#include <VisualSIS.h>

Inheritance diagram for VisualSIS:

Public Member Functions
	VisualSIS (const yarp::os::ConstString &cam_sel, const int img_width, const int img_height, const int num_particles, const double resample_ratio)

	~VisualSIS () noexcept

virtual bool	read (yarp::os::ConnectionReader &connection) override

virtual std::vector< std::string >	help (const std::string &functionName="--all")

Protected Member Functions
void	initialization () override

void	filteringStep () override

void	getResult () override

bool	runCondition () override

bool	attach (yarp::os::Port &source)

bool	setCommandPort ()

bool	run_filter () override
	Initialize and run the visual SIR particle filter. More...

bool	reset_filter () override
	Reset the visual SIR particle filter. More...

bool	stop_filter () override
	Stop and reset the SIR particle filter. More...

bool	skip_step (const std::string &what_step, const bool status) override
	Enable/Disable skipping the filtering step specified in what_step. More...

bool	use_analogs (const bool status) override
	Use/Don't use the analog values from the right hand to correct the finger poses. More...

std::vector< std::string >	get_info () override
	Get information about recursive Bayesian filter, like it's status, the available methods, and the current one in use, to extract the state estimate from the particle set. More...

bool	quit () override
	Gently close the application, deallocating resources. More...

bool	set_estimates_extraction_method (const std::string &method) override
	Change the current method to extract the state estimates from the particle set. More...

bool	set_mobile_average_window (const int16_t window) override
	Change the window size of mobile averages for estimates extraction. More...

Protected Attributes
yarp::os::ConstString	cam_sel_

int	img_width_

int	img_height_

int	num_particles_

unsigned int	descriptor_length_

double	resample_ratio_

const int	block_size_ = 16

const int	bin_number_ = 9

cv::Ptr< cv::cuda::HOG >	cuda_hog_

yarp::os::BufferedPort< yarp::sig::Vector >	port_estimates_out_

yarp::os::BufferedPort< yarp::sig::ImageOf< yarp::sig::PixelRgb > >	port_image_in_

yarp::os::Port	port_rpc_command_

Private Attributes
Eigen::MatrixXf	pred_particle_

Eigen::VectorXf	pred_weight_

Eigen::MatrixXf	cor_particle_

Eigen::VectorXf	cor_weight_

bfl::EstimatesExtraction	estimate_extraction_

bool	init_img_in_ = false

yarp::sig::ImageOf< yarp::sig::PixelRgb >	img_in_

Detailed Description

Definition at line 26 of file VisualSIS.h.

Constructor & Destructor Documentation

◆ VisualSIS()

VisualSIS::VisualSIS	(	const yarp::os::ConstString &	cam_sel,
		const int	img_width,
		const int	img_height,
		const int	num_particles,
		const double	resample_ratio
	)

Definition at line 32 of file VisualSIS.cpp.

References bin_number_, block_size_, cam_sel_, cuda_hog_, descriptor_length_, img_height_, img_in_, img_width_, port_estimates_out_, port_image_in_, and setCommandPort().

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◆ ~VisualSIS()

VisualSIS::~VisualSIS ( )

noexcept

Definition at line 79 of file VisualSIS.cpp.

References port_estimates_out_, and port_image_in_.

Member Function Documentation

◆ attach()

bool VisualSIS::attach ( yarp::os::Port & source )

protected

Definition at line 209 of file VisualSIS.cpp.

Referenced by setCommandPort().

◆ filteringStep()

void VisualSIS::filteringStep ( )

overrideprotected

Definition at line 86 of file VisualSIS.cpp.

References cor_particle_, cor_weight_, cuda_hog_, descriptor_length_, estimate_extraction_, img_height_, img_in_, img_width_, init_img_in_, num_particles_, port_estimates_out_, port_image_in_, pred_particle_, pred_weight_, and resample_ratio_.

◆ get_info()

std::vector< std::string > VisualSIS::get_info ( )

overrideprotectedvirtual

Get information about recursive Bayesian filter, like it's status, the available methods, and the current one in use, to extract the state estimate from the particle set.

Returns: a string with all the available information, 'none' otherwise

Reimplemented from VisualSISParticleFilterIDL.

Definition at line 273 of file VisualSIS.cpp.

References cam_sel_, estimate_extraction_, and num_particles_.

◆ getResult()

void VisualSIS::getResult ( )

overrideprotected

Definition at line 206 of file VisualSIS.cpp.

◆ help()

virtual std::vector<std::string> VisualSISParticleFilterIDL::help ( const std::string & functionName = "--all" )

virtualinherited

◆ initialization()

void VisualSIS::initialization ( )

overrideprotected

Definition at line 61 of file VisualSIS.cpp.

References cor_particle_, cor_weight_, estimate_extraction_, num_particles_, pred_particle_, and pred_weight_.

◆ quit()

bool VisualSIS::quit ( )

overrideprotectedvirtual

Gently close the application, deallocating resources.

Reimplemented from VisualSISParticleFilterIDL.

Definition at line 355 of file VisualSIS.cpp.

◆ read()

virtual bool VisualSISParticleFilterIDL::read ( yarp::os::ConnectionReader & connection )

overridevirtualinherited

◆ reset_filter()

bool VisualSIS::reset_filter ( )

overrideprotectedvirtual

Reset the visual SIR particle filter.

Returns upon successful or failure reset.

Returns: true/false on success/failure.

Reimplemented from VisualSISParticleFilterIDL.

Definition at line 242 of file VisualSIS.cpp.

◆ run_filter()

bool VisualSIS::run_filter ( )

overrideprotectedvirtual

Initialize and run the visual SIR particle filter.

Returns upon successful or failure setup.

Returns: true/false on success/failure.

Reimplemented from VisualSISParticleFilterIDL.

Definition at line 234 of file VisualSIS.cpp.

◆ runCondition()

bool VisualSIS::runCondition ( )

inlineoverrideprotected

Definition at line 44 of file VisualSIS.h.

References cam_sel_.

◆ set_estimates_extraction_method()

bool VisualSIS::set_estimates_extraction_method ( const std::string & method )

overrideprotectedvirtual

Change the current method to extract the state estimates from the particle set.

Parameters

status a string with the state estimate extraction method to use; the string shall be one of the available methods returned by the get_info() method.

Returns: true method changed successfully, false otherwise.

Reimplemented from VisualSISParticleFilterIDL.

Definition at line 291 of file VisualSIS.cpp.

References estimate_extraction_.

◆ set_mobile_average_window()

bool VisualSIS::set_mobile_average_window ( const int16_t window )

overrideprotectedvirtual

Change the window size of mobile averages for estimates extraction.

Parameters

window specifies the mobile window size.

Returns: true window size changed successfully, false otherwise.

Note: The default value is 20. Minimum value is 2. Maximum value is 90.

Reimplemented from VisualSISParticleFilterIDL.

Definition at line 346 of file VisualSIS.cpp.

References estimate_extraction_.

◆ setCommandPort()

bool VisualSIS::setCommandPort ( )

protected

Definition at line 215 of file VisualSIS.cpp.

References attach(), cam_sel_, and port_rpc_command_.

Referenced by VisualSIS().

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◆ skip_step()

bool VisualSIS::skip_step	(	const std::string &	what_step,
		const bool	status
	)

overrideprotectedvirtual

Enable/Disable skipping the filtering step specified in what_step.

what_step can be one of the following: 1) prediction: skips the whole prediction step 2) state: skips the prediction step related to the state transition 3) exogenous: skips the prediction step related exogenous inputs 4) correction: skips the whole correction step

Parameters

what_step	the step to skipping
status	enable/disable skipping

Returns: true/false on success/failure.

Reimplemented from VisualSISParticleFilterIDL.

Definition at line 258 of file VisualSIS.cpp.

◆ stop_filter()

bool VisualSIS::stop_filter ( )

overrideprotectedvirtual

Stop and reset the SIR particle filter.

This method must be called when the SIR particle filter is no longer needed or a new filtering task need to be initialized.

Returns: true/false on success/failure.

Reimplemented from VisualSISParticleFilterIDL.

Definition at line 250 of file VisualSIS.cpp.

◆ use_analogs()

bool VisualSIS::use_analogs ( const bool status )

overrideprotectedvirtual

Use/Don't use the analog values from the right hand to correct the finger poses.

Parameters

status true/false to use/don't use analog values.

Returns: true activation/deactivation success, false otherwise.

Reimplemented from VisualSISParticleFilterIDL.

Definition at line 264 of file VisualSIS.cpp.

Member Data Documentation

◆ bin_number_

const int VisualSIS::bin_number_ = 9

protected

Definition at line 55 of file VisualSIS.h.

Referenced by VisualSIS().

◆ block_size_

const int VisualSIS::block_size_ = 16

protected

Definition at line 54 of file VisualSIS.h.

Referenced by VisualSIS().

◆ cam_sel_

yarp::os::ConstString VisualSIS::cam_sel_

protected

Definition at line 44 of file VisualSIS.h.

Referenced by get_info(), runCondition(), setCommandPort(), and VisualSIS().

◆ cor_particle_

Eigen::MatrixXf VisualSIS::cor_particle_

private

Definition at line 92 of file VisualSIS.h.

Referenced by filteringStep(), and initialization().

◆ cor_weight_

Eigen::VectorXf VisualSIS::cor_weight_

private

Definition at line 93 of file VisualSIS.h.

Referenced by filteringStep(), and initialization().

◆ cuda_hog_

cv::Ptr<cv::cuda::HOG> VisualSIS::cuda_hog_

protected

Definition at line 57 of file VisualSIS.h.

Referenced by filteringStep(), and VisualSIS().

◆ descriptor_length_

unsigned int VisualSIS::descriptor_length_

protected

Definition at line 51 of file VisualSIS.h.

Referenced by filteringStep(), and VisualSIS().

◆ estimate_extraction_

bfl::EstimatesExtraction VisualSIS::estimate_extraction_

private

Definition at line 96 of file VisualSIS.h.

Referenced by filteringStep(), get_info(), initialization(), set_estimates_extraction_method(), and set_mobile_average_window().

◆ img_height_

int VisualSIS::img_height_

protected

Definition at line 49 of file VisualSIS.h.

Referenced by filteringStep(), and VisualSIS().

◆ img_in_

yarp::sig::ImageOf<yarp::sig::PixelRgb> VisualSIS::img_in_

private

Definition at line 100 of file VisualSIS.h.

Referenced by filteringStep(), and VisualSIS().

◆ img_width_

int VisualSIS::img_width_

protected

Definition at line 48 of file VisualSIS.h.

Referenced by filteringStep(), and VisualSIS().

◆ init_img_in_

bool VisualSIS::init_img_in_ = false

private

Definition at line 99 of file VisualSIS.h.

Referenced by filteringStep().

◆ num_particles_

int VisualSIS::num_particles_

protected

Definition at line 50 of file VisualSIS.h.

Referenced by filteringStep(), get_info(), and initialization().

◆ port_estimates_out_

yarp::os::BufferedPort<yarp::sig::Vector> VisualSIS::port_estimates_out_

protected

Definition at line 60 of file VisualSIS.h.

Referenced by filteringStep(), VisualSIS(), and ~VisualSIS().

◆ port_image_in_

yarp::os::BufferedPort<yarp::sig::ImageOf<yarp::sig::PixelRgb> > VisualSIS::port_image_in_

protected

Definition at line 61 of file VisualSIS.h.

Referenced by filteringStep(), VisualSIS(), and ~VisualSIS().

◆ port_rpc_command_

yarp::os::Port VisualSIS::port_rpc_command_

protected

Definition at line 64 of file VisualSIS.h.

Referenced by setCommandPort().

◆ pred_particle_

Eigen::MatrixXf VisualSIS::pred_particle_

private

Definition at line 89 of file VisualSIS.h.

Referenced by filteringStep(), and initialization().

◆ pred_weight_

Eigen::VectorXf VisualSIS::pred_weight_

private

Definition at line 90 of file VisualSIS.h.

Referenced by filteringStep(), and initialization().

◆ resample_ratio_

double VisualSIS::resample_ratio_

protected

Definition at line 52 of file VisualSIS.h.

Referenced by filteringStep().

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

/Users/Claudio/GitHub/visual-tracking-control/src/hand-tracking/include/VisualSIS.h
/Users/Claudio/GitHub/visual-tracking-control/src/hand-tracking/src/VisualSIS.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ VisualSIS()

◆ ~VisualSIS()

Member Function Documentation

◆ attach()

◆ filteringStep()

◆ get_info()

◆ getResult()

◆ help()

◆ initialization()

◆ quit()

◆ read()

◆ reset_filter()

◆ run_filter()

◆ runCondition()

◆ set_estimates_extraction_method()

◆ set_mobile_average_window()

◆ setCommandPort()

◆ skip_step()

◆ stop_filter()

◆ use_analogs()

Member Data Documentation

◆ bin_number_

◆ block_size_

◆ cam_sel_

◆ cor_particle_

◆ cor_weight_

◆ cuda_hog_

◆ descriptor_length_

◆ estimate_extraction_

◆ img_height_

◆ img_in_

◆ img_width_

◆ init_img_in_

◆ num_particles_

◆ port_estimates_out_

◆ port_image_in_

◆ port_rpc_command_

◆ pred_particle_

◆ pred_weight_

◆ resample_ratio_