondary scene object represented by this node.
pEvidence	The evidence for that the visualization should take place.

Definition at line 66 of file inference/model/foreground/ocm/shape/GaussianKernel.cpp.

Member Data Documentation

const int ProbabilisticSceneRecognition::PSMInference::GaussianKernel::MC_SAMPLES = 100

staticprivate

The number of samples used for monte carlo integration of the gaussian.

Definition at line 52 of file inference/model/foreground/ocm/shape/GaussianKernel.h.

boost::shared_ptr<Eigen::MatrixXd> ProbabilisticSceneRecognition::PSMInference::GaussianKernel::mCovariance

private

The covariance matrix of the multivariate gaussian.

Definition at line 124 of file inference/model/foreground/ocm/shape/GaussianKernel.h.

unsigned int ProbabilisticSceneRecognition::PSMInference::GaussianKernel::mDimension

private

The number of dimensions of the distribution.

Definition at line 109 of file inference/model/foreground/ocm/shape/GaussianKernel.h.

boost::shared_ptr<Eigen::VectorXd> ProbabilisticSceneRecognition::PSMInference::GaussianKernel::mMean

private

The mean vector of the multivariate gaussian.

Definition at line 119 of file inference/model/foreground/ocm/shape/GaussianKernel.h.

boost::shared_ptr<Eigen::Matrix3d> ProbabilisticSceneRecognition::PSMInference::GaussianKernel::mPositionCovariance

private

The position part of the covariance matrix.

Definition at line 134 of file inference/model/foreground/ocm/shape/GaussianKernel.h.

boost::shared_ptr<Eigen::Vector3d> ProbabilisticSceneRecognition::PSMInference::GaussianKernel::mPositionMean

private

The position part of the mean vector.

Definition at line 129 of file inference/model/foreground/ocm/shape/GaussianKernel.h.

double ProbabilisticSceneRecognition::PSMInference::GaussianKernel::mWeight

private

The weight of the gaussian kernel determining how string it contributes to the gaussian mixture distribution.

Definition at line 114 of file inference/model/foreground/ocm/shape/GaussianKernel.h.

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

• inference/model/foreground/ocm/shape/GaussianKernel.h
• inference/model/foreground/ocm/shape/GaussianKernel.cpp