#include <VisionX/vision_algorithms/HandLocalizationWithFingertips/ParticleFilter/ParticleFilterRobotHandLocalisation.h>

Inheritance diagram for CParticleFilterRobotHandLocalisation:

Public Member Functions
void	CalculateEdgeCue (int &edge_sum, int &edge_length, double &angle_diffs, int nModelIndex, bool bLeftCamImage)

void	CalculateFinalProbabilities () override

void	CalculatePixelSumInPolygon (ConvexPolygonCalculations::Polygon *pol, int &region_sum, int &region_length, bool bLeftCamImage)

void	CalculatePixelSumOnLineSequence (Vec3d linePoints[], int nPoints, int &edge_sum, int &edge_length, double &angle_diffs, bool bLeftCamImage)

double	CalculateProbability (bool bSeparateCall=true) override

double	CalculateProbability (int nParticleIndex, int nModelIndex) override

void	CalculateRegionCue (int &region_sum, int &region_length, int nModelIndex, bool bLeftCamImage)

void	CalculateTrackingBallCue (double &dDistanceXY, double &dDistanceZ, int nModelIndex)

	CParticleFilterRobotHandLocalisation (int nParticles, int nDimension, int nNumParallelThreads, CStereoCalibration *pCalibration, std::string sHandModelFileName)

double	DistanceBetweenConfigs (double pOldConf, double pNewConf)

void	GetDetailedRating (double pConf, DetailedPFRating pRating)

void	PredictNewBases (double dSigmaFactor) override

void	SetAllowedDeviation (double *adeviation)

void	SetConfigOfATenthOfTheParticles (int nTenthIndex, double *pConfig)

void	SetImages (CByteImage pRegionImageLeft, CByteImage pRegionImageRight, CByteImage pSobelImageLeft, CByteImage pSobelImageRight, CByteImage pSobelXImageLeft, CByteImage pSobelXImageRight, CByteImage pSobelYImageLeft, CByteImage pSobelYImageRight)

void	SetParticleConfig (double *pConfig)

void	SetParticleConfigHalf (double *pConfig)

void	SetSensorConfig (double *sconfig)

void	SetTrackingBallPositions (double dPosX, double dPosY, double *dRadius, int nNumTrBallRegions, bool bLeftCamImage)

void	UpdateModel (int nParticleIndex) override

void	UpdateModel (int nParticleIndex, int nModelIndex) override

virtual	~CParticleFilterRobotHandLocalisation ()

Public Member Functions inherited from CParticleFilterFrameworkParallelized
	CParticleFilterFrameworkParallelized (int nParticles, int nDimension, int nNumParallelThreads=1)

int	GetNumberOfParticles ()

double	ParticleFilter (double *pResultMeanConfiguration, double dSigmaFactor, int nNumParticlesToUse=-1)

Public Attributes
double *	allowed_deviation

int	m_nNumTrackingBallRegionsLeft

int	m_nNumTrackingBallRegionsRight

double *	m_pdTrackingBallPosXLeft

double *	m_pdTrackingBallPosXRight

double *	m_pdTrackingBallPosYLeft

double *	m_pdTrackingBallPosYRight

double *	m_pdTrackingBallRadiusLeft

double *	m_pdTrackingBallRadiusRight

CHandModelV2 **	m_pHandModels

double **	m_ppProbabilities

double	m_pProbMax [NUMBER_OF_CUES]

double	m_pProbMin [NUMBER_OF_CUES]

CByteImage *	m_pRegionImageLeft

CByteImage *	m_pRegionImageRight

CByteImage *	m_pSobelImageLeft

CByteImage *	m_pSobelImageRight

CByteImage *	m_pSobelXImageLeft

CByteImage *	m_pSobelXImageRight

CByteImage *	m_pSobelYImageLeft

CByteImage *	m_pSobelYImageRight

bool **	m_pTempBoolArrays

Vec3d **	m_pTempClockwiseHullPolys1

Vec3d **	m_pTempClockwiseHullPolys2

ConvexPolygonCalculations::Polygon **	m_pTempIntersectionPolygons

Vec3d **	m_pTempVecArrays

double *	sensor_config

Additional Inherited Members
Protected Attributes inherited from CParticleFilterFrameworkParallelized
int	m_nNumParallelThreads

Detailed Description

Definition at line 72 of file ParticleFilterRobotHandLocalisation.h.

Constructor & Destructor Documentation

◆ CParticleFilterRobotHandLocalisation()

CParticleFilterRobotHandLocalisation	(	int	nParticles,
		int	nDimension,
		int	nNumParallelThreads,
		CStereoCalibration *	pCalibration,
		std::string	sHandModelFileName
	)

Definition at line 35 of file ParticleFilterRobotHandLocalisation.cpp.

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◆ ~CParticleFilterRobotHandLocalisation()

~CParticleFilterRobotHandLocalisation ( )

virtual

Definition at line 92 of file ParticleFilterRobotHandLocalisation.cpp.

Member Function Documentation

◆ CalculateEdgeCue()

void CalculateEdgeCue	(	int &	edge_sum,
		int &	edge_length,
		double &	angle_diffs,
		int	nModelIndex,
		bool	bLeftCamImage
	)

Definition at line 608 of file ParticleFilterRobotHandLocalisation.cpp.

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◆ CalculateFinalProbabilities()

void CalculateFinalProbabilities ( )

override

Definition at line 788 of file ParticleFilterRobotHandLocalisation.cpp.

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◆ CalculatePixelSumInPolygon()

void CalculatePixelSumInPolygon	(	ConvexPolygonCalculations::Polygon *	pol,
		int &	region_sum,
		int &	region_length,
		bool	bLeftCamImage
	)

inline

Definition at line 278 of file ParticleFilterRobotHandLocalisation.cpp.

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◆ CalculatePixelSumOnLineSequence()

void CalculatePixelSumOnLineSequence	(	Vec3d	linePoints[],
		int	nPoints,
		int &	edge_sum,
		int &	edge_length,
		double &	angle_diffs,
		bool	bLeftCamImage
	)

inline

Definition at line 488 of file ParticleFilterRobotHandLocalisation.cpp.

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◆ CalculateProbability() [1/2]

double CalculateProbability ( bool bSeparateCall = true )

inlineoverride

Definition at line 109 of file ParticleFilterRobotHandLocalisation.h.

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◆ CalculateProbability() [2/2]

double CalculateProbability	(	int	nParticleIndex,
		int	nModelIndex
	)

overridevirtual

Implements CParticleFilterFrameworkParallelized.

Definition at line 738 of file ParticleFilterRobotHandLocalisation.cpp.

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◆ CalculateRegionCue()

void CalculateRegionCue	(	int &	region_sum,
		int &	region_length,
		int	nModelIndex,
		bool	bLeftCamImage
	)

Definition at line 376 of file ParticleFilterRobotHandLocalisation.cpp.

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◆ CalculateTrackingBallCue()

void CalculateTrackingBallCue	(	double &	dDistanceXY,
		double &	dDistanceZ,
		int	nModelIndex
	)

Definition at line 659 of file ParticleFilterRobotHandLocalisation.cpp.

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◆ DistanceBetweenConfigs()

double DistanceBetweenConfigs	(	double *	pOldConf,
		double *	pNewConf
	)

Definition at line 1050 of file ParticleFilterRobotHandLocalisation.cpp.

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◆ GetDetailedRating()

void GetDetailedRating	(	double *	pConf,
		DetailedPFRating *	pRating
	)

Definition at line 894 of file ParticleFilterRobotHandLocalisation.cpp.

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◆ PredictNewBases()

void PredictNewBases ( double dSigmaFactor )

override

Definition at line 245 of file ParticleFilterRobotHandLocalisation.cpp.

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◆ SetAllowedDeviation()

void SetAllowedDeviation ( double * adeviation )

Definition at line 196 of file ParticleFilterRobotHandLocalisation.cpp.

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◆ SetConfigOfATenthOfTheParticles()

void SetConfigOfATenthOfTheParticles	(	int	nTenthIndex,
		double *	pConfig
	)

Definition at line 168 of file ParticleFilterRobotHandLocalisation.cpp.

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◆ SetImages()

void SetImages	(	CByteImage *	pRegionImageLeft,
		CByteImage *	pRegionImageRight,
		CByteImage *	pSobelImageLeft,
		CByteImage *	pSobelImageRight,
		CByteImage *	pSobelXImageLeft,
		CByteImage *	pSobelXImageRight,
		CByteImage *	pSobelYImageLeft,
		CByteImage *	pSobelYImageRight
	)

Definition at line 124 of file ParticleFilterRobotHandLocalisation.cpp.

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◆ SetParticleConfig()

void SetParticleConfig ( double * pConfig )

Definition at line 146 of file ParticleFilterRobotHandLocalisation.cpp.

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◆ SetParticleConfigHalf()

void SetParticleConfigHalf ( double * pConfig )

Definition at line 157 of file ParticleFilterRobotHandLocalisation.cpp.

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◆ SetSensorConfig()

void SetSensorConfig ( double * sconfig )

Definition at line 184 of file ParticleFilterRobotHandLocalisation.cpp.

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◆ SetTrackingBallPositions()

void SetTrackingBallPositions	(	double *	dPosX,
		double *	dPosY,
		double *	dRadius,
		int	nNumTrBallRegions,
		bool	bLeftCamImage
	)

Definition at line 207 of file ParticleFilterRobotHandLocalisation.cpp.

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◆ UpdateModel() [1/2]

void UpdateModel ( int nParticleIndex )

inlineoverride

Definition at line 100 of file ParticleFilterRobotHandLocalisation.h.

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◆ UpdateModel() [2/2]

void UpdateModel	(	int	nParticleIndex,
		int	nModelIndex
	)

overridevirtual

Implements CParticleFilterFrameworkParallelized.

Definition at line 234 of file ParticleFilterRobotHandLocalisation.cpp.

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Member Data Documentation

◆ allowed_deviation

double* allowed_deviation

Definition at line 180 of file ParticleFilterRobotHandLocalisation.h.

◆ m_nNumTrackingBallRegionsLeft

int m_nNumTrackingBallRegionsLeft

Definition at line 203 of file ParticleFilterRobotHandLocalisation.h.

◆ m_nNumTrackingBallRegionsRight

int m_nNumTrackingBallRegionsRight

Definition at line 203 of file ParticleFilterRobotHandLocalisation.h.

◆ m_pdTrackingBallPosXLeft

double* m_pdTrackingBallPosXLeft

Definition at line 200 of file ParticleFilterRobotHandLocalisation.h.

◆ m_pdTrackingBallPosXRight

double * m_pdTrackingBallPosXRight

Definition at line 200 of file ParticleFilterRobotHandLocalisation.h.

◆ m_pdTrackingBallPosYLeft

double* m_pdTrackingBallPosYLeft

Definition at line 201 of file ParticleFilterRobotHandLocalisation.h.

◆ m_pdTrackingBallPosYRight

double * m_pdTrackingBallPosYRight

Definition at line 201 of file ParticleFilterRobotHandLocalisation.h.

◆ m_pdTrackingBallRadiusLeft

double* m_pdTrackingBallRadiusLeft

Definition at line 202 of file ParticleFilterRobotHandLocalisation.h.

◆ m_pdTrackingBallRadiusRight

double * m_pdTrackingBallRadiusRight

Definition at line 202 of file ParticleFilterRobotHandLocalisation.h.

◆ m_pHandModels

CHandModelV2** m_pHandModels

Definition at line 174 of file ParticleFilterRobotHandLocalisation.h.

◆ m_ppProbabilities

double** m_ppProbabilities

Definition at line 183 of file ParticleFilterRobotHandLocalisation.h.

◆ m_pProbMax

double m_pProbMax[NUMBER_OF_CUES]

Definition at line 193 of file ParticleFilterRobotHandLocalisation.h.

◆ m_pProbMin

double m_pProbMin[NUMBER_OF_CUES]

Definition at line 192 of file ParticleFilterRobotHandLocalisation.h.

◆ m_pRegionImageLeft

CByteImage* m_pRegionImageLeft

Definition at line 175 of file ParticleFilterRobotHandLocalisation.h.

◆ m_pRegionImageRight

CByteImage * m_pRegionImageRight

Definition at line 175 of file ParticleFilterRobotHandLocalisation.h.

◆ m_pSobelImageLeft

CByteImage * m_pSobelImageLeft

Definition at line 175 of file ParticleFilterRobotHandLocalisation.h.

◆ m_pSobelImageRight

CByteImage * m_pSobelImageRight

Definition at line 176 of file ParticleFilterRobotHandLocalisation.h.

◆ m_pSobelXImageLeft

CByteImage * m_pSobelXImageLeft

Definition at line 176 of file ParticleFilterRobotHandLocalisation.h.

◆ m_pSobelXImageRight

CByteImage * m_pSobelXImageRight

Definition at line 176 of file ParticleFilterRobotHandLocalisation.h.

◆ m_pSobelYImageLeft

CByteImage * m_pSobelYImageLeft

Definition at line 176 of file ParticleFilterRobotHandLocalisation.h.

◆ m_pSobelYImageRight

CByteImage * m_pSobelYImageRight

Definition at line 177 of file ParticleFilterRobotHandLocalisation.h.

◆ m_pTempBoolArrays

bool** m_pTempBoolArrays

Definition at line 190 of file ParticleFilterRobotHandLocalisation.h.

◆ m_pTempClockwiseHullPolys1

Vec3d** m_pTempClockwiseHullPolys1

Definition at line 188 of file ParticleFilterRobotHandLocalisation.h.

◆ m_pTempClockwiseHullPolys2

Vec3d** m_pTempClockwiseHullPolys2

Definition at line 189 of file ParticleFilterRobotHandLocalisation.h.

◆ m_pTempIntersectionPolygons

ConvexPolygonCalculations::Polygon** m_pTempIntersectionPolygons

Definition at line 186 of file ParticleFilterRobotHandLocalisation.h.

◆ m_pTempVecArrays

Vec3d** m_pTempVecArrays

Definition at line 187 of file ParticleFilterRobotHandLocalisation.h.

◆ sensor_config

double* sensor_config

Definition at line 179 of file ParticleFilterRobotHandLocalisation.h.

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

VisionX/vision_algorithms/HandLocalizationWithFingertips/ParticleFilter/ParticleFilterRobotHandLocalisation.h
VisionX/vision_algorithms/HandLocalizationWithFingertips/ParticleFilter/ParticleFilterRobotHandLocalisation.cpp

Public Member Functions

Public Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ CParticleFilterRobotHandLocalisation()

◆ ~CParticleFilterRobotHandLocalisation()

Member Function Documentation

◆ CalculateEdgeCue()

◆ CalculateFinalProbabilities()

◆ CalculatePixelSumInPolygon()

◆ CalculatePixelSumOnLineSequence()

◆ CalculateProbability() [1/2]

◆ CalculateProbability() [2/2]

◆ CalculateRegionCue()

◆ CalculateTrackingBallCue()

◆ DistanceBetweenConfigs()

◆ GetDetailedRating()

◆ PredictNewBases()

◆ SetAllowedDeviation()

◆ SetConfigOfATenthOfTheParticles()

◆ SetImages()

◆ SetParticleConfig()

◆ SetParticleConfigHalf()

◆ SetSensorConfig()

◆ SetTrackingBallPositions()

◆ UpdateModel() [1/2]

◆ UpdateModel() [2/2]

Member Data Documentation

◆ allowed_deviation

◆ m_nNumTrackingBallRegionsLeft

◆ m_nNumTrackingBallRegionsRight

◆ m_pdTrackingBallPosXLeft

◆ m_pdTrackingBallPosXRight

◆ m_pdTrackingBallPosYLeft

◆ m_pdTrackingBallPosYRight

◆ m_pdTrackingBallRadiusLeft

◆ m_pdTrackingBallRadiusRight

◆ m_pHandModels

◆ m_ppProbabilities

◆ m_pProbMax

◆ m_pProbMin

◆ m_pRegionImageLeft

◆ m_pRegionImageRight

◆ m_pSobelImageLeft

◆ m_pSobelImageRight

◆ m_pSobelXImageLeft

◆ m_pSobelXImageRight

◆ m_pSobelYImageLeft

◆ m_pSobelYImageRight

◆ m_pTempBoolArrays

◆ m_pTempClockwiseHullPolys1

◆ m_pTempClockwiseHullPolys2

◆ m_pTempIntersectionPolygons

◆ m_pTempVecArrays

◆ sensor_config