BIAS::CondensHisto Class Reference

class for tracking an object in an image More...

#include <StateEstimator/CondensHisto.hh>

Inheritance diagram for BIAS::CondensHisto:

Collaboration diagram for BIAS::CondensHisto:

Public Member Functions
void	AddDebugLevel (const long int lv)
void	AddDebugLevel (const std::string &name)
void	CheckImageQuality (double percent, int &shutter, int &gain)
	Checks the image Quality by checking the luminance of the image. More...
	CondensHisto ()
	Set the state dimension in the constructor. More...
bool	DebugLevelIsSet (const long int lv) const
bool	DebugLevelIsSet (const std::string &name) const
void	DrawHistoSizes (Image< unsigned char > &img)
	this draws the Sizes of the Histogram as arrows at their x position More...
virtual void	DrawMean (BIAS::Image< unsigned char > &img)
	Draws the mean as a rectangle which size is proportional to the histogram size. More...
void	DrawPosteriorDistribution (BIAS::Image< unsigned char > &img)
	Draws the samples with their weight as greyvalue, the weight is distributed to the 4 pixels around the sample postion. More...
double	DrawPosteriorDistribution (BIAS::Image< float > &img)
	same as above but float precision and returns the maximum value also. More...
virtual void	DrawSamples (Image< unsigned char > &img)
	this draws the sample weights as circles More...
void	DrawSamplesExt (Image< unsigned char > &img)
	this draws the samples, histogram sizes as rects and weights as grey values More...
virtual void	DrawSamplesWhite (Image< unsigned char > &img)
	this draws the sample weights as retangeles with greyvalues on white base More...
void	DrawWeightedSamples (Image< float > &img)
	this draws the samples as circles and the color indicates the size of the histogram (the z-coordinate) More...
virtual void	EvaluateImportanceWeights ()
	If you want to use importance sampling, then overload this function, which is the importance function. More...
virtual void	EvaluateObservationDensities ()
	Here assign a weight to each sample. More...
Image< unsigned char >	GetAktImage ()
int	GetDebugLevel () const
std::ostream &	GetDebugStream () const
void	GetDebugStream (std::ostream &os) const
void	GetMaxValue (Vector< double > &max)
void	GetMaxVariance (Vector< double > &maxVar)
double	GetMaxWeight (int &index)
Vector< double >	GetMean ()
	returns the mean state of the density distribution More...
void	GetMeanValue (Vector< double > &mean)
void	GetMeanVariance (Vector< double > &meanVar)
double	GetMeanWeight () const
	Returns the mean weight of all samples. More...
const std::vector < BIAS::Vector< double > > &	GetSamplePositions ()
void	GetSamplePositions (Image< float > &sampleImg)
double	GetVariance () const
	returns the weighted variance as a scalar More...
bool	GetVariance (Vector< double > &var) const
	Returns the variance of the sample positions in var. More...
bool	GetWeightedVariance (Vector< double > &var) const
	Returns the "weighted variance" of the sample positions in var. More...
int	Init (unsigned int nrSmaples)
	Init the Condensation directly after constructor, with the desired amount of Samples, there more the better the approximation of the real densities. More...
virtual void	InitModelDefaults ()
	Here u can specify the model and process defaults. More...
int	InitPrior ()
	sets the sample positions for first time step More...
virtual void	InitPriorPositions (unsigned int nrOfInitSamples)
	The Prior condition is used to init the first sample positions. More...
long int	Name2DebugLevel (const std::string &name) const
	looks up a debuglevel in the internal map, returns 0 if not found More...
long int	NewDebugLevel (const std::string &name)
	creates a new debuglevel More...
int	PredictNewSamplePositions ()
void	PrintDebugLevel (std::ostream &os=std::cout) const
void	Process ()
	This really does one iteration of Condensation. More...
void	RemoveDebugLevel (const long int lv)
void	RemoveDebugLevel (const std::string &name)
void	SetActiveImage (Image< unsigned char > &img)
	sets the present picture to compare and create new observation More...
void	SetArea (Vector3< double > min, Vector3< double > max)
	The area for the initial uniform distribution. More...
void	SetDebugLevel (const long int lv)
void	SetDebugLevel (const std::string &name)
void	SetDebugStream (const std::ostream &os)
void	SetDefaultInitFraction (double fraction)
	Set the amount of samples, whose position is always taken by the prior distribution. More...
void	SetDiffScale (double diff)
	Sets the scale for the diffusion, diffusi0nSigma = diffScale_*areaMax_ example value would be 0.05. More...
void	SetDiffScaleSize (double diff)
	Sets the scale for the diffusion for the size of the histogram , diffusionSigma[stateDim_-1] = diffScaleSize_*areaMax_[stateDim-1] example value would be 0.05. More...
void	SetFirstOrderScale (double scale)
	Sets the scale for the first order prediction, valid values are 0.0000..1 - 1.0. More...
void	SetImportanceSampleFraction (double fraction)
	Only specifiy a value unlike zero, if EvaluateImportanceWeights() is overloaded. More...
void	SetMinWeight (double min)
	Sets the minimum weight each sample is assigned, when < lower minWeight_. More...
void	SetMultiHistogram (bool multi)
	sets if Multihistogram is used or not, default is false More...
void	SetPredictionOffset (const BIAS::Vector< double > &offSet)
	all samples are moved by this offset at the prediction step More...
void	SetProcessMean (const BIAS::Vector< double > &newProcessMean)
	set a new processMean for the PredictSamplePosition step, see SecondOrderARP_() More...
void	SetReferenceHistogram (ColorHistogram< unsigned char > &refHisto)
	sets the reference colorhistogram More...
void	SetSecondOrderScale (double scale)
	Sets the scale for the second order prediction, valid values are 0.0000..1 - 1.0. More...
void	ShowDebugLevel (std::ostream &os=std::cout) const
	prints all internally known debuglevels More...
void	UseIntegralHistogram (bool bIntHisto)

Static Public Member Functions
static long int	GetGlobalDebugLevel ()
static void	SetGlobalDebugLevel (long int lev)

Protected Member Functions
virtual void	AddDiffusions_ ()
	Adds gaussian noise to the position, can be overwritten if some other (i.e. More...
virtual void	AddOffsets_ ()
	adds offSet_ to the samplePosNew_, can be overwritten if some other offset mechanism is needed More...
virtual void	CalculateBaseWeights_ ()
	Once all the unweighted sample positions have been computed using predict_new_bases, this routine computes the weights by evaluating the observation density at each of the positions. More...
void	CalculateMean_ ()
long	ConsumeNextFreeDebuglevel_ ()
	returns the next available debuglevel More...
void	EvaluateFromIntegralHistoImage_ ()
unsigned int	PickImportanceSample_ ()
unsigned int	PickOneSample_ ()
	The process model for a first-order auto-regressive process is: x_{t+1} - mean = (x_t - mean)*scaling + sigma*w_t where w_t is unit iid Gaussian noise, which is added by AddDiffusion. More...
void	SecondOrderARP_ (unsigned int indexOldSample, Vector< double > &newSample)
	question: real pos_tminus2 of each sample or better old mean value for all samples? More...

Static Protected Member Functions
static int	compdouble (const void *l, const void *r)

Protected Attributes
bool	_doSecondOrderARP
long int	_liDebugLevel
long int	_liNextDebugLevel
	new concept, debuglevel are managed here in the debug class More...
double *	_randomArray
std::map< std::string, long int >	_String2Debuglevel
BIAS::Vector3< double >	areaMax_
BIAS::Vector3< double >	areaMin_
bool	bIntegralHisto_
ColorHistogram< unsigned char >	chist_
std::vector< double >	correctionOfImportanceWeights_
std::vector< double >	cumulProbArray_
std::vector< double >	cumulProbArrayImportance_
double	defaultInitFraction_
double	diffScale_
double	diffScaleSize_
Vector< double >	diffusionSigma_
	Process parameters. More...
BIAS::Image< float >	fImg_
double	firstOrderScale_
Image< unsigned char > *	img_
double	importanceFraction_
std::vector< unsigned int >	indexTminus2_
bool	initial_
IntegralHistogram	intHisto_
double	m_dMaxRefHistoSize
Vector< double >	mean_
Vector< double >	meanTminus1_
double	minWeight_
unsigned int	Nsamples_
BIAS::Vector< double >	offSet_
std::vector< unsigned int >	oldIndices_
Vector< double >	processFirstOrderScale_
Vector< double >	processMean_
Vector< double >	processSecondOrderScale_
Random	random_
ColorHistogram< unsigned char >	refHisto2_
ColorHistogram< unsigned char >	refHisto_
std::vector< double >	sampleImportanceWeights_
std::vector< Vector< double > >	samplePosNew_
std::vector< Vector< double > >	samplePosOld_
std::vector< Vector< double > >	samplePosTminus2_
std::vector< double >	sampleWeights_
BIAS::Vector2< double >	secondHistPos_
double	secondOrderScale_
unsigned int	stateDim_
double	sumOfImportanceWeights_
double	sumOfWeights_
bool	useMultiHistogram_

Static Protected Attributes
static std::ostream	_zDebugStream
static long int	GlobalDebugLevel = 0

Detailed Description

class for tracking an object in an image

This class is able to handle "normal" ColorHistograms, and MultiColorHistograms. Just Set a MultiColorHistogram in SetReferenceHistogram() and the whole process switches to multiHistogram processing

You have to call:

• SetActiveImage(imgHSL) with an HSL image;
• SetReferenceHistogram(chist); (colorHistogram or ColorMultiHistogram)
• SetArea(Vector3<double>(0,0,0.5), Vector3<double>(width,height,1.5));
• Init(*nsamples);
• InitPrior(); //to set samples for first frame

then just call these functions in every turn

• SetActiveImage(imgHSL)
• PredictNewSamplePositions()
• Process();

  Author

  Ingo Schiller, March 2003, edited by grest

Examples:

ExampleCondensHisto.cpp.

Definition at line 67 of file CondensHisto.hh.

Constructor & Destructor Documentation

CondensHisto::CondensHisto

(

)

Set the state dimension in the constructor.

Definition at line 37 of file CondensHisto.cpp.

Member Function Documentation

void BIAS::Debug::AddDebugLevel ( const long int  lv )

inlineinherited

Examples:

EvaluateAlignment.cpp, ExampleAlignment.cpp, ExampleMinMax.cpp, ExampleRANSAC_double.cpp, ExampleRANSACPlane.cpp, and ExampleTriangulateOptimal.cpp.

Definition at line 355 of file Debug.hh.

Referenced by BIAS::GLProjectionParametersBase::AddDebugLevel(), BIAS::Triangulation::CorrectCorrespondences(), BIAS::FilterBase< InputStorageType, OutputStorageType >::FilterBase(), BIAS::ShowCamWxVideoSourceFactory::OpenDevice(), and BIAS::SceneOpenSceneGraph::SceneOpenSceneGraph().

void BIAS::Debug::AddDebugLevel ( const std::string &  name )

inlineinherited

Definition at line 362 of file Debug.hh.

void Condensation::AddDiffusions_ ( )

protectedvirtualinherited

Adds gaussian noise to the position, can be overwritten if some other (i.e.

non gaussian) noise is needed

Definition at line 275 of file Condensation.cpp.

void Condensation::AddOffsets_ ( )

protectedvirtualinherited

adds offSet_ to the samplePosNew_, can be overwritten if some other offset mechanism is needed

Definition at line 292 of file Condensation.cpp.

void Condensation::CalculateBaseWeights_ ( )

protectedvirtualinherited

Once all the unweighted sample positions have been computed using predict_new_bases, this routine computes the weights by evaluating the observation density at each of the positions.

Cumulative probabilities are also computed at the same time, to permit an efficient implementation of pick_base_sample using binary search.

Definition at line 301 of file Condensation.cpp.

References BIAS::TimeMeasure::GetRealTime(), BIAS::TimeMeasure::Reset(), BIAS::TimeMeasure::Start(), and BIAS::TimeMeasure::Stop().

void BIAS::Condensation::CalculateMean_ ( )

inlineprotectedinherited

Definition at line 324 of file Condensation.hh.

References BIAS::TimeMeasure::GetRealTime(), BIAS::Condensation::mean_, BIAS::Vector< T >::MultiplyIP(), BIAS::Condensation::Nsamples_, BIAS::Condensation::samplePosOld_, BIAS::Condensation::sampleWeights_, BIAS::Vector< T >::Set(), BIAS::TimeMeasure::Start(), BIAS::TimeMeasure::Stop(), and BIAS::Condensation::sumOfWeights_.

void CondensHisto::CheckImageQuality	(	double	percent,
		int &	shutter,
		int &	gain
	)

Checks the image Quality by checking the luminance of the image.

the shutter and gain of the camera has to be set by the returned shutter and gain in params

Parameters

percent	= the allowed percentage of pixels, below minsat in light and dark regions
shutter	= the shutter the camera has to be set to
gain	= the gain ---------— ---------—

Definition at line 254 of file CondensHisto.cpp.

static int BIAS::Condensation::compdouble ( const void *  l, const void *  r  )

inlinestaticprotectedinherited

Definition at line 252 of file Condensation.hh.

long BIAS::Debug::ConsumeNextFreeDebuglevel_ ( )

inlineprotectedinherited

returns the next available debuglevel

Author

woelk 09/2006

Definition at line 521 of file Debug.hh.

bool BIAS::Debug::DebugLevelIsSet ( const long int  lv ) const

inlineinherited

Examples:

ExampleTriangulateOptimal.cpp.

Definition at line 341 of file Debug.hh.

Referenced by BIAS::GenSynthMatches::_AddUniformDistributedOutliers(), BIAS::GenSynthMatches::_CreateCamMovement(), BIAS::GenSynthMatches::_CreateStatic2DPoints(), BIAS::UnscentedTransform::ComputeSigmaPoints_(), BIAS::Triangulation::CorrectCorrespondences(), BIAS::GenSynthMatches::GetGTNormalizedF(), BIAS::MonteCarloTransform::GetSamples_(), and BIAS::MonteCarloTransform::Transform().

bool BIAS::Debug::DebugLevelIsSet ( const std::string &  name ) const

inlineinherited

Definition at line 350 of file Debug.hh.

void CondensHisto::DrawHistoSizes

(

Image< unsigned char > &

img

)

this draws the Sizes of the Histogram as arrows at their x position

Author

Ingo Schiler

Definition at line 436 of file CondensHisto.cpp.

References BIAS::ImageDraw< StorageType >::CircleCenter(), BIAS::Image< StorageType >::FillImageWithConstValue(), BIAS::ImageBase::GetHeight(), BIAS::ImageBase::GetWidth(), BIAS::Image< StorageType >::Init(), BIAS::ImageBase::IsEmpty(), and BIAS::Image< StorageType >::Release().

void CondensHisto::DrawMean ( BIAS::Image< unsigned char > &  img )

virtual

Draws the mean as a rectangle which size is proportional to the histogram size.

draws the mean value(mean position of all samples) in the image, with the size of the rectangle indicating the size of the histogram

Examples:

ExampleCondensHisto.cpp.

Definition at line 689 of file CondensHisto.cpp.

References BIAS::ImageBase::GetHeight(), BIAS::ImageBase::GetWidth(), and BIAS::ImageDraw< StorageType >::RectangleCorners().

void CondensHisto::DrawPosteriorDistribution

(

BIAS::Image< unsigned char > &

img

)

Draws the samples with their weight as greyvalue, the weight is distributed to the 4 pixels around the sample postion.

draws the poserior distribution of the samples in the image

Image has to be initialized with correct size and channelcount !

Definition at line 625 of file CondensHisto.cpp.

References BIAS::ImageBase::GetHeight(), BIAS::Image< StorageType >::GetImageData(), BIAS::ImageBase::GetPixelCount(), and BIAS::ImageBase::GetWidth().

double CondensHisto::DrawPosteriorDistribution

(

BIAS::Image< float > &

img

)

same as above but float precision and returns the maximum value also.

same as above but in grey value picture

Definition at line 648 of file CondensHisto.cpp.

References BIAS::Image< StorageType >::FillImageWithConstValue(), BIAS::ImageBase::GetHeight(), BIAS::Image< StorageType >::GetImageDataArray(), and BIAS::ImageBase::GetWidth().

void CondensHisto::DrawSamples ( Image< unsigned char > &  img )

virtual

this draws the sample weights as circles

draws the sample positions in the given image with the given value

Definition at line 473 of file CondensHisto.cpp.

References BIAS::ImageBase::CM_Grey, BIAS::ImageBase::GetChannelCount(), BIAS::ImageBase::GetHeight(), BIAS::ImageBase::GetWidth(), BIAS::Image< StorageType >::Init(), BIAS::ImageBase::IsEmpty(), BIAS::ImageDraw< StorageType >::RectangleCenter(), and BIAS::ImageBase::SetColorModel().

void CondensHisto::DrawSamplesExt

(

BIAS::Image< unsigned char > &

img

)

this draws the samples, histogram sizes as rects and weights as grey values

Author

grest / schiller

Definition at line 563 of file CondensHisto.cpp.

References BIAS::ImageBase::GetChannelCount(), BIAS::ImageBase::GetHeight(), BIAS::ImageBase::GetWidth(), and BIAS::ImageDraw< StorageType >::RectangleCenter().

void CondensHisto::DrawSamplesWhite ( Image< unsigned char > &  img )

virtual

this draws the sample weights as retangeles with greyvalues on white base

draws the sample positions in the given image with the given value

Definition at line 506 of file CondensHisto.cpp.

References BIAS::ImageBase::CM_Grey, BIAS::Image< StorageType >::FillImageWithConstValue(), BIAS::ImageBase::GetChannelCount(), BIAS::ImageBase::GetHeight(), BIAS::ImageBase::GetWidth(), BIAS::Image< StorageType >::Init(), BIAS::ImageBase::IsEmpty(), BIAS::ImageDraw< StorageType >::RectangleCenter(), and BIAS::ImageBase::SetColorModel().

void CondensHisto::DrawWeightedSamples

(

Image< float > &

img

)

this draws the samples as circles and the color indicates the size of the histogram (the z-coordinate)

draws the samples in the positions and draws the weights of the samples as circles, the bigger the circle the higher the weight and the grey value indicates the size of the ROI of histogram

Examples:

ExampleCondensHisto.cpp.

Definition at line 596 of file CondensHisto.cpp.

References BIAS::ImageDraw< StorageType >::CircleCenter(), BIAS::ImageBase::CM_Grey, BIAS::Image< StorageType >::FillImageWithConstValue(), BIAS::ImageBase::GetHeight(), BIAS::ImageBase::GetWidth(), BIAS::Image< StorageType >::Init(), BIAS::ImageBase::IsEmpty(), BIAS::Image< StorageType >::Release(), and BIAS::ImageBase::SetColorModel().

void CondensHisto::EvaluateFromIntegralHistoImage_ ( )

protected

Definition at line 96 of file CondensHisto.cpp.

virtual void BIAS::Condensation::EvaluateImportanceWeights ( )

inlinevirtualinherited

If you want to use importance sampling, then overload this function, which is the importance function.

It should be a density distribution, which gives hint where to measure the object state.
Evaluate here the samplePosOld_, not the new ones
IMPORTANT: the scale of the importance weights must be equal to the normal weights, like in EvaluateObservationDensities()

Reimplemented in BIAS::CondensImg.

Definition at line 177 of file Condensation.hh.

void CondensHisto::EvaluateObservationDensities ( )

virtual

Here assign a weight to each sample.

The weight must correspond to the similarity of the histograms of the regions.

Implements BIAS::Condensation.

Definition at line 173 of file CondensHisto.cpp.

Image< unsigned char > CondensHisto::GetAktImage

(

)

Returns

the aktual image on which the condensation is doing it's job

Author

Ingo Schiller

Returns

the active image in condensation algo

Definition at line 430 of file CondensHisto.cpp.

int BIAS::Debug::GetDebugLevel ( ) const

inlineinherited

Examples:

ExampleCamera.cpp, ExampleCamPoseCalib.cpp, ExampleCopy.cpp, and ExampleParabola.cpp.

Definition at line 332 of file Debug.hh.

Referenced by BIAS::listenthread(), BIAS::Image< StorageType >::operator=(), and BIAS::ImageBase::operator=().

std::ostream& BIAS::Debug::GetDebugStream ( ) const

inlineinherited

Definition at line 405 of file Debug.hh.

void BIAS::Debug::GetDebugStream ( std::ostream &  os ) const

inlineinherited

Definition at line 414 of file Debug.hh.

static long int BIAS::Debug::GetGlobalDebugLevel ( )

inlinestaticinherited

Definition at line 431 of file Debug.hh.

void CondensHisto::GetMaxValue

(

Vector< double > &

max

)

Definition at line 317 of file CondensHisto.cpp.

References TNT::Vector< T >::newsize().

void CondensHisto::GetMaxVariance

(

Vector< double > &

maxVar

)

Parameters

maxVar=

MaxVariance is a vector of struct: [varPosx, varPosy, varSize, varWeight]

Definition at line 385 of file CondensHisto.cpp.

References BIAS::Vector< T >::ElementwiseProduct(), and TNT::Vector< T >::newsize().

double CondensHisto::GetMaxWeight

(

int &

index

)

Returns

= the maximum weight of all samples;

Parameters

index

= the index of which maxWeight is found

Returns

= the maximum weight of all samples

Parameters

index

= the index in samplePosNew_ where maxWeight is found

Definition at line 365 of file CondensHisto.cpp.

Vector<double> BIAS::Condensation::GetMean ( void  )

inlineinherited

returns the mean state of the density distribution

Examples:

ExampleCondensImg.cpp.

Definition at line 115 of file Condensation.hh.

void CondensHisto::GetMeanValue

(

Vector< double > &

mean

)

Definition at line 328 of file CondensHisto.cpp.

void CondensHisto::GetMeanVariance

(

Vector< double > &

meanVar

)

Parameters

meanVar=

MeanVariance is a vector of struct: [varPosx, varPosy, varSize, varWeight]

Definition at line 337 of file CondensHisto.cpp.

References BIAS::Vector< T >::ElementwiseProduct(), TNT::Vector< T >::newsize(), and BIAS::Vector< T >::SetZero().

double Condensation::GetMeanWeight ( ) const

inherited

Returns the mean weight of all samples.

Initialization samples and importance samples are not used in calculation.

Author

woelk 12/2004

Definition at line 432 of file Condensation.cpp.

const std::vector<BIAS::Vector<double> >& BIAS::Condensation::GetSamplePositions ( )

inlineinherited

Definition at line 107 of file Condensation.hh.

void CondensHisto::GetSamplePositions

(

Image< float > &

sampleImg

)

Definition at line 416 of file CondensHisto.cpp.

References BIAS::Image< StorageType >::GetImageDataArray().

double Condensation::GetVariance ( ) const

inherited

returns the weighted variance as a scalar

Author

grest

Definition at line 375 of file Condensation.cpp.

bool Condensation::GetVariance ( Vector< double > &  var ) const

inherited

Returns the variance of the sample positions in var.

Initialization samples and importance samples are not used in calculation.

Author

woelk 12/2004

Definition at line 412 of file Condensation.cpp.

References BIAS::Vector< T >::ElementwiseProduct(), TNT::Vector< T >::newsize(), and BIAS::Vector< T >::SetZero().

bool Condensation::GetWeightedVariance ( Vector< double > &  var ) const

inherited

Returns the "weighted variance" of the sample positions in var.

Initialization samples and importance samples are not used in calculation.

Author

woelk 12/2004

Definition at line 390 of file Condensation.cpp.

References BIAS::Vector< T >::ElementwiseProduct(), TNT::Vector< T >::newsize(), and BIAS::Vector< T >::SetZero().

int Condensation::Init ( unsigned int  nrSmaples )

inherited

Init the Condensation directly after constructor, with the desired amount of Samples, there more the better the approximation of the real densities.

The other Init functions are called here also.

Examples:

ExampleCondensHisto.cpp, and ExampleCondensImg.cpp.

Definition at line 58 of file Condensation.cpp.

void CondensHisto::InitModelDefaults ( )

virtual

Here u can specify the model and process defaults.

Implements BIAS::Condensation.

Definition at line 56 of file CondensHisto.cpp.

int Condensation::InitPrior ( )

inherited

sets the sample positions for first time step

Examples:

ExampleCondensHisto.cpp, and ExampleCondensImg.cpp.

Definition at line 113 of file Condensation.cpp.

References BIAS::TimeMeasure::GetRealTime(), BIAS::TimeMeasure::Start(), and BIAS::TimeMeasure::Stop().

void CondensHisto::InitPriorPositions ( unsigned int  nrOfInitSamples )

virtual

The Prior condition is used to init the first sample positions.

Calculates a initial pos for all samples. The prior cond. maybe defined by an image (if state vector is 2-dim) or by a mixture of gaussions or Uniform_distributed or ... or ...

Implements BIAS::Condensation.

Examples:

ExampleCondensHisto.cpp.

Definition at line 85 of file CondensHisto.cpp.

long int BIAS::Debug::Name2DebugLevel ( const std::string &  name ) const

inlineinherited

looks up a debuglevel in the internal map, returns 0 if not found

Author

woelk 09/2006

Definition at line 454 of file Debug.hh.

long int BIAS::Debug::NewDebugLevel ( const std::string &  name )

inlineinherited

creates a new debuglevel

Author

woelk 09/2006

Definition at line 474 of file Debug.hh.

Referenced by BIAS::COSAC< SolutionType >::COSAC(), BIAS::ProjectionParametersPerspectiveDepth::Init(), BIAS::MonteCarloTransform::MonteCarloTransform(), BIAS::PMatrixEstimation::PMatrixEstimation(), BIAS::PreemptiveRANSAC< SolutionType >::PreemptiveRANSAC(), BIAS::RANSACPreKnowledge< SolutionType >::RANSACPreKnowledge(), BIAS::ROI::ROI(), BIAS::RotationAveraging::RotationAveraging(), BIAS::SceneOpenSceneGraph::SceneOpenSceneGraph(), BIAS::ThreeDOutOpenSceneGraph::ThreeDOutOpenSceneGraph(), BIAS::Triangulation::Triangulation(), and BIAS::UnscentedTransform::UnscentedTransform().

unsigned int BIAS::Condensation::PickImportanceSample_ ( )

inlineprotectedinherited

Definition at line 282 of file Condensation.hh.

References BIAS::Condensation::cumulProbArrayImportance_, BIAS::Random::GetUniformDistributed(), BIAS::Condensation::Nsamples_, BIAS::Condensation::random_, and BIAS::Condensation::sumOfImportanceWeights_.

unsigned int BIAS::Condensation::PickOneSample_ ( )

inlineprotectedinherited

The process model for a first-order auto-regressive process is:
x_{t+1} - mean = (x_t - mean)*scaling + sigma*w_t
where w_t is unit iid Gaussian noise, which is added by AddDiffusion.

This is binary search using cumulative probabilities to pick a base sample. The use of this routine makes Condensation O(NlogN) where N is the number of samples. It is probably better to pick base samples deterministically, since then the algorithm is O(N) and probably marginally more efficient, but this routine is kept here for conceptual simplicity and because it maps better to the published literature.

Definition at line 258 of file Condensation.hh.

References BIAS::Condensation::cumulProbArray_, BIAS::Random::GetUniformDistributed(), BIAS::Condensation::Nsamples_, BIAS::Condensation::random_, and BIAS::Condensation::sumOfWeights_.

int Condensation::PredictNewSamplePositions ( )

inherited

now pick samples from the last time step using the weights

most probably from the process model

most probably gaussian noise

Examples:

ExampleCondensHisto.cpp, and ExampleCondensImg.cpp.

Definition at line 142 of file Condensation.cpp.

References BIAS::TimeMeasure::GetRealTime(), BIAS::TimeMeasure::Reset(), BIAS::TimeMeasure::Start(), and BIAS::TimeMeasure::Stop().

void BIAS::Debug::PrintDebugLevel ( std::ostream &  os = std::cout ) const

inlineinherited

Definition at line 383 of file Debug.hh.

void Condensation::Process ( )

inherited

This really does one iteration of Condensation.

It calls PredictSamplePosition() and EvaluateObservationDensity() in the necessary order.

Examples:

ExampleCondensHisto.cpp, and ExampleCondensImg.cpp.

Definition at line 332 of file Condensation.cpp.

References BIAS::TimeMeasure::GetRealTime(), BIAS::TimeMeasure::Reset(), BIAS::TimeMeasure::Start(), and BIAS::TimeMeasure::Stop().

void BIAS::Debug::RemoveDebugLevel ( const long int  lv )

inlineinherited

Definition at line 369 of file Debug.hh.

void BIAS::Debug::RemoveDebugLevel ( const std::string &  name )

inlineinherited

Definition at line 376 of file Debug.hh.

void BIAS::Condensation::SecondOrderARP_ ( unsigned int  indexOldSample, Vector< double > &  newSample  )

inlineprotectedinherited

question: real pos_tminus2 of each sample or better old mean value for all samples?

Definition at line 303 of file Condensation.hh.

References BIAS::Condensation::indexTminus2_, BIAS::Condensation::processFirstOrderScale_, BIAS::Condensation::processMean_, BIAS::Condensation::processSecondOrderScale_, BIAS::Condensation::samplePosOld_, BIAS::Condensation::samplePosTminus2_, and BIAS::Condensation::stateDim_.

void BIAS::CondensHisto::SetActiveImage ( Image< unsigned char > &  img )

inline

sets the present picture to compare and create new observation

Examples:

ExampleCondensHisto.cpp.

Definition at line 164 of file CondensHisto.hh.

void CondensHisto::SetArea	(	Vector3< double >	min,
		Vector3< double >	max
	)

The area for the initial uniform distribution.

3-dim case

Examples:

ExampleCondensHisto.cpp.

Definition at line 248 of file CondensHisto.cpp.

void BIAS::Debug::SetDebugLevel ( const long int  lv )

inlineinherited

Examples:

ExampleCamera.cpp, ExampleCamPoseCalib.cpp, ExampleCopy.cpp, ExampleDcam.cpp, ExampleDcamImageConvert.cpp, ExampleDirectToDisk.cpp, ExampleGrabTrippleFromXB3.cpp, ExampleHarrisColor.cpp, ExampleLDA.cpp, ExampleLineMatcher.cpp, ExampleMDCamToShm.cpp, ExampleParabola.cpp, ExamplePMatrix.cpp, ExamplePtGreyHiresColor.cpp, ExampleVideoSource_Shm.cpp, and Scan1394Bus.cpp.

Definition at line 318 of file Debug.hh.

Referenced by BIAS::ShowCamWxVideoSourceFactory::CreateBumbleBee(), BIAS::ShowCamWxVideoSourceFactory::CreateDCAM(), BIAS::VideoSource_MDcam::ScanBus(), BIAS::GLProjectionParametersBase::SetDebugLevel(), BIAS::VideoSource_Disk::VideoSource_Disk(), BIAS::VideoSource_DV2::VideoSource_DV2(), BIAS::VideoSource_DV::VideoSource_DV_Internal_Init_(), and BIAS::VideoSource_V4L::VideoSource_V4L().

void BIAS::Debug::SetDebugLevel ( const std::string &  name )

inlineinherited

Definition at line 325 of file Debug.hh.

void BIAS::Debug::SetDebugStream ( const std::ostream &  os )

inlineinherited

Definition at line 398 of file Debug.hh.

void Condensation::SetDefaultInitFraction ( double  fraction )

inherited

Set the amount of samples, whose position is always taken by the prior distribution.

Default is 0.2.
fraction must be in [0..1];

Definition at line 260 of file Condensation.cpp.

void BIAS::CondensHisto::SetDiffScale ( double  diff )

inline

Sets the scale for the diffusion, diffusi0nSigma = diffScale_*areaMax_ example value would be 0.05.

Definition at line 113 of file CondensHisto.hh.

void BIAS::CondensHisto::SetDiffScaleSize ( double  diff )

inline

Sets the scale for the diffusion for the size of the histogram , diffusionSigma[stateDim_-1] = diffScaleSize_*areaMax_[stateDim-1] example value would be 0.05.

Definition at line 126 of file CondensHisto.hh.

void BIAS::CondensHisto::SetFirstOrderScale ( double  scale )

inline

Sets the scale for the first order prediction, valid values are 0.0000..1 - 1.0.

Definition at line 151 of file CondensHisto.hh.

static void BIAS::Debug::SetGlobalDebugLevel ( long int  lev )

inlinestaticinherited

Definition at line 424 of file Debug.hh.

void Condensation::SetImportanceSampleFraction ( double  fraction )

inherited

Only specifiy a value unlike zero, if EvaluateImportanceWeights() is overloaded.

Definition at line 268 of file Condensation.cpp.

void BIAS::CondensHisto::SetMinWeight ( double  min )

inline

Sets the minimum weight each sample is assigned, when < lower minWeight_.

Examples:

ExampleCondensHisto.cpp.

Definition at line 105 of file CondensHisto.hh.

void BIAS::CondensHisto::SetMultiHistogram ( bool  multi )

inline

sets if Multihistogram is used or not, default is false

Definition at line 186 of file CondensHisto.hh.

void BIAS::Condensation::SetPredictionOffset ( const BIAS::Vector< double > &  offSet )

inlineinherited

all samples are moved by this offset at the prediction step

Definition at line 103 of file Condensation.hh.

void BIAS::Condensation::SetProcessMean ( const BIAS::Vector< double > &  newProcessMean )

inlineinherited

set a new processMean for the PredictSamplePosition step, see SecondOrderARP_()

Definition at line 152 of file Condensation.hh.

void BIAS::CondensHisto::SetReferenceHistogram ( ColorHistogram< unsigned char > &  refHisto )

inline

sets the reference colorhistogram

Examples:

ExampleCondensHisto.cpp.

Definition at line 169 of file CondensHisto.hh.

References BIAS::ColorHistogram< StorageType >::GetHeightROI(), BIAS::ColorHistogram< StorageType >::GetWidthROI(), and BIAS::ColorHistogram< StorageType >::SetBinSize().

void BIAS::CondensHisto::SetSecondOrderScale ( double  scale )

inline

Sets the scale for the second order prediction, valid values are 0.0000..1 - 1.0.

Definition at line 137 of file CondensHisto.hh.

void BIAS::Debug::ShowDebugLevel ( std::ostream &  os = std::cout ) const

inlineinherited

prints all internally known debuglevels

Author

woelk 09/2006

Definition at line 496 of file Debug.hh.

void CondensHisto::UseIntegralHistogram

(

bool

bIntHisto

)

Definition at line 51 of file CondensHisto.cpp.

Member Data Documentation

bool BIAS::Condensation::_doSecondOrderARP

protectedinherited

Definition at line 177 of file Condensation.hh.

long int BIAS::Debug::_liDebugLevel

protectedinherited

Definition at line 510 of file Debug.hh.

Referenced by BIAS::Debug::operator=(), and BIAS::ImageBase::operator=().

long int BIAS::Debug::_liNextDebugLevel

protectedinherited

new concept, debuglevel are managed here in the debug class

Definition at line 516 of file Debug.hh.

Referenced by BIAS::Debug::operator=().

double* BIAS::Condensation::_randomArray

protectedinherited

Definition at line 249 of file Condensation.hh.

std::map<std::string, long int> BIAS::Debug::_String2Debuglevel

protectedinherited

Definition at line 517 of file Debug.hh.

Referenced by BIAS::Debug::operator=().

std::ostream BIAS::Debug::_zDebugStream

staticprotectedinherited

Definition at line 511 of file Debug.hh.

Referenced by BIAS::Debug::operator=().

BIAS::Vector3<double> BIAS::CondensHisto::areaMax_

protected

Definition at line 288 of file CondensHisto.hh.

BIAS::Vector3<double> BIAS::CondensHisto::areaMin_

protected

Definition at line 288 of file CondensHisto.hh.

bool BIAS::CondensHisto::bIntegralHisto_

protected

Definition at line 315 of file CondensHisto.hh.

ColorHistogram<unsigned char> BIAS::CondensHisto::chist_

protected

Definition at line 292 of file CondensHisto.hh.

std::vector<double> BIAS::Condensation::correctionOfImportanceWeights_

protectedinherited

Definition at line 236 of file Condensation.hh.

std::vector<double> BIAS::Condensation::cumulProbArray_

protectedinherited

Definition at line 234 of file Condensation.hh.

Referenced by BIAS::Condensation::PickOneSample_().

std::vector<double> BIAS::Condensation::cumulProbArrayImportance_

protectedinherited

Definition at line 235 of file Condensation.hh.

Referenced by BIAS::Condensation::PickImportanceSample_().

double BIAS::Condensation::defaultInitFraction_

protectedinherited

Definition at line 245 of file Condensation.hh.

double BIAS::CondensHisto::diffScale_

protected

Definition at line 305 of file CondensHisto.hh.

double BIAS::CondensHisto::diffScaleSize_

protected

Definition at line 306 of file CondensHisto.hh.

Vector<double> BIAS::Condensation::diffusionSigma_

protectedinherited

Process parameters.

Definition at line 241 of file Condensation.hh.

BIAS::Image<float> BIAS::CondensHisto::fImg_

protected

Definition at line 302 of file CondensHisto.hh.

double BIAS::CondensHisto::firstOrderScale_

protected

Definition at line 308 of file CondensHisto.hh.

long int BIAS::Debug::GlobalDebugLevel = 0

staticprotectedinherited

Definition at line 513 of file Debug.hh.

Image<unsigned char>* BIAS::CondensHisto::img_

protected

Definition at line 289 of file CondensHisto.hh.

double BIAS::Condensation::importanceFraction_

protectedinherited

Definition at line 246 of file Condensation.hh.

std::vector<unsigned int> BIAS::Condensation::indexTminus2_

protectedinherited

Definition at line 230 of file Condensation.hh.

Referenced by BIAS::Condensation::SecondOrderARP_().

bool BIAS::Condensation::initial_

protectedinherited

Definition at line 244 of file Condensation.hh.

IntegralHistogram BIAS::CondensHisto::intHisto_

protected

Definition at line 295 of file CondensHisto.hh.

double BIAS::CondensHisto::m_dMaxRefHistoSize

protected

Definition at line 310 of file CondensHisto.hh.

Vector<double> BIAS::Condensation::mean_

protectedinherited

Definition at line 232 of file Condensation.hh.

Referenced by BIAS::Condensation::CalculateMean_().

Vector<double> BIAS::Condensation::meanTminus1_

protectedinherited

Definition at line 232 of file Condensation.hh.

double BIAS::CondensHisto::minWeight_

protected

Definition at line 304 of file CondensHisto.hh.

unsigned int BIAS::Condensation::Nsamples_

protectedinherited

Definition at line 223 of file Condensation.hh.

Referenced by BIAS::Condensation::CalculateMean_(), BIAS::Condensation::PickImportanceSample_(), and BIAS::Condensation::PickOneSample_().

BIAS::Vector<double> BIAS::Condensation::offSet_

protectedinherited

Definition at line 250 of file Condensation.hh.

std::vector<unsigned int> BIAS::Condensation::oldIndices_

protectedinherited

Definition at line 230 of file Condensation.hh.

Vector<double> BIAS::Condensation::processFirstOrderScale_

protectedinherited

Definition at line 242 of file Condensation.hh.

Referenced by BIAS::Condensation::SecondOrderARP_().

Vector<double> BIAS::Condensation::processMean_

protectedinherited

Definition at line 241 of file Condensation.hh.

Referenced by BIAS::Condensation::SecondOrderARP_().

Vector<double> BIAS::Condensation::processSecondOrderScale_

protectedinherited

Definition at line 242 of file Condensation.hh.

Referenced by BIAS::Condensation::SecondOrderARP_().

Random BIAS::Condensation::random_

protectedinherited

Definition at line 248 of file Condensation.hh.

Referenced by BIAS::Condensation::PickImportanceSample_(), and BIAS::Condensation::PickOneSample_().

ColorHistogram<unsigned char> BIAS::CondensHisto::refHisto2_

protected

Definition at line 299 of file CondensHisto.hh.

ColorHistogram<unsigned char> BIAS::CondensHisto::refHisto_

protected

Definition at line 298 of file CondensHisto.hh.

std::vector<double> BIAS::Condensation::sampleImportanceWeights_

protectedinherited

Definition at line 235 of file Condensation.hh.

std::vector<Vector<double> > BIAS::Condensation::samplePosNew_

protectedinherited

Definition at line 225 of file Condensation.hh.

std::vector<Vector<double> > BIAS::Condensation::samplePosOld_

protectedinherited

Definition at line 226 of file Condensation.hh.

Referenced by BIAS::Condensation::CalculateMean_(), and BIAS::Condensation::SecondOrderARP_().

std::vector<Vector<double> > BIAS::Condensation::samplePosTminus2_

protectedinherited

Definition at line 227 of file Condensation.hh.

Referenced by BIAS::Condensation::SecondOrderARP_().

std::vector<double> BIAS::Condensation::sampleWeights_

protectedinherited

Definition at line 234 of file Condensation.hh.

Referenced by BIAS::Condensation::CalculateMean_().

BIAS::Vector2<double> BIAS::CondensHisto::secondHistPos_

protected

Definition at line 313 of file CondensHisto.hh.

double BIAS::CondensHisto::secondOrderScale_

protected

Definition at line 307 of file CondensHisto.hh.

unsigned int BIAS::Condensation::stateDim_

protectedinherited

Definition at line 224 of file Condensation.hh.

Referenced by BIAS::Condensation::SecondOrderARP_().

double BIAS::Condensation::sumOfImportanceWeights_

protectedinherited

Definition at line 238 of file Condensation.hh.

Referenced by BIAS::Condensation::PickImportanceSample_().

double BIAS::Condensation::sumOfWeights_

protectedinherited

Definition at line 238 of file Condensation.hh.

Referenced by BIAS::Condensation::CalculateMean_(), and BIAS::Condensation::PickOneSample_().

bool BIAS::CondensHisto::useMultiHistogram_

protected

Definition at line 309 of file CondensHisto.hh.

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

• StateEstimator/CondensHisto.hh
• StateEstimator/CondensHisto.cpp