[Robotflow-cvs] RobotFlow/Vision/src VisualTargetManager.cc,1.6,1.7

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

Update of /cvsroot/robotflow/RobotFlow/Vision/src
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv22132

Modified Files:
	VisualTargetManager.cc 
Log Message:
Added likelihood sigma parameter.

Index: VisualTargetManager.cc
===================================================================
RCS file: /cvsroot/robotflow/RobotFlow/Vision/src/VisualTargetManager.cc,v
retrieving revision 1.6
retrieving revision 1.7
diff -C2 -d -r1.6 -r1.7
*** VisualTargetManager.cc	2 Jun 2005 16:46:44 -0000	1.6
--- VisualTargetManager.cc	2 Jun 2005 20:06:26 -0000	1.7
***************
*** 71,74 ****
--- 71,79 ----
     * @parameter_description Adaptation rate for each cue weight.
     *
+    * @parameter_name LIKELIHOOD_SIGMA
+    * @parameter_type float
+    * @parameter_value 200.0
+    * @parameter_description Exponential sigma value to discriminate likelihood.
+    *
     * @input_name IMAGE_IN
     * @input_type Image
***************
*** 157,160 ****
--- 162,166 ----
  	m_targetAdaptRate = dereference_cast<float>(parameters.get("TARGET_ADAPT_RATE"));
  	m_cueAdaptRate = dereference_cast<float>(parameters.get("CUE_ADAPT_RATE"));
+ 	m_lSigma = dereference_cast<float>(parameters.get("LIKELIHOOD_SIGMA"));
  	
  	m_numPixels = m_width*m_height;
***************
*** 379,393 ****
  						throw new GeneralException ("VisualTargetManager::calculate : cannot evaluate the target's likelihood with null input FEATURES_VECTOR.",__FILE__,__LINE__);
  					}
! 					
! 					sim = m_refTarget->SimilarityWCueAdapt(
! 						&(object_cast<Vector<VisualFeatureDesc<double> *> >(featVecRef)), 
! 						m_cueAdaptRate);
! 						
  					targetMatch = (sim >= m_targetMatchThres);
  					
  					m_refTarget->AgeTarget(targetMatch);
  					if (sim > m_targetAdaptThres) {
! 						m_refTarget->Adapt(&(object_cast<Vector<VisualFeatureDesc<double> *> >(featVecRef)),
! 							m_targetAdaptRate);
  					}
  				}
--- 385,399 ----
  						throw new GeneralException ("VisualTargetManager::calculate : cannot evaluate the target's likelihood with null input FEATURES_VECTOR.",__FILE__,__LINE__);
  					}
! 					RCPtr<Vector<VisualFeatureDesc<double> *> > featVecPtr = featVecRef;
! 					sim = m_refTarget->SimilarityWCueAdapt(featVecPtr.get(), m_cueAdaptRate);
! 					//sim = m_refTarget->Similarity(featVecPtr.get());
! 					cout << "Similarity = " << sim << endl;
! 					//float likelihood = exp(m_lSigma*(sim-1.f));
! 					//cout << "Likelihood = " << likelihood << endl;
  					targetMatch = (sim >= m_targetMatchThres);
  					
  					m_refTarget->AgeTarget(targetMatch);
  					if (sim > m_targetAdaptThres) {
! 						m_refTarget->Adapt(featVecPtr.get(), m_targetAdaptRate);
  					}
  				}