srs_env_model_percp::ParameterSpace Class Reference

#include <parameter_space.h>

List of all members.

Public Types
typedef but_plane_detector::Plane < float >	tPlane
typedef std::vector< tPlane, Eigen::aligned_allocator < tPlane > >	tPlanes
Public Member Functions
void	addVolume (ParameterSpace &second, int angle1, int angle2, int shift)
int	findMaxima (tPlanes &indices)
void	generateGaussIn (double angleSigma, double shiftSigma)
double	getAngle (int index)
void	getIndex (double angle1, double angle2, double z, int &angle1Index, int &angle2Index, int &shiftIndex)
int	getIndex (double angle1, double angle2, double z)
double	getShift (int irndex)
int	getSize ()
double &	operator() (double angle1, double angle2, double z)
double &	operator() (int angle1, int angle2, int z)
double &	operator[] (int index)
	ParameterSpace (double anglemin, double anglemax, double zmin, double zmax, double angleRes=DEFAULT_ANGLE_STEP, double shiftRes=DEFAULT_SHIFT_STEP)
	~ParameterSpace ()
Static Public Member Functions
static void	toAngles (float x, float y, float z, float &a1, float &a2)
static void	toEuklid (float a1, float a2, float &x, float &y, float &z)
Public Attributes
double	m_anglemax
double	m_anglemin
int	m_angleSize
int	m_angleSize2
double	m_angleStep
double *	m_data
bool	m_init
cv::Mat	m_paramSpace
double	m_shiftmax
double	m_shiftmin
int	m_shiftSize
double	m_shiftStep
int	m_size

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Detailed Description

Class encapsulating a Hough parameter space

Definition at line 58 of file parameter_space.h.

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Member Typedef Documentation

typedef but_plane_detector::Plane<float> srs_env_model_percp::ParameterSpace::tPlane

Definition at line 61 of file parameter_space.h.

typedef std::vector<tPlane, Eigen::aligned_allocator<tPlane> > srs_env_model_percp::ParameterSpace::tPlanes

Definition at line 62 of file parameter_space.h.

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Constructor & Destructor Documentation

ParameterSpace::ParameterSpace	(	double	anglemin,
		double	anglemax,
		double	zmin,
		double	zmax,
		double	angleRes = DEFAULT_ANGLE_STEP,
		double	shiftRes = DEFAULT_SHIFT_STEP
	)

Constructor - creates and allocates a space (angle X angle X shift)

Parameters:

	anglemin	Minimal angle in space
	anglemax	Maximal angle in space
	zmin	Minimal shift in space
	zmax	Maximal shift in space
	angleRes	Angle resolution (step)
	shiftRes	Shift resolution (step)

Definition at line 51 of file parameter_space.cpp.

ParameterSpace::~ParameterSpace

(

)

Destructor

Definition at line 73 of file parameter_space.cpp.

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Member Function Documentation

void ParameterSpace::addVolume	(	ParameterSpace &	second,
		int	angle1,
		int	angle2,
		int	shift
	)

Adds a second volume to this with offset

Parameters:

	second	Second volume to be added
	angle1	Angle 1 offset
	angle2	Angle 2 offset
	shift	Shift offset

Definition at line 168 of file parameter_space.cpp.

int ParameterSpace::findMaxima

(

tPlanes &

indices

)

Finds maximas in this and saves them as planes to given vector

Parameters:

indices

Found planes

Definition at line 227 of file parameter_space.cpp.

void ParameterSpace::generateGaussIn	(	double	angleSigma,
		double	shiftSigma
	)

Generates a Gauss curve into this space (centered)

Parameters:

	angleSigma	sigma in angle directions
	shiftSigma	sigma in shift direction

Definition at line 197 of file parameter_space.cpp.

double ParameterSpace::getAngle

(

int

index

)

Converts index in parameter space into angle value

Parameters:

index

Angle axis index

Definition at line 316 of file parameter_space.cpp.

void ParameterSpace::getIndex	(	double	angle1,
		double	angle2,
		double	z,
		int &	angle1Index,
		int &	angle2Index,
		int &	shiftIndex
	)

Converts between values and coordinates

Parameters:

	angle1	First angle value
	angle2	Second angle value
	z	Shift (d param) value
	angle1Index	First angle coordinate
	angle2Index	Second angle coordinate
	shiftIndex	(d param) coordinate

Definition at line 151 of file parameter_space.cpp.

int ParameterSpace::getIndex	(	double	angle1,
		double	angle2,
		double	z
	)

Returns an index from given values

Parameters:

	angle1	First angle value
	angle2	Second angle value
	z	Shift (d param) value

Definition at line 134 of file parameter_space.cpp.

double ParameterSpace::getShift

(

int

irndex

)

Converts index in parameter space into shift value

Parameters:

index

Shift axis index

Definition at line 325 of file parameter_space.cpp.

int ParameterSpace::getSize

(

)

Returns a size of this space structure in Bytes

Definition at line 344 of file parameter_space.cpp.

double & ParameterSpace::operator()	(	double	angle1,
		double	angle2,
		double	z
	)

Returns a value saved at given values

Parameters:

	angle1	First angle value
	angle2	Second angle value
	z	Shift (d param) value

Definition at line 336 of file parameter_space.cpp.

double & ParameterSpace::operator()	(	int	angle1,
		int	angle2,
		int	z
	)

Returns a value saved at given coordinates (indices)

Parameters:

	angle1	First angle coordinate
	angle2	Second angle coordinate
	z	Shift (d param) coordinate

Definition at line 116 of file parameter_space.cpp.

double & ParameterSpace::operator[]

(

int

index

)

Returns a value saved at given index

Parameters:

index

Given index

Definition at line 126 of file parameter_space.cpp.

void ParameterSpace::toAngles	(	float	x,
		float	y,
		float	z,
		float &	a1,
		float &	a2
	)			[static]

Conversion from Euclidian representation of normal (x, y, z) to parametrized (a1, a2)

Parameters:

	x	X vector coordinate
	y	Y vector coordinate
	z	Z vector coordinate
	a1	First angle
	a2	Second angle

Definition at line 86 of file parameter_space.cpp.

void ParameterSpace::toEuklid	(	float	a1,
		float	a2,
		float &	x,
		float &	y,
		float &	z
	)			[static]

Conversion from parametrized representation of normal (a1, a2) to Euclidian (x, y, z)

Parameters:

	x	X vector coordinate
	y	Y vector coordinate
	z	Z vector coordinate
	a1	First angle
	a2	Second angle

Definition at line 102 of file parameter_space.cpp.

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Member Data Documentation

double srs_env_model_percp::ParameterSpace::m_anglemax

Maximal shift value

Definition at line 214 of file parameter_space.h.

double srs_env_model_percp::ParameterSpace::m_anglemin

Minimal angle value

Definition at line 209 of file parameter_space.h.

int srs_env_model_percp::ParameterSpace::m_angleSize

Size of angle axis

Definition at line 224 of file parameter_space.h.

int srs_env_model_percp::ParameterSpace::m_angleSize2

Size of angle axis ^ 2

Definition at line 229 of file parameter_space.h.

double srs_env_model_percp::ParameterSpace::m_angleStep

Step of one angle coordinage

Definition at line 189 of file parameter_space.h.

double* srs_env_model_percp::ParameterSpace::m_data

Pointer to the Hough space structure

Definition at line 244 of file parameter_space.h.

bool srs_env_model_percp::ParameterSpace::m_init

Initialized flag

Definition at line 184 of file parameter_space.h.

cv::Mat srs_env_model_percp::ParameterSpace::m_paramSpace

Param space matrix

Definition at line 239 of file parameter_space.h.

double srs_env_model_percp::ParameterSpace::m_shiftmax

Maximal shift value

Definition at line 204 of file parameter_space.h.

double srs_env_model_percp::ParameterSpace::m_shiftmin

Minimal shift value

Definition at line 199 of file parameter_space.h.

int srs_env_model_percp::ParameterSpace::m_shiftSize

Shift axis size

Definition at line 234 of file parameter_space.h.

double srs_env_model_percp::ParameterSpace::m_shiftStep

Step of one shift coordinate

Definition at line 194 of file parameter_space.h.

int srs_env_model_percp::ParameterSpace::m_size

Size of underlying structure

Definition at line 219 of file parameter_space.h.

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

• parameter_space.h
• parameter_space.cpp