Visual Servoing Platform  version 3.1.0
vpScale.h
1 /****************************************************************************
2  *
3  * This file is part of the ViSP software.
4  * Copyright (C) 2005 - 2017 by Inria. All rights reserved.
5  *
6  * This software is free software; you can redistribute it and/or modify
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8  * the Free Software Foundation; either version 2 of the License, or
9  * (at your option) any later version.
10  * See the file LICENSE.txt at the root directory of this source
11  * distribution for additional information about the GNU GPL.
12  *
13  * For using ViSP with software that can not be combined with the GNU
14  * GPL, please contact Inria about acquiring a ViSP Professional
15  * Edition License.
16  *
17  * See http://visp.inria.fr for more information.
18  *
19  * This software was developed at:
20  * Inria Rennes - Bretagne Atlantique
21  * Campus Universitaire de Beaulieu
22  * 35042 Rennes Cedex
23  * France
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26  * Inria at visp@inria.fr
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29  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30  *
31  * Description:
32  * Median Absolute Deviation (MAD), MPDE, Mean shift kernel density
33  *estimation.
34  *
35  * Authors:
36  * Andrew Comport
37  *
38  *****************************************************************************/
39 
44 // =========================================================
51 // ==========================================================
52 
53 #ifndef VPSCALE_HH
54 #define VPSCALE_HH
55 
56 #include <math.h>
57 #include <visp3/core/vpColVector.h>
58 
72 class VISP_EXPORT vpScale
73 {
74 
75 private:
76  double bandwidth;
77  unsigned int dimension;
78 
79 public:
81  vpScale();
82  vpScale(double kernel_bandwidth, unsigned int dim = 1);
84  virtual ~vpScale(void);
85 
86  double MeanShift(vpColVector &error);
87  double KernelDensity(vpColVector &error, unsigned int position);
88  double KernelDensityGradient(vpColVector &error, unsigned int position);
89 
90  double KernelDensity_EPANECHNIKOV(vpColVector &X);
91  double KernelDensityGradient_EPANECHNIKOV(double X, unsigned int n);
92 };
93 
94 #endif
Contains various estimators for scale. Methods : Median Absolute Deviation (MAD), MPDE, Mean shift kernel density estimation.
Definition: vpScale.h:72
Implementation of column vector and the associated operations.
Definition: vpColVector.h:72