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namespace referencePiiTracking

This namespace contains useful functions for typical tracking tasks.

Functions

template<class T, int>
double

An evaluation function that returns the average measurement fitness of trajectory.

template<class T, int>
double

An evaluation function that returns the minimum fitness of trajectory and the next node in chain.

template<class T, int>
PiiVector< T, D > *
( )

Predict the location of a measurement at time instant t given a trajectory.

Function details

  • template<class T, int>

    double evaluateAverageFitness

    ( )

    #include <PiiTracking.h>

    An evaluation function that returns the average measurement fitness of trajectory.

    The average is calculated iteratively by using the fitness value of the next node in chain only.

  • template<class T, int>

    double evaluateMinimumFitness

    ( )

    #include <PiiTracking.h>

    An evaluation function that returns the minimum fitness of trajectory and the next node in chain.

    Using this function as an evaluator for trajectories sets the trajectory fitness to the minimum of individual measurement fitnesses.

  • template<class T, int>

    PiiVector< T, D > * predictConstantVelocity

    ( )

    #include <PiiTracking.h>

    Predict the location of a measurement at time instant t given a trajectory.

    This function calculates the velocity of an object based on two previous measurements. It then scales this vector to time instant t and returns a new measurement at the predicted position.

    Parameters
    trajectory

    the last node in the trajectory

    t

    the current time instant

    maxPredictionLength

    the maximum distance between trajectory nodes used for the estimation. The default value is 1, which means that only the two previous ones are used. If the value is 2, the estimate leaves one node in between in order to get a less noisy estimate.

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