BetaGridGenerator Class Reference

#include <BetaGrid.h>

Inheritance diagram for BetaGridGenerator:

Public Member Functions
	BetaGridGenerator (const std::vector< double > &rhoEdges, const std::vector< double > &phiEdges)
	BetaGridGenerator (double minRho, double maxRho, unsigned int binRho, unsigned int binPhi)
virtual Descriptor *	describe (const OrientedPoint2D &point, const LaserReading &reading)
virtual Descriptor *	describe (const InterestPoint &point, const LaserReading &reading)
unsigned int	getBinPhi () const
unsigned int	getBinRho () const
const HistogramDistance< double > *	getDistanceFunction () const
double	getMaxRho () const
double	getMinRho () const
const std::vector< double > &	getPhiEdges () const
const std::vector< double > &	getRhoEdges () const
void	setDistanceFunction (const HistogramDistance< double > *distanceFunction)
void	setEdges (const std::vector< double > &rhoEdges, const std::vector< double > &phiEdges)
void	setEdges (double minRho, double maxRho, unsigned int binRho, unsigned int binPhi)
Protected Member Functions
int	intersectSegment2Arc (const Point2D &segmentStart, const Point2D &segmentEnd, const Point2D &arcStart, const Point2D &arcEnd, const Point2D &arcCenter)
bool	intersectSegment2Segment (const Point2D &segment1Start, const Point2D &segment1End, const Point2D &segment2Start, const Point2D &segment2End)
Protected Attributes
const HistogramDistance< double > *	m_distanceFunction
std::vector< double >	m_phiEdges
std::vector< double >	m_rhoEdges

Detailed Description

Representation of the Beta grid descriptor generator. The class generates the Beta grid descriptor presented in the paper. It provides the interface to generate the descriptor from a laser reading and set the descriptor size.

Author:: Gian Diego Tipaldi

Definition at line 111 of file BetaGrid.h.

Constructor & Destructor Documentation

BetaGridGenerator::BetaGridGenerator	(	double	minRho,
		double	maxRho,
		unsigned int	binRho,
		unsigned int	binPhi
	)

Constructor. It sets the size of the generated $\beta$ -Grid and the number of bins.

Parameters:

	minRho	The minimum distance for a point to be included in the descriptor.
	maxRho	The maximum distance for a point to be included in the descriptor.
	binRho	The number of bins in the radial coordinate of the descriptor.
	binPhi	The number of bins in the angular coordinate of the descriptor.

Definition at line 9 of file BetaGrid.cpp.

BetaGridGenerator::BetaGridGenerator	(	const std::vector< double > &	rhoEdges,
		const std::vector< double > &	phiEdges
	)

Constructor. It sets the size of the generated $\beta$ -Grid and the number of bins.

Parameters:

	rhoEdges	Vector containing the edges of the radial coordinate of the desciptor.
	phiEdges	Vector containing the edges of the angular coordinate of the desciptor.

Note:: A point is in the bin i,j if its radial distance is between rhoEdges[i] and rhoEdges[i + 1] and its angular distance between phiEdges[j] and phiEdges[j + 1]

Definition at line 14 of file BetaGrid.cpp.

Member Function Documentation

Descriptor * BetaGridGenerator::describe	(	const OrientedPoint2D &	_point,
		const LaserReading &	reading
	)			`[virtual]`

Abstract interface for generating a descriptors given a general point in $\mathcal{SO}(2)$ and a laser reading.

Implements DescriptorGenerator.

Definition at line 38 of file BetaGrid.cpp.

Descriptor * BetaGridGenerator::describe	(	const InterestPoint &	_point,
		const LaserReading &	reading
	)			`[virtual]`

Abstract interface for generating a descriptors given an interest point and a laser reading.

Implements DescriptorGenerator.

Definition at line 34 of file BetaGrid.cpp.

unsigned int BetaGridGenerator::getBinPhi ( ) const [inline]

Gets the number of bins in the angular coordinate of the descriptor.

Definition at line 158 of file BetaGrid.h.

unsigned int BetaGridGenerator::getBinRho ( ) const [inline]

Gets the number of bins in the radial coordinate of the descriptor.

Definition at line 154 of file BetaGrid.h.

const HistogramDistance<double>* BetaGridGenerator::getDistanceFunction ( ) const [inline]

Gets the distance function used to compare two descriptors

Definition at line 181 of file BetaGrid.h.

double BetaGridGenerator::getMaxRho ( ) const [inline]

Gets the maximum distance for a point to be included in the descriptor.

Definition at line 150 of file BetaGrid.h.

double BetaGridGenerator::getMinRho ( ) const [inline]

Gets the minimum distance for a point to be included in the descriptor.

Definition at line 146 of file BetaGrid.h.

const std::vector<double>& BetaGridGenerator::getPhiEdges ( ) const [inline]

Gets the vector containing the edges of the angular coordinate of the desciptor.

Definition at line 166 of file BetaGrid.h.

const std::vector<double>& BetaGridGenerator::getRhoEdges ( ) const [inline]

Gets the vector containing the edges of the radial coordinate of the desciptor.

Definition at line 162 of file BetaGrid.h.

int BetaGridGenerator::intersectSegment2Arc	(	const Point2D &	segmentStart,
		const Point2D &	segmentEnd,
		const Point2D &	arcStart,
		const Point2D &	arcEnd,
		const Point2D &	arcCenter
	)			`[protected]`

Checks if a segment intersect an arc. It is used to perform ray-tracing in the polar grid.

Definition at line 133 of file BetaGrid.cpp.

bool BetaGridGenerator::intersectSegment2Segment	(	const Point2D &	segment1Start,
		const Point2D &	segment1End,
		const Point2D &	segment2Start,
		const Point2D &	segment2End
	)			`[protected]`

Checks if two segments intersect each other. It is used to perform ray-tracing in the polar grid.

Definition at line 114 of file BetaGrid.cpp.

void BetaGridGenerator::setDistanceFunction ( const HistogramDistance< double > * distanceFunction ) [inline]

Sets the distance function used to compare two descriptors

Definition at line 185 of file BetaGrid.h.

void BetaGridGenerator::setEdges	(	const std::vector< double > &	rhoEdges,
		const std::vector< double > &	phiEdges
	)			`[inline]`

Sets the radial and angular edges of the descriptor.

Parameters:

	rhoEdges	Vector containing the edges of the radial coordinate of the desciptor.
	phiEdges	Vector containing the edges of the angular coordinate of the desciptor.

Note:: A point is in the bin i,j if its radial distance is between rhoEdges[i] and rhoEdges[i + 1] and its angular distance between phiEdges[j] and phiEdges[j + 1]

Definition at line 177 of file BetaGrid.h.

void BetaGridGenerator::setEdges	(	double	minRho,
		double	maxRho,
		unsigned int	binRho,
		unsigned int	binPhi
	)

Sets the radial and angular edges of the descriptor.

Parameters:

	minRho	The minimum distance for a point to be included in the descriptor.
	maxRho	The maximum distance for a point to be included in the descriptor.
	binRho	The number of bins in the radial coordinate of the descriptor.
	binPhi	The number of bins in the angular coordinate of the descriptor.

Definition at line 21 of file BetaGrid.cpp.

Member Data Documentation

const HistogramDistance<double>* BetaGridGenerator::m_distanceFunction [protected]

The distance function used to compare two descriptors

Definition at line 197 of file BetaGrid.h.

std::vector<double> BetaGridGenerator::m_phiEdges [protected]

The vector containing the edges of the angular coordinate of the desciptor.

Definition at line 196 of file BetaGrid.h.

std::vector<double> BetaGridGenerator::m_rhoEdges [protected]

The vector containing the edges of the radial coordinate of the desciptor.

Definition at line 195 of file BetaGrid.h.

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

BetaGridGenerator Class Reference

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation