MipTasks::PHDCamFilterTaskOptions Class Reference
[PHDFilter Task]
Options for the task using the PHDCamFilter.
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#include <PHDCamFilterTask.h>
Public Member Functions | |
| PHDCamFilterTaskOptions () | |
| Default constructor. | |
| string | getObjectName () const |
| Gets the Name of the Options. | |
Public Attributes | |
| DecimalOption * | timeBetweenMeasUpdates |
| Time between two measurement updates. | |
| DecimalOption * | timeBetweenSysUpdates |
| Time between two system updates. | |
| StringOption * | filterType |
| Type of PHDCamFilter. | |
| DecimalOption * | survivalProbability |
| Survival probability of the target after per unit of time. | |
| DecimalOption * | detectionProbability |
| Probability of detection of a target. | |
| DecimalOption * | truncationThreshold |
| Truncation threshold. | |
| IntOption * | maxComponentNumber |
| Maximum number of components. | |
| DecimalOption * | mergingThreshold |
| Merging threshold. | |
| IntOption * | particleNumber |
| Number of particle to discretize the initial orientation. | |
| DecimalOption * | sensorDetectionRay |
| Maximum detection ray of the sensor. | |
| DecimalOption * | targetDimension |
| Dimension of the targets. | |
| DecimalOption * | maxDetectionBearing |
| Maximum (and negative minimum) detection bearing of the target, expressed in [0, M_PI]. | |
| DecimalOption * | widthCam |
| Width of the camera. | |
| DecimalOption * | heightCam |
| Height of the camera. | |
| DecimalOption * | focaLengthCam |
| Focal length of the camera. | |
| Pose3DOption * | relPoseCamQuad |
| Relative pose between the camera and quadrotor reference frames (w.r.t. quadrotor reference frame). | |
| Pose3DOption * | relPoseSonarQuad |
| Relative pose between the sonar and quadrotor reference frames (w.r.t. quadrotor reference frame). | |
| PositionOption * | principalPoint |
| Coordinate of the principal point in pixels. | |
| DecimalArrayOption * | rotoQuadMobRob |
| IntOption * | saveResults |
| Option to save data on file. 0 not saving data; 1 weighted sum; 2 best guess; 3 all data; 4 both weighted sum and best guess. | |
| DecimalOption * | sigmaNoiseDist |
| Standard deviation for the noise on distance measurement. | |
| DecimalOption * | noiseRangeDist |
| Range of noise to add. | |
| StringOption * | rootFolder |
| Root of the folder where the estimates has to been saved. | |
| StringOption * | rootEstimates |
| Root of the file where the estimates are saved. | |
| StringOption * | rootBestEstimate |
| Root of the file where the best estimate is saved. | |
| StringOption * | rootMeasImPlane |
| Root of the file where the measurements on image plane are stored. | |
| BoolOption * | addNoiseOnMeas |
| Specify if one wants to add noise on image plane camera observations. | |
| BoolOption * | vertZSonarAlgo |
| Choose if the given sonar measurement is referred to vertical height or this measurement is along z axis of the sonar. | |
Detailed Description
Options for the task using the PHDCamFilter.
Constructor & Destructor Documentation
| MipTasks::PHDCamFilterTaskOptions::PHDCamFilterTaskOptions | ( | ) |
Default constructor.
Member Function Documentation
| string MipTasks::PHDCamFilterTaskOptions::getObjectName | ( | ) | const [inline, virtual] |
Member Data Documentation
Time between two measurement updates.
Time between two system updates.
Type of PHDCamFilter.
Survival probability of the target after per unit of time.
Probability of detection of a target.
Truncation threshold.
All hypotheses with weight under this threshold are erased.
Maximum number of components.
Merging threshold.
Threshold on the Mahalanobis distance to merge two different hypotheses.
Number of particle to discretize the initial orientation.
Maximum detection ray of the sensor.
Dimension of the targets.
Maximum (and negative minimum) detection bearing of the target, expressed in [0, M_PI].
Width of the camera.
Height of the camera.
Focal length of the camera.
Relative pose between the camera and quadrotor reference frames (w.r.t. quadrotor reference frame).
Relative pose between the sonar and quadrotor reference frames (w.r.t. quadrotor reference frame).
Coordinate of the principal point in pixels.
Option to save data on file. 0 not saving data; 1 weighted sum; 2 best guess; 3 all data; 4 both weighted sum and best guess.
Standard deviation for the noise on distance measurement.
Range of noise to add.
Root of the folder where the estimates has to been saved.
Root of the file where the estimates are saved.
Root of the file where the best estimate is saved.
Root of the file where the measurements on image plane are stored.
Specify if one wants to add noise on image plane camera observations.
Choose if the given sonar measurement is referred to vertical height or this measurement is along z axis of the sonar.
True: sonar measurement along z camera, false vertical height
The documentation for this class was generated from the following files:
- tasks/PHDFilterTask/PHDCamFilterTask.h
- tasks/PHDFilterTask/PHDCamFilterTask.cpp
