de.unihalle.informatik.MiToBo.tracking.multitarget.algo

Class MultiObservationTrackerRBMCDAIMM

java.lang.Object

de.unihalle.informatik.Alida.operator.ALDOperator

de.unihalle.informatik.MiToBo.core.operator.MTBOperator

de.unihalle.informatik.MiToBo.tracking.multitarget.algo.MultiObservationTrackerRBMCDAIMM

All Implemented Interfaces:

de.unihalle.informatik.Alida.datatypes.ALDConfigurationValidator, de.unihalle.informatik.Alida.operator.events.ALDOperatorExecutionProgressEventListener, EventListener

@ALDAOperator(genericExecutionMode=NONE,
              level=STANDARD)
public class MultiObservationTrackerRBMCDAIMM
extends MTBOperator

Tracking of multiple targets using Rao-Blackwellized Monte Carlo Data Association (RBMCDA) for observation-to-target association and Interacting Multiple Models (IMM) filters for target state estimation.

Author:

Oliver Gress

Nested Class Summary

Nested classes/interfaces inherited from class de.unihalle.informatik.Alida.operator.ALDOperator

de.unihalle.informatik.Alida.operator.ALDOperator.HidingMode, de.unihalle.informatik.Alida.operator.ALDOperator.HistoryConstructionMode

Field Summary

Fields

Modifier and Type	Field and Description
double	delta_t
String	dotGraphFilename
double	essPercentage
protected Vector<MultiState<MotionModelID>>	groundtruthObservations
protected Vector<MultiState<MotionModelID>>	inputObservations
double	lambdaBirth
double	lambdaClutter
double	lambdaDeath
double	maxDistNeighbors
int	maxNumNeighbors
Jama.Matrix	modelTransition
boolean	noNeighborsOldAlgo
int	numSamples
protected ObservationAdjacency	obsAssocAdjacency
protected Vector<MultiState<MotionModelID>>	outputObservations
double	pDetect
double	qsize
double	qxy
double	qxy_
protected Random	rand
long	randomSeed
double	rsize
double	rxy
private RBMCDASampleInfo<MotionModelID>[]	sampleInfo
private double[]	sampleJointProb
double	sqrtSizeMax
double	sqrtSizeMin
DynamicColorLUT	trackcolors
double	xMax
double	xMin
double	yMax
double	yMin

Fields inherited from class de.unihalle.informatik.Alida.operator.ALDOperator

completeDAG, name, operatorExecutionEventlistenerList, portHashAccess, verbose, versionProvider

Constructor Summary

Constructors

Constructor and Description
MultiObservationTrackerRBMCDAIMM()

Method Summary

Modifier and Type	Method and Description
Vector<MultiState<MotionModelID>>	getOutputObservations() Get a copy of the input observations with IDs set corresponding to the tracking results after GreedyGourmetPartitioning of the track graph constructed from the RBMCDA samples.
double	getSampleConditionalProb(int i, int t) Get the probability of the associations of i-th sample at the time t conditional on previous associations and all observations up to time t.
RBMCDASampleInfo<MotionModelID>	getSampleInfo(int i) Get the sample info object of the i-th sample.
double	getSampleJointProb(int i) Get the joint probability of all associations of the i-th sample conditional on all observations, normalized by all samples' probabilities.
double[]	getSampleJointProbs() Get the joint probability of all associations of all samples conditional on all observations, normalized by all samples' probabilities.
Vector<MultiState<MotionModelID>>	getSampleObservations(int i) Get a copy of the observations with IDs set corresponding to the i-th sample's tracking results.
protected void	operate()
void	setGroundtruthObservations(Vector<MultiState<MotionModelID>> groundtruthObservations)
void	setInputObservations(Vector<MultiState<MotionModelID>> inputObservations)

Methods inherited from class de.unihalle.informatik.MiToBo.core.operator.MTBOperator

readResolve

Methods inherited from class de.unihalle.informatik.Alida.operator.ALDOperator

addOperatorExecutionProgressEventListener, addParameter, addParameter, addParameterUnconditioned, fieldContained, fireOperatorExecutionProgressEvent, getALDPortHashAccessKey, getConstructionMode, getDocumentation, getHidingMode, getInactiveParameterNames, getInInoutNames, getInInoutNames, getInNames, getInOutNames, getMissingRequiredInputs, getName, getNumParameters, getOutInoutNames, getOutNames, getParameter, getParameterDescriptor, getParameterDescriptorUnconditioned, getParameterNames, getParameterUnconditioned, getSupplementalNames, getVerbose, getVersion, handleOperatorExecutionProgressEvent, hasInOutParameters, hasParameter, isAnnotatedParameter, isConfigured, print, print, print, printInterface, printInterface, readHistory, reinitializeParameterDescriptors, removeOperatorExecutionProgressEventListener, removeParameter, runOp, runOp, runOp, setConstructionMode, setConstructionMode, setConstructionMode, setHidingMode, setName, setParameter, setParameterUnconditioned, setVerbose, toStringVerbose, unconfiguredItems, validate, validateCustom, validateGeneric, writeHistory, writeHistory, writeHistory

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

inputObservations

@Parameter(label="inputObservations",
           required=true,
           direction=IN,
           description="Input observations")
protected Vector<MultiState<MotionModelID>> inputObservations

groundtruthObservations

@Parameter(label="groundtruthObservations",
           required=false,
           direction=IN,
           description="groundtruth observations")
protected Vector<MultiState<MotionModelID>> groundtruthObservations

outputObservations

@Parameter(label="outputObservations",
           required=false,
           direction=OUT,
           description="Output observations (MotionModelIDs set according to tracking results)")
protected Vector<MultiState<MotionModelID>> outputObservations

obsAssocAdjacency

@Parameter(label="obsAssocAdjacency",
           required=false,
           direction=OUT,
           description="Adjacency matrix of observation associations from all samples")
protected ObservationAdjacency obsAssocAdjacency

dotGraphFilename

@Parameter(label="dotGraphFilename",
           required=false,
           direction=IN,
           description="File to write the observation associations graph and computed subgraphs (tracks) to")
public String dotGraphFilename

pDetect

@Parameter(label="pDetect",
           required=true,
           direction=IN,
           description="Probability of detecting a target")
public double pDetect

lambdaBirth

@Parameter(label="lambdaBirth",
           required=true,
           direction=IN,
           description="Mean/variance of the Poisson distribution of the number of newborn observed targets")
public double lambdaBirth

lambdaClutter

@Parameter(label="lambdaClutter",
           required=true,
           direction=IN,
           description="Mean/variance of the Poisson distribution of the number of clutter observations")
public double lambdaClutter

lambdaDeath

@Parameter(label="lambdaDeath",
           required=true,
           direction=IN,
           description="Parameter of the exponential distribution of the survival of nonassociated targets")
public double lambdaDeath

delta_t

@Parameter(label="delta_t",
           required=false,
           direction=IN,
           description="time interval between two frames")
public double delta_t

xMin

@Parameter(label="xMin",
           required=true,
           direction=IN,
           description="x-min of the rectangular region where the observations reside in (e.g. for image creation)")
public double xMin

yMin

@Parameter(label="yMin",
           required=true,
           direction=IN,
           description="y-min of the rectangular region where the observations reside in (e.g. for image creation)")
public double yMin

xMax

@Parameter(label="xMax",
           required=true,
           direction=IN,
           description="x-max of the rectangular region where the observations reside in (e.g. for image creation)")
public double xMax

yMax

@Parameter(label="yMax",
           required=true,
           direction=IN,
           description="y-max of the rectangular region where the observations reside in (e.g. for image creation)")
public double yMax

sqrtSizeMin

@Parameter(label="sqrtSizeMin",
           required=true,
           direction=IN,
           description="Minimum sqrt(size) (third component of observation vector)")
public double sqrtSizeMin

sqrtSizeMax

@Parameter(label="sqrtSizeMax",
           required=true,
           direction=IN,
           description="Maximum sqrt(size) (third component of observation vector)")
public double sqrtSizeMax

modelTransition

@Parameter(label="modelTransition",
           required=true,
           direction=IN,
           description="A 2x2 markov matrix with probabilities of changing the dynamic models from time t-1 to t")
public Jama.Matrix modelTransition

qxy

@Parameter(label="qxy",
           required=true,
           direction=IN,
           description="Variance of the current x-/y-position in the process noise covariance matrix")
public double qxy

qxy_

@Parameter(label="qxy_",
           required=true,
           direction=IN,
           description="Variance of the last x-/y-position in the process noise covariance matrix")
public double qxy_

qsize

@Parameter(label="qsize",
           required=true,
           direction=IN,
           description="Variance of sqrt(size) in the process noise covariance matrix")
public double qsize

rxy

@Parameter(label="rxy",
           required=true,
           direction=IN,
           description="Variance of the current x-/y-position in the measurement noise covariance matrix")
public double rxy

rsize

@Parameter(label="rsize",
           required=true,
           direction=IN,
           description="Variance of sqrt(size) in the measurement noise covariance matrix")
public double rsize

numSamples

@Parameter(label="numSamples",
           required=true,
           direction=IN,
           description="The number RBMCDA samples")
public int numSamples

essPercentage

@Parameter(label="ESS percentage",
           required=true,
           direction=IN,
           description="The percentage (range [0,1]) of number of samples below ESS to trigger resampling.")
public double essPercentage

noNeighborsOldAlgo

@Parameter(label="No neighbors (old algo)",
           required=true,
           direction=IN,
           description="Do not consider any neighbor observations and compute with old algo.")
public boolean noNeighborsOldAlgo

maxNumNeighbors

@Parameter(label="Max number of neighbors",
           required=true,
           direction=IN,
           description="The maximum number of neighboring observations considered")
public int maxNumNeighbors

maxDistNeighbors

@Parameter(label="Max distance of neighbors",
           required=true,
           direction=IN,
           description="The maximum number of neighboring observations considered")
public double maxDistNeighbors

randomSeed

@Parameter(label="randomSeed",
           required=true,
           direction=IN,
           description="A seed for the random number generator")
public long randomSeed

rand

protected Random rand

sampleJointProb

private double[] sampleJointProb

sampleInfo

@Parameter(label="sampleInfo",
           required=false,
           direction=OUT,
           description="Info objects about the RBMCDA samples")
private RBMCDASampleInfo<MotionModelID>[] sampleInfo

trackcolors

public DynamicColorLUT trackcolors

Constructor Detail

MultiObservationTrackerRBMCDAIMM

public MultiObservationTrackerRBMCDAIMM()
                                 throws de.unihalle.informatik.Alida.exceptions.ALDOperatorException

Throws:

de.unihalle.informatik.Alida.exceptions.ALDOperatorException

Method Detail

setInputObservations

public void setInputObservations(Vector<MultiState<MotionModelID>> inputObservations)

setGroundtruthObservations

public void setGroundtruthObservations(Vector<MultiState<MotionModelID>> groundtruthObservations)

getOutputObservations

public Vector<MultiState<MotionModelID>> getOutputObservations()

Get a copy of the input observations with IDs set corresponding to the tracking results after GreedyGourmetPartitioning of the track graph constructed from the RBMCDA samples. Be aware that observations of a track with only a single observation are interpreted as clutter.

operate

protected void operate()
                throws de.unihalle.informatik.Alida.exceptions.ALDOperatorException,
                       de.unihalle.informatik.Alida.exceptions.ALDProcessingDAGException

Specified by:

operate in class de.unihalle.informatik.Alida.operator.ALDOperator

Throws:

de.unihalle.informatik.Alida.exceptions.ALDOperatorException

de.unihalle.informatik.Alida.exceptions.ALDProcessingDAGException

getSampleConditionalProb

public double getSampleConditionalProb(int i,
                                       int t)

Get the probability of the associations of i-th sample at the time t conditional on previous associations and all observations up to time t.

getSampleJointProb

public double getSampleJointProb(int i)

Get the joint probability of all associations of the i-th sample conditional on all observations, normalized by all samples' probabilities.

getSampleJointProbs

public double[] getSampleJointProbs()

Get the joint probability of all associations of all samples conditional on all observations, normalized by all samples' probabilities.

getSampleObservations

public Vector<MultiState<MotionModelID>> getSampleObservations(int i)

Get a copy of the observations with IDs set corresponding to the i-th sample's tracking results. Be aware that observations of a track with only a single observation are interpreted as clutter in contrast to the sample info objects returned by getSampleInfo.

getSampleInfo

public RBMCDASampleInfo<MotionModelID> getSampleInfo(int i)

Get the sample info object of the i-th sample. Here tracks with single observations are available in contrast to sample observations returned by getSampleObservations.