StateEstimator Class Reference

Inheritance diagram for StateEstimator:

Collaboration diagram for StateEstimator:

Public Member Functions
def	__init__ (self, signal_number, signal_cache_limit=1000, state_cache_limit=1000, signal_names=[], state_number=3, state_names=["Move", "Progress_Made", "Puzzle_in_Hand"], move_th=2, hand_track_color=[255, 0, 0], state_text_color=[255, 0, 0])
def	parse (self, List cur_signals)
def	parse_move (self, cur_signals)
def	parse_PinH (self, cur_signals)
def	parse_progress (self, cur_signals)
def	plot_states (self, rgb)
def	visualize (self, rgb, ratio=0.5, window_name="States")
Public Member Functions inherited from Base_state
def	__init__ (self, signal_number, state_number, signal_cache_limit=1000, state_cache_limit=1000, signal_names=[], state_names=[])
def	get_states (self)
def	measure (self, List cur_signals)
def	parse (self, cur_signals)
def	update (self, cur_signals, cur_states)
def	visualize_state_evolving (self, fh=None)
Public Member Functions inherited from Base
def	__init__ (self)
def	adapt (self)
def	correct (self)
def	measure (self, signal)
def	predict (self)
def	process (self, signal)

Public Attributes
	hand_track_color
	move_th
	signal_cache_count
	state_text_color
Public Attributes inherited from Base_state
	f_idx
	signal_cache_count
	signal_cache_limit
	signal_names
	signal_number
	signals_cache
	state_cache_count
	state_cache_limit
	state_names
	state_number
	states_cache
Public Attributes inherited from Base
	x

Detailed Description

The State Estimator v1.0

Fix to estimate three binary states: Move, Make_Puzzle_Progress, Puzzle_in_hand.
The signal used for the state estimation is:
    1. The hand location,
    2. The puzzle solving progress (percentage)
    3. Piece in hand 
For now allow customization for the signals and the states used for the development purpose

Constructor & Destructor Documentation

__init__()

def __init__	(		self,
			signal_number,
			signal_cache_limit = 1000,
			state_cache_limit = 1000,
			signal_names = [],
			state_number = 3,
			state_names = ["Move", "Progress_Made", "Puzzle_in_Hand"],
			move_th = 2,
			hand_track_color = [255, 0, 0],
			state_text_color = [255, 0, 0]
	)

Member Function Documentation

parse()

def parse	(		self,
		List	cur_signals
	)

Parse the states out of the signals

Args:
    cur_signals (np.ndarray, (signal_number, )):    The signals of the current timestamp. \
According to the current design, the signals should be a list who stores: \
    1. hand location (np.ndarray, (2, ))
    2. Puzzle solving progress (percentage number)
    3. puzzle piece in hand (binary)
Return:
    cur_states (np.ndarray, (state_num, )):         The states parsed of the current timestamp

parse_move()

def parse_move	(		self,
			cur_signals
	)

Parse the moving state

parse_PinH()

def parse_PinH	(		self,
			cur_signals
	)

Parse whether the puzzle-in-hand state, which is a binary indicator whether the hand is holding a puzzle piece or not

parse_progress()

def parse_progress	(		self,
			cur_signals
	)

Parse the progress state, which is a binary indicator of whether the puzzle solving is making progress or not

plot_states()

def plot_states	(		self,
			rgb
	)

visualize()

def visualize	(		self,
			rgb,
			ratio = 0.5,
			window_name = "States"
	)

Visualize the state process on the image data with the necessary facilitative plots

The state will be displayed on the top left corner of the frame.
For the facilitative plots,
    (1) the hand tracker and the recent trajectory will be plotted

Args:
    rgb (array, (H, W, 3)):         The RGB image on which to display the states and drawing
    ratio (float, ):                The scaling ratio for the display
    window_name (str):              The window name for the display

Member Data Documentation

hand_track_color

hand_track_color

move_th

move_th

signal_cache_count

signal_cache_count

state_text_color

state_text_color

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The documentation for this class was generated from the following file:

• /home/pvela/python/surveillance/Surveillance/activity/state.py