tabletop_object_detector::DistanceFieldFitter Class Reference

An individual fitter equipped with a distance field stored as a voxel grid. More...

#include <model_fitter.h>

Inheritance diagram for tabletop_object_detector::DistanceFieldFitter:

[legend]

List of all members.

Public Member Functions
	DistanceFieldFitter ()
	Initialize distance voxel grid to NULL and set default values for grid parameters.
void	initializeFromMesh (const geometric_shapes_msgs::Shape &mesh)
	Calls initialize from points on the vertices of the mesh.
	~DistanceFieldFitter ()
	Cleans up the distance voxel grid.
Protected Member Functions
void	initializeFromBtVectors (const std::vector< btVector3 > &points)
	Initialize the distance field from a set of vertices.
Protected Attributes
double	distance_field_resolution_
	The resolution of the distance field.
distance_field::PropagationDistanceField *	distance_voxel_grid_
	Used for computing distances to point cloud and fitting errors.
float	truncate_value_
	Distances above this reported by the distance field will be truncated to this.

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Detailed Description

An individual fitter equipped with a distance field stored as a voxel grid.

Does not do any actual fitting, just initializes its internal model as a distance field. Used as a base class for other fitters that need this type of structure.

Definition at line 135 of file model_fitter.h.

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Constructor & Destructor Documentation

tabletop_object_detector::DistanceFieldFitter::DistanceFieldFitter

(

)

Initialize distance voxel grid to NULL and set default values for grid parameters.

Definition at line 44 of file model_fitter.cpp.

tabletop_object_detector::DistanceFieldFitter::~DistanceFieldFitter

(

)

Cleans up the distance voxel grid.

Definition at line 50 of file model_fitter.cpp.

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Member Function Documentation

void tabletop_object_detector::DistanceFieldFitter::initializeFromBtVectors

(

const std::vector< btVector3 > &

points

)

[protected]

Initialize the distance field from a set of vertices.

Definition at line 55 of file model_fitter.cpp.

void tabletop_object_detector::DistanceFieldFitter::initializeFromMesh

(

const geometric_shapes_msgs::Shape &

mesh

)

Calls initialize from points on the vertices of the mesh.

Definition at line 204 of file model_fitter.cpp.

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Member Data Documentation

double tabletop_object_detector::DistanceFieldFitter::distance_field_resolution_ [protected]

The resolution of the distance field.

Definition at line 141 of file model_fitter.h.

distance_field::PropagationDistanceField* tabletop_object_detector::DistanceFieldFitter::distance_voxel_grid_ [protected]

Used for computing distances to point cloud and fitting errors.

Definition at line 139 of file model_fitter.h.

float tabletop_object_detector::DistanceFieldFitter::truncate_value_ [protected]

Distances above this reported by the distance field will be truncated to this.

Also used to decide how far beyond the object the distance field should extend

Definition at line 144 of file model_fitter.h.

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

• model_fitter.h
• model_fitter.cpp