motris.algorithm
Class ObjectShapeEstimator

java.lang.Object
  extended bymotris.data.Description
      extended byparameter.ParameterizedObjectAdaptor
          extended bymotris.algorithm.Algorithm
              extended bymotris.algorithm.ObjectShapeEstimator
All Implemented Interfaces:
ParameterizedObject

public class ObjectShapeEstimator
extends Algorithm

Estimates Object Shape (Geometric Model) by fitting different alternatives

Author:
Hendrik Dahlkamp

Nested Class Summary
 
Nested classes inherited from class parameter.ParameterizedObject
ParameterizedObject.ParameterChangedListener, ParameterizedObject.ParameterizedObjectManager
 
Field Summary
private  Actor actor
           
private  boolean alreadyInitialized
           
private static int inVehicleDirectionCount
           
private static double inVehicleDirectionStep
           
private static int orthogonalDirectionCount
           
private static double orthogonalDirectionStep
           
private  java.util.Vector[] residuals
           
private static int rotationCount
           
private static double rotationStepRad
           
private  ParameterSet shapes
           
private  Tracker tracker
           
 
Fields inherited from class motris.algorithm.Algorithm
dataManager, experiment
 
Fields inherited from class parameter.ParameterizedObjectAdaptor
parameterChangedNotifyList
 
Fields inherited from class motris.data.Description
 
Constructor Summary
ObjectShapeEstimator(java.lang.String _ident, java.lang.String _name, Actor _actor, Tracker _tracker)
           
 
Method Summary
 void estimateShape(boolean alsoAdjustState, int currentTime)
           
private  double getMinimumResidual(CarState state, EMContourMinimizer em, DoubleVector resultState)
           
private  void init()
           
 boolean isEmpty()
           
 void logResults(Logger logger)
           
 
Methods inherited from class motris.algorithm.Algorithm
deregisterLayers
 
Methods inherited from class parameter.ParameterizedObjectAdaptor
addParameterChangedListener, finalize, fireParameterChanged, getParameters, parameterEdited, removeParameterChangedListener, setParameters
 
Methods inherited from class motris.data.Description
getDescription, getIdentifier, getName, setDescription, setIdentifier, setName
 
Methods inherited from class java.lang.Object
clone, equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
 

Field Detail

inVehicleDirectionStep

private static double inVehicleDirectionStep

inVehicleDirectionCount

private static int inVehicleDirectionCount

orthogonalDirectionStep

private static double orthogonalDirectionStep

orthogonalDirectionCount

private static int orthogonalDirectionCount

rotationStepRad

private static double rotationStepRad

rotationCount

private static int rotationCount

shapes

private ParameterSet shapes

residuals

private java.util.Vector[] residuals

actor

private Actor actor

tracker

private Tracker tracker

alreadyInitialized

private boolean alreadyInitialized
Constructor Detail

ObjectShapeEstimator

public ObjectShapeEstimator(java.lang.String _ident,
                            java.lang.String _name,
                            Actor _actor,
                            Tracker _tracker)
Method Detail

init

private void init()

getMinimumResidual

private double getMinimumResidual(CarState state,
                                  EMContourMinimizer em,
                                  DoubleVector resultState)

estimateShape

public void estimateShape(boolean alsoAdjustState,
                          int currentTime)

logResults

public void logResults(Logger logger)

isEmpty

public boolean isEmpty()