de.unihalle.informatik.MiToBo.tracking.multitarget.distributions.abstracts

Class AbstractAssociationDistribution<S extends Copyable<?>,T extends Copyable<?>>

java.lang.Object

de.unihalle.informatik.MiToBo.tracking.multitarget.distributions.abstracts.AbstractAssociationDistribution<S,T>

Type Parameters:

S - Type of discrete variables in the multi target observation

T - Type of discrete variables in the multi target state

All Implemented Interfaces:

SamplingDistribution<DataAssociation>

Direct Known Subclasses:

AssociationDistribution

public abstract class AbstractAssociationDistribution<S extends Copyable<?>,T extends Copyable<?>>
extends Object
implements SamplingDistribution<DataAssociation>

Abstract class for association distributions that allow sampling of the association variables for a set of observations in a multi-target tracking framework.

Author:

Oliver Gress

Field Summary

Fields

Modifier and Type	Field and Description
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 Random	rand random generator for sampling
protected AbstractMultiState<S>	Z observations

Constructor Summary

Constructors

Constructor and Description
AbstractAssociationDistribution(Random rand, AbstractMultiState<S> Z, AbstractMultiObservationDistributionIndep<S,T> observationDistrib, LogProbabilityDensityFunction spatialClutterDistrib, LogProbabilityDensityFunction spatialNewbornDistrib, DataAssociationFactory assocFactory) Constructor

Method Summary

Modifier and Type	Method and Description
abstract DataAssociation	drawSample() Generate a new sample from this density.
abstract DataAssociation	drawSampleDebug(DataAssociation groundtruth, OutputStream ostream)
void	setNewObservations(AbstractMultiState<S> Z, AbstractMultiObservationDistributionIndep<S,T> observationDistrib)

Methods inherited from class java.lang.Object

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

Field Detail

rand

protected Random rand

random generator for sampling

obsdistrib

protected AbstractMultiObservationDistributionIndep<S extends Copyable<?>,T extends Copyable<?>> obsdistrib

observation/measurement likelihood P(z_m^t | c_m, Z^{1:t-1}, c_{1:m-1}

clutterdistrib

protected LogProbabilityDensityFunction clutterdistrib

spatial clutter distribution

newborndistrib

protected LogProbabilityDensityFunction newborndistrib

spatial distribution of observations from newborn targets

Z

protected AbstractMultiState<S extends Copyable<?>> Z

observations

assocfactory

protected DataAssociationFactory assocfactory

factory for the data association object

log_pzc

protected double[][] log_pzc

storage for the log likelihood values of the observations for possible associations to avoid recomputation

M

protected int M

number of observations

N

protected int N

number of targets

Constructor Detail

AbstractAssociationDistribution

public AbstractAssociationDistribution(Random rand,
                                       AbstractMultiState<S> Z,
                                       AbstractMultiObservationDistributionIndep<S,T> observationDistrib,
                                       LogProbabilityDensityFunction spatialClutterDistrib,
                                       LogProbabilityDensityFunction spatialNewbornDistrib,
                                       DataAssociationFactory assocFactory)

Constructor

Parameters:

rand -

Z - vector of observations

observationDistrib - observation likelihood that can be evaluated for each observation independently

spatialClutterDistrib -

assocFactory -

Method Detail

setNewObservations

public void setNewObservations(AbstractMultiState<S> Z,
                               AbstractMultiObservationDistributionIndep<S,T> observationDistrib)

drawSample

public abstract DataAssociation drawSample()

Description copied from interface: SamplingDistribution

Generate a new sample from this density. This method should create a new object.

Specified by:

drawSample in interface SamplingDistribution<DataAssociation>

Returns:

new sample object

drawSampleDebug

public abstract DataAssociation drawSampleDebug(DataAssociation groundtruth,
                                                OutputStream ostream)