RansacLoopClosureTest.cpp File Reference

#include <feature/Detector.h>
#include <feature/ShapeContext.h>
#include <feature/BetaGrid.h>
#include <feature/RangeDetector.h>
#include <feature/CurvatureDetector.h>
#include <feature/NormalBlobDetector.h>
#include <feature/NormalEdgeDetector.h>
#include <feature/RansacFeatureSetMatcher.h>
#include <feature/RansacMultiFeatureSetMatcher.h>
#include <sensorstream/CarmenLog.h>
#include <sensorstream/LogSensorStream.h>
#include <sensorstream/SensorStream.h>
#include <utils/SimpleMinMaxPeakFinder.h>
#include <utils/HistogramDistances.h>
#include <iostream>
#include <string>
#include <string.h>
#include <sstream>
#include <utility>
#include <sys/time.h>

Include dependency graph for RansacLoopClosureTest.cpp:

Go to the source code of this file.

Functions
void	countLog ()
void	describeLog ()
void	detectLog ()
void	help ()
int	main (int argc, char **argv)
void	match (unsigned int position)
Variables
double	angErrorTh = 0.2
unsigned int	corresp [] = {0, 3, 5, 7, 9, 11, 13, 15}
double	linErrorTh = 0.5
BetaGridGenerator *	m_betaGenerator = NULL
DescriptorGenerator *	m_descriptor = NULL
Detector *	m_detector = NULL
CurvatureDetector *	m_detectorCurvature = NULL
NormalBlobDetector *	m_detectorNormalBlob = NULL
NormalEdgeDetector *	m_detectorNormalEdge = NULL
RangeDetector *	m_detectorRange = NULL
double	m_error [8] = {0.}
double	m_errorC [8] = {0.}
double	m_errorR [8] = {0.}
unsigned int	m_match [8] = {0}
unsigned int	m_matchC [8] = {0}
unsigned int	m_matchR [8] = {0}
std::vector< std::vector < InterestPoint * > >	m_pointsReference
std::vector< OrientedPoint2D >	m_posesReference
RansacFeatureSetMatcher *	m_ransac = NULL
LogSensorStream	m_sensorReference (NULL, NULL)
ShapeContextGenerator *	m_shapeGenerator = NULL
unsigned int	m_valid [8] = {0}
struct timeval detectTime describeTime	ransacTime

---

Function Documentation

void countLog

(

)

Definition at line 212 of file RansacLoopClosureTest.cpp.

void describeLog

(

)

Definition at line 234 of file RansacLoopClosureTest.cpp.

void detectLog

(

)

Definition at line 179 of file RansacLoopClosureTest.cpp.

void help

(

)

Definition at line 52 of file RansacLoopClosureTest.cpp.

int main	(	int	argc,
		char **	argv
	)

Definition at line 268 of file RansacLoopClosureTest.cpp.

void match

(

unsigned int

position

)

Definition at line 98 of file RansacLoopClosureTest.cpp.

---

Variable Documentation

double angErrorTh = 0.2

Definition at line 38 of file RansacLoopClosureTest.cpp.

unsigned int corresp[] = {0, 3, 5, 7, 9, 11, 13, 15}

Definition at line 44 of file RansacLoopClosureTest.cpp.

double linErrorTh = 0.5

Definition at line 39 of file RansacLoopClosureTest.cpp.

BetaGridGenerator* m_betaGenerator = NULL

Definition at line 32 of file RansacLoopClosureTest.cpp.

DescriptorGenerator* m_descriptor = NULL

Definition at line 34 of file RansacLoopClosureTest.cpp.

Detector* m_detector = NULL

Definition at line 30 of file RansacLoopClosureTest.cpp.

CurvatureDetector* m_detectorCurvature = NULL

Definition at line 26 of file RansacLoopClosureTest.cpp.

NormalBlobDetector* m_detectorNormalBlob = NULL

Definition at line 27 of file RansacLoopClosureTest.cpp.

NormalEdgeDetector* m_detectorNormalEdge = NULL

Definition at line 28 of file RansacLoopClosureTest.cpp.

RangeDetector* m_detectorRange = NULL

Definition at line 29 of file RansacLoopClosureTest.cpp.

double m_error[8] = {0.}

Definition at line 46 of file RansacLoopClosureTest.cpp.

double m_errorC[8] = {0.}

Definition at line 46 of file RansacLoopClosureTest.cpp.

double m_errorR[8] = {0.}

Definition at line 46 of file RansacLoopClosureTest.cpp.

unsigned int m_match[8] = {0}

Definition at line 47 of file RansacLoopClosureTest.cpp.

unsigned int m_matchC[8] = {0}

Definition at line 47 of file RansacLoopClosureTest.cpp.

unsigned int m_matchR[8] = {0}

Definition at line 47 of file RansacLoopClosureTest.cpp.

std::vector< std::vector<InterestPoint *> > m_pointsReference

Definition at line 41 of file RansacLoopClosureTest.cpp.

std::vector< OrientedPoint2D > m_posesReference

Definition at line 42 of file RansacLoopClosureTest.cpp.

RansacFeatureSetMatcher* m_ransac = NULL

Definition at line 36 of file RansacLoopClosureTest.cpp.

LogSensorStream m_sensorReference(NULL, NULL)

ShapeContextGenerator* m_shapeGenerator = NULL

Definition at line 33 of file RansacLoopClosureTest.cpp.

unsigned int m_valid[8] = {0}

Definition at line 48 of file RansacLoopClosureTest.cpp.

struct timeval detectTime describeTime ransacTime

Definition at line 50 of file RansacLoopClosureTest.cpp.