Public Member Functions | |
virtual void | correct (TargetPtrVector &targets) |
correct: for each target internal state, compute the likelihood (implicit model) and update weights of particles | |
virtual void | init (TargetPtrVector &targets, std::vector< boost::shared_ptr< opentl::core::State > > *initStates=NULL, std::vector< boost::shared_ptr< math::SquareMatrix > > *initCovs=NULL, std::vector< int > *nHypotheses=NULL) |
Initialize: allocate internal data, and update warp for all targets. | |
virtual void | predict (TargetPtrVector &targets) |
predict: resample (if required) and drift particles for all targets | |
void | resample (TargetPtrVector &targets) |
Function to resample the particles. | |
void | setForceResample (bool val) |
SIRParticle (opentl::modalities::Likelihood *likelihood, opentl::modelprojection::Warp *warp) | |
Constructor. | |
virtual | ~SIRParticle () |
Destructor. | |
Protected Member Functions | |
virtual void | output (TargetPtrVector &targets) |
Compute the output state for all targets. |
opentl::tracker::SIRParticle::SIRParticle | ( | opentl::modalities::Likelihood * | likelihood, | |
opentl::modelprojection::Warp * | warp | |||
) |
Constructor.
likelihood | Pointer to Likelihood instance (template) | |
warp | The warp class |
virtual opentl::tracker::SIRParticle::~SIRParticle | ( | ) | [virtual] |
Destructor.
virtual void opentl::tracker::SIRParticle::correct | ( | TargetPtrVector & | targets | ) | [virtual] |
correct: for each target internal state, compute the likelihood (implicit model) and update weights of particles
targets | Vector of targets |
Implements opentl::tracker::Tracker.
virtual void opentl::tracker::SIRParticle::init | ( | TargetPtrVector & | targets, | |
std::vector< boost::shared_ptr< opentl::core::State > > * | initStates = NULL , |
|||
std::vector< boost::shared_ptr< math::SquareMatrix > > * | initCovs = NULL , |
|||
std::vector< int > * | nHypotheses = NULL | |||
) | [virtual] |
Initialize: allocate internal data, and update warp for all targets.
targets | Vector of targets | |
initStates | Vector of initial states (optional); it must have same size of targets | |
initCovs | Vector of initial covariances: it must be NULL, otherwise raises an exception | |
nHypotheses | Number of particles for each target; it must have same size of targets |
Implements opentl::tracker::Tracker.
virtual void opentl::tracker::SIRParticle::output | ( | TargetPtrVector & | targets | ) | [inline, protected, virtual] |
Compute the output state for all targets.
targets | Vector of targets |
Reimplemented from opentl::tracker::Tracker.
virtual void opentl::tracker::SIRParticle::predict | ( | TargetPtrVector & | targets | ) | [virtual] |
predict: resample (if required) and drift particles for all targets
targets | Vector of targets |
Implements opentl::tracker::Tracker.
void opentl::tracker::SIRParticle::resample | ( | TargetPtrVector & | targets | ) |
Function to resample the particles.
targets | Vector of targets |
void opentl::tracker::SIRParticle::setForceResample | ( | bool | val | ) | [inline] |