renamed observation_model -> sensor in filenames and includes

        obsrv_model -> sensor in filenames as well as code
        observation -> sensor in filenames and includes

        process_model -> transition
        transition_model -> transition
        state_transition -> transition

Author: wumanu

CMakeLists.txt

@@ -165,7 +165,7 @@ set(dbot_SOURCES
     ${dbot_SOURCE_DIR}/tracker/object_tracker.cpp
     ${dbot_SOURCE_DIR}/tracker/rbc_particle_filter_object_tracker.cpp
     ${dbot_SOURCE_DIR}/tracker/rms_gaussian_filter_object_tracker.cpp
-    ${dbot_SOURCE_DIR}/builder/rb_observation_model_builder.cpp
+    ${dbot_SOURCE_DIR}/builder/rb_sensor_builder.cpp
     ${dbot_SOURCE_DIR}/builder/rbc_particle_filter_tracker_builder.cpp
     ${dbot_SOURCE_DIR}/builder/rms_gaussian_filter_tracker_builder.cpp
 )

doc/modules.dox

@@ -5,8 +5,8 @@ namespace fl
 /**
  \defgroup filters Filter Algorithms
  \defgroup distributions Distributions
- \defgroup observation_models Observation Models
- \defgroup process_models Process Models
+ \defgroup sensors Observation Models
+ \defgroup transitions Process Models
  \defgroup numeric_integration Numeric Integration
 
  \defgroup traits Traits

source/dbot/builder/object_transition_model_builder.hpp renamed to source/dbot/builder/object_transition_builder.hpp

@@ -22,7 +22,7 @@
  */
 
 /**
- * \file object_transition_model_builder.hpp
+ * \file object_transition_builder.hpp
  * \date December 2015
  * \author Jan Issac (jan.issac@gmail.com)
  */
@@ -36,8 +36,8 @@
 
 #include <Eigen/Dense>
 
-#include <dbot/builder/state_transition_function_builder.hpp>
-#include <fl/model/process/linear_state_transition_model.hpp>
+#include <dbot/builder/transition_function_builder.hpp>
+#include <fl/model/transition/linear_transition.hpp>
 
 namespace dbot
 {

source/dbot/builder/rb_observation_model_builder.cpp renamed to source/dbot/builder/rb_sensor_builder.cpp

@@ -22,15 +22,15 @@
  */
 
 /**
- * \file rb_observation_model_builder.cpp
+ * \file rb_sensor_builder.cpp
  * \date January 2016
  * \author Jan Issac (jan.issac@gmail.com)
  */
 
 #include <osr/free_floating_rigid_bodies_state.hpp>
 
-#include <dbot/builder/rb_observation_model_builder.h>
-#include <dbot/builder/rb_observation_model_builder.hpp>
+#include <dbot/builder/rb_sensor_builder.h>
+#include <dbot/builder/rb_sensor_builder.hpp>
 
 
 namespace dbot

source/dbot/builder/rb_observation_model_builder.h renamed to source/dbot/builder/rb_sensor_builder.h

@@ -22,7 +22,7 @@
  */
 
 /**
- * \file rb_observation_model_builder.h
+ * \file rb_sensor_builder.h
  * \date November 2015
  * \author Jan Issac (jan.issac@gmail.com)
  */
@@ -41,7 +41,7 @@
 #include <dbot/file_shader_provider.hpp>
 #include <dbot/default_shader_provider.hpp>
 #include <dbot/rigid_body_renderer.hpp>
-#include <dbot/model/rao_blackwell_observation_model.hpp>
+#include <dbot/model/rao_blackwell_sensor.hpp>
 #include <dbot/model/kinect_image_model.hpp>
 
 namespace dbot

source/dbot/builder/rb_observation_model_builder.hpp renamed to source/dbot/builder/rb_sensor_builder.hpp

@@ -22,14 +22,14 @@
  */
 
 /**
- * \file rb_observation_model_builder.hpp
+ * \file rb_sensor_builder.hpp
  * \date November 2015
  * \author Jan Issac (jan.issac@gmail.com)
  */
 
 #pragma once
 
-#include <dbot/builder/rb_observation_model_builder.h>
+#include <dbot/builder/rb_sensor_builder.h>
 #include <dbot/model/kinect_image_model.hpp>
 
 #ifdef DBOT_BUILD_GPU
@@ -51,26 +51,26 @@ RbSensorBuilder<State>::RbSensorBuilder(
 template <typename State>
 auto RbSensorBuilder<State>::build() const -> std::shared_ptr<Model>
 {
-    std::shared_ptr<Model> obsrv_model;
+    std::shared_ptr<Model> sensor;
 
     if (params_.use_gpu)
     {
-        obsrv_model = create_gpu_based_model();
+        sensor = create_gpu_based_model();
     }
     else
     {
-        obsrv_model = create_cpu_based_model();
+        sensor = create_cpu_based_model();
     }
 
-    return obsrv_model;
+    return sensor;
 }
 
 template <typename State>
 auto RbSensorBuilder<State>::create_gpu_based_model() const
     -> std::shared_ptr<Model>
 {
 #ifdef DBOT_BUILD_GPU
-    auto observation_model =
+    auto sensor =
         std::shared_ptr<Model>(new dbot::KinectImageModelGPU<State>(
             camera_data_->camera_matrix(),
             camera_data_->resolution().height,
@@ -89,7 +89,7 @@ auto RbSensorBuilder<State>::create_gpu_based_model() const
             params_.kinect.model_sigma,
             params_.kinect.sigma_factor));
 
-    return observation_model;
+    return sensor;
 #else
     throw NoGpuSupportException();
 #endif
@@ -118,7 +118,7 @@ auto RbSensorBuilder<State>::create_cpu_based_model() const
     auto occlusion_process = create_occlusion_process();
     auto renderer = create_renderer();
 
-    auto observation_model = std::shared_ptr<Model>(
+    auto sensor = std::shared_ptr<Model>(
         new dbot::KinectImageModel<fl::Real, State>(
             camera_data_->camera_matrix(),
             camera_data_->resolution().height,
@@ -129,18 +129,18 @@ auto RbSensorBuilder<State>::create_cpu_based_model() const
             params_.occlusion.initial_occlusion_prob,
             params_.delta_time));
 
-    return observation_model;
+    return sensor;
 }
 
 template <typename State>
 auto RbSensorBuilder<State>::create_pixel_model() const
     -> std::shared_ptr<KinectPixelModel>
 {
-    std::shared_ptr<KinectPixelModel> kinect_pixel_observation_model(
+    std::shared_ptr<KinectPixelModel> kinect_pixel_sensor(
         new KinectPixelModel(params_.kinect.tail_weight,
                                         params_.kinect.model_sigma,
                                         params_.kinect.sigma_factor));
-    return kinect_pixel_observation_model;
+    return kinect_pixel_sensor;
 }
 
 template <typename State>

source/dbot/builder/rbc_particle_filter_tracker_builder.cpp

@@ -29,9 +29,9 @@
 //{
 //RbcParticleFilterTrackerBuilder::RbcParticleFilterTrackerBuilder(
 //    const std::shared_ptr<TransitionFunctionBuilder>&
-//        state_transition_builder,
+//        transition_builder,
 //    const CameraData& camera_data)
-//    : state_transition_builder_(state_transition_builder),
+//    : transition_builder_(transition_builder),
 //      camera_data_(camera_data)
 //{
 //}
@@ -43,7 +43,7 @@
 //    const ObjectModel& object_model,
 //    double max_kl_divergence) -> std::shared_ptr<Filter>
 
-//auto RbcParticleFilterTrackerBuilder::create_object_transition_model() const
+//auto RbcParticleFilterTrackerBuilder::create_object_transition() const
 //    -> std::shared_ptr<Transition>
 
 

source/dbot/builder/rbc_particle_filter_tracker_builder.hpp

@@ -34,8 +34,8 @@
 #include <dbot/object_model_loader.hpp>
 #include <dbot/object_resource_identifier.hpp>
 #include <dbot/tracker/rbc_particle_filter_object_tracker.hpp>
-#include <dbot/builder/object_transition_model_builder.hpp>
-#include <dbot/builder/rb_observation_model_builder.h>
+#include <dbot/builder/object_transition_builder.hpp>
+#include <dbot/builder/rb_sensor_builder.h>
 
 namespace dbot
 {
@@ -79,12 +79,12 @@ class RbcParticleFilterTrackerBuilder
      * \param param			Builder and sub-builder parameters
      */
     RbcParticleFilterTrackerBuilder(
-        const std::shared_ptr<TransitionBuilder>& state_transition_builder,
-        const std::shared_ptr<SensorBuilder>& obsrv_model_builder,
+        const std::shared_ptr<TransitionBuilder>& transition_builder,
+        const std::shared_ptr<SensorBuilder>& sensor_builder,
         const std::shared_ptr<ObjectModel>& object_model,
         const Parameters& params)
-        : state_transition_builder_(state_transition_builder),
-          obsrv_model_builder_(obsrv_model_builder),
+        : transition_builder_(transition_builder),
+          sensor_builder_(sensor_builder),
           object_model_(object_model),
           params_(params)
     {
@@ -116,16 +116,16 @@ class RbcParticleFilterTrackerBuilder
         const std::shared_ptr<ObjectModel>& object_model,
         double max_kl_divergence)
     {
-        auto state_transition_model = state_transition_builder_->build();
-        auto obsrv_model = obsrv_model_builder_->build();
+        auto transition = transition_builder_->build();
+        auto sensor = sensor_builder_->build();
 
         auto sampling_blocks =
             create_sampling_blocks(object_model->count_parts(),
-                                   state_transition_model->noise_dimension() /
+                                   transition->noise_dimension() /
                                        object_model->count_parts());
 
-        auto filter = std::shared_ptr<Filter>(new Filter(state_transition_model,
-                                                         obsrv_model,
+        auto filter = std::shared_ptr<Filter>(new Filter(transition,
+                                                         sensor,
                                                          sampling_blocks,
                                                          max_kl_divergence));
         return filter;
@@ -155,8 +155,8 @@ class RbcParticleFilterTrackerBuilder
     }
 
 protected:
-    std::shared_ptr<TransitionBuilder> state_transition_builder_;
-    std::shared_ptr<SensorBuilder> obsrv_model_builder_;
+    std::shared_ptr<TransitionBuilder> transition_builder_;
+    std::shared_ptr<SensorBuilder> sensor_builder_;
     std::shared_ptr<ObjectModel> object_model_;
     Parameters params_;
 };

source/dbot/builder/rms_gaussian_filter_tracker_builder.cpp

@@ -52,14 +52,14 @@ auto RmsGaussianFilterTrackerBuilder::create_filter(
     /* ------------------------------ */
     /* - State transition model     - */
     /* ------------------------------ */
-    auto state_transition_model =
-        create_object_transition_model(param_.object_transition);
+    auto transition =
+        create_object_transition(param_.object_transition);
 
     /* ------------------------------ */
     /* - Observation model          - */
     /* ------------------------------ */
-    auto obsrv_model =
-        create_obsrv_model(object_model, camera_data_, param_.observation);
+    auto sensor =
+        create_sensor(object_model, camera_data_, param_.observation);
 
     /* ------------------------------ */
     /* - Quadrature                 - */
@@ -70,12 +70,12 @@ auto RmsGaussianFilterTrackerBuilder::create_filter(
     /* - Filter                     - */
     /* ------------------------------ */
     auto filter = std::shared_ptr<Filter>(
-        new Filter(state_transition_model, obsrv_model, quadrature));
+        new Filter(transition, sensor, quadrature));
 
     return filter;
 }
 
-auto RmsGaussianFilterTrackerBuilder::create_obsrv_model(
+auto RmsGaussianFilterTrackerBuilder::create_sensor(
     const std::shared_ptr<ObjectModel>& object_model,
     const std::shared_ptr<CameraData>& camera_data,
     const Parameters::Observation& param) const -> Sensor
@@ -86,14 +86,14 @@ auto RmsGaussianFilterTrackerBuilder::create_obsrv_model(
 
     auto renderer = create_renderer(object_model);
 
-    auto pixel_obsrv_model = PixelModel(
+    auto pixel_sensor = PixelModel(
         renderer, param.bg_depth, param.fg_noise_std, param.bg_noise_std);
 
-    auto tail_obsrv_model =
+    auto tail_sensor =
         TailModel(param.uniform_tail_min, param.uniform_tail_max);
 
     auto body_tail_pixel_model =
-        BodyTailModel(pixel_obsrv_model, tail_obsrv_model, param.tail_weight);
+        BodyTailModel(pixel_sensor, tail_sensor, param.tail_weight);
 
     return Sensor(body_tail_pixel_model, camera_data->pixels());
 }
@@ -108,7 +108,7 @@ RmsGaussianFilterTrackerBuilder::create_object_model(
     return object_model;
 }
 
-auto RmsGaussianFilterTrackerBuilder::create_object_transition_model(
+auto RmsGaussianFilterTrackerBuilder::create_object_transition(
     const ObjectTransitionBuilder<RmsGaussianFilterTrackerBuilder::State>::
         Parameters& param) const -> Transition
 {

source/dbot/builder/rms_gaussian_filter_tracker_builder.hpp

@@ -34,7 +34,7 @@
 #include <dbot/camera_data.hpp>
 #include <dbot/object_resource_identifier.hpp>
 #include <dbot/tracker/rms_gaussian_filter_object_tracker.hpp>
-#include <dbot/builder/object_transition_model_builder.hpp>
+#include <dbot/builder/object_transition_builder.hpp>
 
 namespace dbot
 {
@@ -101,7 +101,7 @@ class RmsGaussianFilterTrackerBuilder
      * \brief Creates a Linear object transition function used in the
      *        filter
      */
-    Transition create_object_transition_model(
+    Transition create_object_transition(
         const ObjectTransitionBuilder<State>::Parameters& param)
         const;
 
@@ -112,7 +112,7 @@ class RmsGaussianFilterTrackerBuilder
      * \throws NoGpuSupportException if compile with DBOT_BUILD_GPU=OFF and
      *         attempting to build a tracker with GPU support
      */
-    Sensor create_obsrv_model(
+    Sensor create_sensor(
         const std::shared_ptr<ObjectModel>& object_model,
         const std::shared_ptr<CameraData>& camera_data,
         const Parameters::Observation& param) const;