[Robotflow-cvs] RobotFlow/Vision/src VisualTargetPFInterface.cc,1.1,1.2

[Pierre M. <sid...@us...>]

Update of /cvsroot/robotflow/RobotFlow/Vision/src
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv10282

Modified Files:
	VisualTargetPFInterface.cc 
Log Message:
Added a sigma parameter for likelihood computation.

Index: VisualTargetPFInterface.cc
===================================================================
RCS file: /cvsroot/robotflow/RobotFlow/Vision/src/VisualTargetPFInterface.cc,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** VisualTargetPFInterface.cc	26 May 2005 19:49:37 -0000	1.1
--- VisualTargetPFInterface.cc	2 Jun 2005 16:47:47 -0000	1.2
***************
*** 47,50 ****
--- 47,55 ----
     * @parameter_description Flag indicating to use the ROI rotation angle in the particle's state.
     *
+    * @parameter_name LIKELIHOOD_SIGMA
+    * @parameter_type float
+    * @parameter_value 200.0
+    * @parameter_description Exponential sigma value to discriminate likelihood.
+    *
     * @input_name IN_TARGET
     * @input_type VisualTarget<double>
***************
*** 105,108 ****
--- 110,114 ----
  		m_useScale = dereference_cast<bool>(parameters.get("USE_SCALE"));
  		m_useAngle = dereference_cast<bool>(parameters.get("USE_ROTATION_ANGLE"));
+ 		m_lSigma = dereference_cast<float>(parameters.get("LIKELIHOOD_SIGMA"));
  		
  		// First 2 elements of state is center position x,y
***************
*** 255,259 ****
  					// likelihood of the current features vector
  					float sim = m_curTarget->Similarity(featRef.get());
! 					float likelihood = exp(20.0*(sim-1.f));
  					//cout << "Likelihood = " << likelihood << endl;
  					
--- 261,266 ----
  					// likelihood of the current features vector
  					float sim = m_curTarget->Similarity(featRef.get());
! 					//cout << "Similarity = " << sim << endl;
! 					float likelihood = exp(m_lSigma*(sim-1.f));
  					//cout << "Likelihood = " << likelihood << endl;
  					
***************
*** 335,338 ****
--- 342,346 ----
  	bool m_useScale;
  	bool m_useAngle;
+ 	float m_lSigma;
  	
  	unsigned int m_stateSize;