CameraShapeEvaluator Class Reference

#include <ShapeSensorModel.h>

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Detailed Description

Definition at line 53 of file ShapeSensorModel.h.

List of all members.

Public Member Functions
	CameraShapeEvaluator (DualCoding::ShapeSpace &camShS, DualCoding::ShapeSpace &worldShS)
	constructor, pass the camera and world shape spaces, these will be used to initialize the appropriate particle-independent fields of the class
virtual	~CameraShapeEvaluator ()
virtual void	computeLikelihood (LocalizationParticle &particle)
float	normpdf (float const dist, float variance)
Public Attributes
float	pRandom
	Probability sensor reading is random noise.
float	alpha
	Attentuate weight of each individual marker match.
float	xvar
	variance of sensor reading in x direction (image)
float	yvar
	variance of sensor reading in y direction (image)
DualCoding::ShapeSpace &	cShS
	Camera shape space.
DualCoding::ShapeSpace &	wShS
	World shape space.

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Constructor & Destructor Documentation

CameraShapeEvaluator::CameraShapeEvaluator	(	DualCoding::ShapeSpace &	camShS,
		DualCoding::ShapeSpace &	worldShS
	)

constructor, pass the camera and world shape spaces, these will be used to initialize the appropriate particle-independent fields of the class

Definition at line 56 of file ShapeSensorModel.h.

virtual CameraShapeEvaluator::~CameraShapeEvaluator

(

)

[virtual]

Definition at line 60 of file ShapeSensorModel.h.

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Member Function Documentation

void CameraShapeEvaluator::computeLikelihood

(

LocalizationParticle &

particle

)

[virtual]

Definition at line 243 of file ShapeSensorModel.cc.

Referenced by ShapeSensorModel< LocalizationParticle >::updateFromCamera().

float CameraShapeEvaluator::normpdf	(	float const	dist,
		float	variance
	)

normalization isn't needed because the scale factor is constant across particles, and so doesn't matter for purposes of comparison between particles

Definition at line 76 of file ShapeSensorModel.h.

Referenced by computeLikelihood().

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Member Data Documentation

float CameraShapeEvaluator::alpha

Attentuate weight of each individual marker match.

Definition at line 66 of file ShapeSensorModel.h.

Referenced by computeLikelihood().

DualCoding::ShapeSpace& CameraShapeEvaluator::cShS

Camera shape space.

Definition at line 70 of file ShapeSensorModel.h.

Referenced by computeLikelihood().

float CameraShapeEvaluator::pRandom

Probability sensor reading is random noise.

Definition at line 65 of file ShapeSensorModel.h.

Referenced by computeLikelihood().

DualCoding::ShapeSpace& CameraShapeEvaluator::wShS

World shape space.

computes a (non-normalized) gaussian distribution

Definition at line 71 of file ShapeSensorModel.h.

Referenced by computeLikelihood().

float CameraShapeEvaluator::xvar

variance of sensor reading in x direction (image)

Definition at line 68 of file ShapeSensorModel.h.

Referenced by computeLikelihood().

float CameraShapeEvaluator::yvar

variance of sensor reading in y direction (image)

Definition at line 69 of file ShapeSensorModel.h.

Referenced by computeLikelihood().

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

• ShapeSensorModel.h
• ShapeSensorModel.cc