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java.lang.Objectde.unihalle.informatik.MiToBo.tracking.multitarget.distributions.abstracts.AbstractAssociationDistribution<S,T>
S
- Type of discrete variables in the multi target observationT
- Type of discrete variables in the multi target statepublic abstract class AbstractAssociationDistribution<S extends Copyable<?>,T extends Copyable<?>>
Abstract class for association distributions that allow sampling of the association variables for a set of observations in a multi-target tracking framework.
Field Summary | |
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protected DataAssociationFactory |
assocfactory
factory for the data association object |
protected LogProbabilityDensityFunction |
clutterdistrib
spatial clutter distribution |
protected double[][] |
log_pzc
storage for the log likelihood values of the observations for possible associations to avoid recomputation |
protected int |
M
number of observations |
protected int |
N
number of targets |
protected LogProbabilityDensityFunction |
newborndistrib
spatial distribution of observations from newborn targets |
protected AbstractMultiObservationDistributionIndep<S,T> |
obsdistrib
observation/measurement likelihood P(z_m^t | c_m, Z^{1:t-1}, c_{1:m-1} |
protected java.util.Random |
rand
random generator for sampling |
protected AbstractMultiState<S> |
Z
observations |
Constructor Summary | |
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AbstractAssociationDistribution(java.util.Random rand,
AbstractMultiState<S> Z,
AbstractMultiObservationDistributionIndep<S,T> observationDistrib,
LogProbabilityDensityFunction spatialClutterDistrib,
LogProbabilityDensityFunction spatialNewbornDistrib,
DataAssociationFactory assocFactory)
Constructor |
Method Summary | |
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abstract DataAssociation |
drawSample()
Generate a new sample from this density. |
abstract DataAssociation |
drawSampleDebug(DataAssociation groundtruth,
java.io.OutputStream ostream)
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void |
setNewObservations(AbstractMultiState<S> Z,
AbstractMultiObservationDistributionIndep<S,T> observationDistrib)
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Methods inherited from class java.lang.Object |
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clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait |
Field Detail |
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protected DataAssociationFactory assocfactory
protected LogProbabilityDensityFunction clutterdistrib
protected double[][] log_pzc
protected int M
protected int N
protected LogProbabilityDensityFunction newborndistrib
protected AbstractMultiObservationDistributionIndep<S extends Copyable<?>,T extends Copyable<?>> obsdistrib
protected java.util.Random rand
protected AbstractMultiState<S extends Copyable<?>> Z
Constructor Detail |
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public AbstractAssociationDistribution(java.util.Random rand, AbstractMultiState<S> Z, AbstractMultiObservationDistributionIndep<S,T> observationDistrib, LogProbabilityDensityFunction spatialClutterDistrib, LogProbabilityDensityFunction spatialNewbornDistrib, DataAssociationFactory assocFactory)
rand
- Z
- vector of observationsobservationDistrib
- observation likelihood that can be evaluated for each observation independentlyspatialClutterDistrib
- assocFactory
- Method Detail |
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public abstract DataAssociation drawSample()
SamplingDistribution
drawSample
in interface SamplingDistribution<DataAssociation>
public abstract DataAssociation drawSampleDebug(DataAssociation groundtruth, java.io.OutputStream ostream)
public void setNewObservations(AbstractMultiState<S> Z, AbstractMultiObservationDistributionIndep<S,T> observationDistrib)
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