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‎CMakeLists.txt

Lines changed: 14 additions & 14 deletions
Original file line numberDiff line numberDiff line change
@@ -152,23 +152,23 @@ file(GLOB_RECURSE dbot_HEADERS
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153153
# Build dbot library
154154
set(dbot_SOURCES
155-
${dbot_SOURCE_DIR}/util/camera_data.cpp
156-
${dbot_SOURCE_DIR}/util/object_model.cpp
157-
${dbot_SOURCE_DIR}/util/object_file_reader.cpp
158-
${dbot_SOURCE_DIR}/util/rigid_body_renderer.cpp
159-
${dbot_SOURCE_DIR}/util/object_resource_identifier.cpp
160-
${dbot_SOURCE_DIR}/util/simple_camera_data_provider.cpp
161-
${dbot_SOURCE_DIR}/util/virtual_camera_data_provider.cpp
162-
${dbot_SOURCE_DIR}/util/simple_wavefront_object_loader.cpp
163-
${dbot_SOURCE_DIR}/util/simple_shader_provider.cpp
164-
${dbot_SOURCE_DIR}/util/default_shader_provider.cpp
165-
${dbot_SOURCE_DIR}/util/file_shader_provider.cpp
155+
${dbot_SOURCE_DIR}/common/camera_data.cpp
156+
${dbot_SOURCE_DIR}/common/object_model.cpp
157+
${dbot_SOURCE_DIR}/common/object_file_reader.cpp
158+
${dbot_SOURCE_DIR}/common/rigid_body_renderer.cpp
159+
${dbot_SOURCE_DIR}/common/object_resource_identifier.cpp
160+
${dbot_SOURCE_DIR}/common/simple_camera_data_provider.cpp
161+
${dbot_SOURCE_DIR}/common/virtual_camera_data_provider.cpp
162+
${dbot_SOURCE_DIR}/common/simple_wavefront_object_loader.cpp
163+
${dbot_SOURCE_DIR}/common/simple_shader_provider.cpp
164+
${dbot_SOURCE_DIR}/common/default_shader_provider.cpp
165+
${dbot_SOURCE_DIR}/common/file_shader_provider.cpp
166166
${dbot_SOURCE_DIR}/tracker/object_tracker.cpp
167167
${dbot_SOURCE_DIR}/tracker/rbc_particle_filter_object_tracker.cpp
168168
${dbot_SOURCE_DIR}/tracker/rms_gaussian_filter_object_tracker.cpp
169-
${dbot_SOURCE_DIR}/tracker/builder/rb_observation_model_builder.cpp
170-
${dbot_SOURCE_DIR}/tracker/builder/rbc_particle_filter_tracker_builder.cpp
171-
${dbot_SOURCE_DIR}/tracker/builder/rms_gaussian_filter_tracker_builder.cpp
169+
${dbot_SOURCE_DIR}/builder/rb_observation_model_builder.cpp
170+
${dbot_SOURCE_DIR}/builder/rbc_particle_filter_tracker_builder.cpp
171+
${dbot_SOURCE_DIR}/builder/rms_gaussian_filter_tracker_builder.cpp
172172
)
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174174
add_library(${dbot_LIBRARY} SHARED

‎src/dbot/tracker/builder/object_transition_model_builder.hpp renamed to ‎src/dbot/builder/object_transition_model_builder.hpp

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -36,7 +36,7 @@
3636

3737
#include <Eigen/Dense>
3838

39-
#include <dbot/tracker/builder/state_transition_function_builder.hpp>
39+
#include <dbot/builder/state_transition_function_builder.hpp>
4040
#include <fl/model/process/linear_state_transition_model.hpp>
4141

4242
namespace dbot

‎src/dbot/tracker/builder/rb_observation_model_builder.cpp renamed to ‎src/dbot/builder/rb_observation_model_builder.cpp

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -29,8 +29,8 @@
2929

3030
#include <osr/free_floating_rigid_bodies_state.hpp>
3131

32-
#include <dbot/tracker/builder/rb_observation_model_builder.h>
33-
#include <dbot/tracker/builder/rb_observation_model_builder.hpp>
32+
#include <dbot/builder/rb_observation_model_builder.h>
33+
#include <dbot/builder/rb_observation_model_builder.hpp>
3434

3535

3636
namespace dbot

‎src/dbot/tracker/builder/rb_observation_model_builder.h renamed to ‎src/dbot/builder/rb_observation_model_builder.h

Lines changed: 8 additions & 8 deletions
Original file line numberDiff line numberDiff line change
@@ -36,13 +36,13 @@
3636
#include <ros/ros.h>
3737
#include <ros/package.h>
3838

39-
#include <dbot/util/camera_data.hpp>
40-
#include <dbot/util/object_model.hpp>
41-
#include <dbot/util/file_shader_provider.hpp>
42-
#include <dbot/util/default_shader_provider.hpp>
43-
#include <dbot/util/rigid_body_renderer.hpp>
39+
#include <dbot/common/camera_data.hpp>
40+
#include <dbot/common/object_model.hpp>
41+
#include <dbot/common/file_shader_provider.hpp>
42+
#include <dbot/common/default_shader_provider.hpp>
43+
#include <dbot/common/rigid_body_renderer.hpp>
4444
#include <dbot/model/rao_blackwell_observation_model.hpp>
45-
#include <dbot/model/kinect_image_observation_model_cpu.hpp>
45+
#include <dbot/model/kinect_image_model.hpp>
4646

4747
namespace dbot
4848
{
@@ -110,10 +110,10 @@ class RbObservationModelBuilder
110110
public:
111111
/* CPU model factor functions */
112112
virtual std::shared_ptr<Model> create_cpu_based_model() const;
113-
virtual std::shared_ptr<KinectPixelObservationModel> create_pixel_model()
113+
virtual std::shared_ptr<KinectPixelModel> create_pixel_model()
114114
const;
115115

116-
virtual std::shared_ptr<OcclusionProcessModel> create_occlusion_process()
116+
virtual std::shared_ptr<OcclusionModel> create_occlusion_process()
117117
const;
118118

119119
virtual std::shared_ptr<RigidBodyRenderer> create_renderer() const;

‎src/dbot/tracker/builder/rb_observation_model_builder.hpp renamed to ‎src/dbot/builder/rb_observation_model_builder.hpp

Lines changed: 11 additions & 11 deletions
Original file line numberDiff line numberDiff line change
@@ -29,11 +29,11 @@
2929

3030
#pragma once
3131

32-
#include <dbot/tracker/builder/rb_observation_model_builder.h>
33-
#include <dbot/model/kinect_image_observation_model_cpu.hpp>
32+
#include <dbot/builder/rb_observation_model_builder.h>
33+
#include <dbot/model/kinect_image_model.hpp>
3434

3535
#ifdef DBOT_BUILD_GPU
36-
#include <dbot/gpu/kinect_image_observation_model_gpu.hpp>
36+
#include <dbot/gpu/kinect_image_model_gpu.hpp>
3737
#endif
3838

3939

@@ -71,7 +71,7 @@ auto RbObservationModelBuilder<State>::create_gpu_based_model() const
7171
{
7272
#ifdef DBOT_BUILD_GPU
7373
auto observation_model =
74-
std::shared_ptr<Model>(new dbot::KinectImageObservationModelGPU<State>(
74+
std::shared_ptr<Model>(new dbot::KinectImageModelGPU<State>(
7575
camera_data_->camera_matrix(),
7676
camera_data_->resolution().height,
7777
camera_data_->resolution().width,
@@ -119,7 +119,7 @@ auto RbObservationModelBuilder<State>::create_cpu_based_model() const
119119
auto renderer = create_renderer();
120120

121121
auto observation_model = std::shared_ptr<Model>(
122-
new dbot::KinectImageObservationModelCPU<fl::Real, State>(
122+
new dbot::KinectImageModel<fl::Real, State>(
123123
camera_data_->camera_matrix(),
124124
camera_data_->resolution().height,
125125
camera_data_->resolution().width,
@@ -134,21 +134,21 @@ auto RbObservationModelBuilder<State>::create_cpu_based_model() const
134134

135135
template <typename State>
136136
auto RbObservationModelBuilder<State>::create_pixel_model() const
137-
-> std::shared_ptr<KinectPixelObservationModel>
137+
-> std::shared_ptr<KinectPixelModel>
138138
{
139-
std::shared_ptr<KinectPixelObservationModel> kinect_pixel_observation_model(
140-
new KinectPixelObservationModel(params_.kinect.tail_weight,
139+
std::shared_ptr<KinectPixelModel> kinect_pixel_observation_model(
140+
new KinectPixelModel(params_.kinect.tail_weight,
141141
params_.kinect.model_sigma,
142142
params_.kinect.sigma_factor));
143143
return kinect_pixel_observation_model;
144144
}
145145

146146
template <typename State>
147147
auto RbObservationModelBuilder<State>::create_occlusion_process() const
148-
-> std::shared_ptr<OcclusionProcessModel>
148+
-> std::shared_ptr<OcclusionModel>
149149
{
150-
std::shared_ptr<OcclusionProcessModel> occlusion_process(
151-
new OcclusionProcessModel(params_.occlusion.p_occluded_visible,
150+
std::shared_ptr<OcclusionModel> occlusion_process(
151+
new OcclusionModel(params_.occlusion.p_occluded_visible,
152152
params_.occlusion.p_occluded_occluded));
153153

154154
return occlusion_process;

‎src/dbot/tracker/builder/rbc_particle_filter_tracker_builder.cpp renamed to ‎src/dbot/builder/rbc_particle_filter_tracker_builder.cpp

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -21,8 +21,8 @@
2121
*
2222
*/
2323

24-
#include <dbot/util/simple_wavefront_object_loader.hpp>
25-
#include <dbot/tracker/builder/rbc_particle_filter_tracker_builder.hpp>
24+
#include <dbot/common/simple_wavefront_object_loader.hpp>
25+
#include <dbot/builder/rbc_particle_filter_tracker_builder.hpp>
2626

2727

2828
//namespace dbot

‎src/dbot/tracker/builder/rbc_particle_filter_tracker_builder.hpp renamed to ‎src/dbot/builder/rbc_particle_filter_tracker_builder.hpp

Lines changed: 4 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -31,11 +31,11 @@
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3232
#include <exception>
3333

34-
#include <dbot/util/object_model_loader.hpp>
35-
#include <dbot/util/object_resource_identifier.hpp>
34+
#include <dbot/common/object_model_loader.hpp>
35+
#include <dbot/common/object_resource_identifier.hpp>
3636
#include <dbot/tracker/rbc_particle_filter_object_tracker.hpp>
37-
#include <dbot/tracker/builder/object_transition_model_builder.hpp>
38-
#include <dbot/tracker/builder/rb_observation_model_builder.h>
37+
#include <dbot/builder/object_transition_model_builder.hpp>
38+
#include <dbot/builder/rb_observation_model_builder.h>
3939

4040
namespace dbot
4141
{

‎src/dbot/tracker/builder/rms_gaussian_filter_tracker_builder.cpp renamed to ‎src/dbot/builder/rms_gaussian_filter_tracker_builder.cpp

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -21,8 +21,8 @@
2121
*
2222
*/
2323

24-
#include <dbot/util/simple_wavefront_object_loader.hpp>
25-
#include <dbot/tracker/builder/rms_gaussian_filter_tracker_builder.hpp>
24+
#include <dbot/common/simple_wavefront_object_loader.hpp>
25+
#include <dbot/builder/rms_gaussian_filter_tracker_builder.hpp>
2626

2727
namespace dbot
2828
{

‎src/dbot/tracker/builder/rms_gaussian_filter_tracker_builder.hpp renamed to ‎src/dbot/builder/rms_gaussian_filter_tracker_builder.hpp

Lines changed: 3 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -31,10 +31,10 @@
3131

3232
#include <exception>
3333

34-
#include <dbot/util/camera_data.hpp>
35-
#include <dbot/util/object_resource_identifier.hpp>
34+
#include <dbot/common/camera_data.hpp>
35+
#include <dbot/common/object_resource_identifier.hpp>
3636
#include <dbot/tracker/rms_gaussian_filter_object_tracker.hpp>
37-
#include <dbot/tracker/builder/object_transition_model_builder.hpp>
37+
#include <dbot/builder/object_transition_model_builder.hpp>
3838

3939
namespace dbot
4040
{

‎src/dbot/tracker/builder/state_transition_function_builder.hpp renamed to ‎src/dbot/builder/state_transition_function_builder.hpp

File renamed without changes.

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