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GestureRecognitionToolkit
Version: 1.0 Revision: 04-03-15
The Gesture Recognition Toolkit (GRT) is a cross-platform, open-source, c++ machine learning library for real-time gesture recognition.
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Public Member Functions | |
virtual bool | predict (FSMParticle &p) |
virtual bool | update (FSMParticle &p, VectorDouble &data) |
bool | setLookupTables (vector< vector< IndexedDouble > > &pt, vector< vector< VectorDouble > > &pe) |
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ParticleFilter () | |
ParticleFilter (const ParticleFilter &rhs) | |
virtual | ~ParticleFilter () |
FSMParticle & | operator[] (const unsigned int &i) |
const FSMParticle & | operator[] (const unsigned int &i) const |
FSMParticle & | operator() (const unsigned int &i) |
const FSMParticle & | operator() (const unsigned int &i) const |
ParticleFilter & | operator= (const ParticleFilter &rhs) |
virtual bool | init (const unsigned int numParticles, const vector< VectorDouble > &initModel, const VectorDouble &processNoise, const VectorDouble &measurementNoise) |
virtual bool | initParticles (const UINT numParticles) |
virtual bool | filter (VectorDouble &data) |
virtual bool | clear () |
virtual bool | reset () |
bool | getInitialized () const |
unsigned int | getNumParticles () const |
unsigned int | getStateVectorSize () const |
unsigned int | getNumDeadParticles () const |
unsigned int | getInitMode () const |
unsigned int | getEstimationMode () const |
double | getEstimationLikelihood () const |
double | getWeightSum () const |
VectorDouble | getStateEstimation () const |
vector< FSMParticle > | getParticles () |
vector< FSMParticle > | getOldParticles () |
VectorDouble | setProcessNoise () const |
bool | setProcessNoise (const VectorDouble &processNoise) |
bool | setVerbose (const bool verbose) |
bool | setNormalizeWeights (const bool normWeights) |
bool | setResampleThreshold (const double resampleThreshold) |
bool | setEstimationMode (const unsigned int estimationMode) |
bool | setInitMode (const unsigned int initMode) |
bool | setInitModel (const vector< VectorDouble > initModel) |
bool | setMeasurementNoise (const VectorDouble &measurementNoise) |
Public Attributes | |
Random | random |
ErrorLog | errorLog |
vector< vector< IndexedDouble > > * | pt |
vector< vector< VectorDouble > > * | pe |
Additional Inherited Members | |
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enum | InitModes |
enum | EstimationModes |
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virtual bool | normalizeWeights () |
virtual bool | computeEstimate () |
virtual bool | checkForResample () |
virtual bool | resample () |
virtual bool | preFilterUpdate (VectorDouble &data) |
virtual bool | postFilterUpdate (VectorDouble &data) |
double | gauss (double x, double mu, double sigma) |
double | rbf (const double x, const double mu, double sigma, double weight=1.0) |
double | rbf (const VectorDouble &x, const VectorDouble &mu, double sigma, double weight=1.0) |
double | SQR (const double x) |
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bool | initialized |
A flag that indicates if the filter has been initialized. | |
bool | verbose |
A flag that indicates if warning and info messages should be printed. | |
bool | normWeights |
A flag that indicates if the weights should be normalized at each filter iteration. | |
unsigned int | numParticles |
The number of particles in the filter. | |
unsigned int | stateVectorSize |
The size of the state vector (x) | |
unsigned int | initMode |
The mode used to initialize the particles, this should be one of the InitModes enums. | |
unsigned int | estimationMode |
The estimation mode (used to compute the state estimation) | |
unsigned int | numDeadParticles |
double | minimumWeightThreshold |
Any weight below this value will not be resampled. | |
double | robustMeanWeightDistance |
The distance parameter used in the ROBUST_MEAN estimation mode. | |
double | estimationLikelihood |
The likelihood of the estimated state. | |
double | wNorm |
Stores the total weight norm value. | |
double | wDotProduct |
Stores the dot product of all the weights, used to test for degeneracy. | |
double | resampleThreshold |
The threshold below which the particles will be resampled. | |
VectorDouble | x |
The state estimation. | |
std::vector< VectorDouble > | initModel |
The noise model for the initial starting guess. | |
VectorDouble | processNoise |
The noise covariance in the system. | |
VectorDouble | measurementNoise |
The noise covariance in the measurement. | |
std::vector< FSMParticle > & | particles |
A reference to the current active particle vector. | |
std::vector< FSMParticle > | particleDistributionA |
A vector of particles, this will either hold the particles before or after a resample. | |
std::vector< FSMParticle > | particleDistributionB |
A vector of particles, this will either hold the particles before or after a resample. | |
VectorDouble | cumsum |
The cumulative sum vector used for resampling the particles. | |
Random | rand |
A random number generator. | |
WarningLog | warningLog |
ErrorLog | errorLog |
Definition at line 35 of file FSMParticleFilter.h.
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inlinevirtual |
This is the main predict function. This function must be implemented in your derived class.
PARTICLE | &p: the current particle that should be passed through your prediction code |
Reimplemented from GRT::ParticleFilter< FSMParticle, VectorDouble >.
Definition at line 46 of file FSMParticleFilter.h.
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inlinevirtual |
This is the main update function in which the weight of the particle should be computed, based on the particles current estimated state and the latest sensor data.
This function must be implemented in your derived class.
PARTICLE | &p: the current particle |
SENSOR_DATA | &data: the current sensor data |
Reimplemented from GRT::ParticleFilter< FSMParticle, VectorDouble >.
Definition at line 72 of file FSMParticleFilter.h.