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srs_env_model_percp::ParameterSpaceHierarchy Class Reference

#include <parameter_space_hierarchy.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, float factor)
void addVolume (ParameterSpace &second, int angle1, int angle2, int shift)
void clear ()
int findMaxima (tPlanes &indices, double min_value, int neighborhood, int around)
void fromIndex (int bin_index, int inside_index, int &angle1, int &angle2, int &z)
double get (double angle1, double angle2, double z)
double get (int bin_index, int inside_index)
double get (int angle1, int angle2, int z)
double getAngle (int index)
void getIndex (double angle1, double angle2, double z, int &angle1Index, int &angle2Index, int &shiftIndex)
IndexStruct getIndex (int angle1, int angle2, int z)
IndexStruct getIndex (double angle1, double angle2, double z)
double getShift (int irndex)
int getSize ()
 ParameterSpaceHierarchy (double anglemin, double anglemax, double zmin, double zmax, double angleRes=DEFAULT_ANGLE_STEP, double shiftRes=DEFAULT_SHIFT_STEP)
void set (double angle1, double angle2, double z, double val)
void set (int bin_index, int inside_index, double val)
void set (int angle1, int angle2, int z, double val)
 ~ParameterSpaceHierarchy ()

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

int m_angleLoSize
int m_angleLoSize2
double m_angleLoStep
double m_anglemax
double m_anglemin
int m_angleSize
int m_angleSize2
double m_angleStep
double ** m_dataLowRes
int m_hiSize
int m_hiSize2
bool m_init
int m_loSize
cv::Mat m_paramSpace
int m_shiftLoSize
double m_shiftLoStep
double m_shiftmax
double m_shiftmin
int m_shiftSize
double m_shiftStep
int m_size

Detailed Description

Class encapsulating a Hough parameter space - (angle, angle, shift) Structure is 2 level hierarchic

Definition at line 80 of file parameter_space_hierarchy.h.


Member Typedef Documentation

Definition at line 83 of file parameter_space_hierarchy.h.

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

Definition at line 84 of file parameter_space_hierarchy.h.


Constructor & Destructor Documentation

ParameterSpaceHierarchy::ParameterSpaceHierarchy ( 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 52 of file parameter_space_hierarchy.cpp.

ParameterSpaceHierarchy::~ParameterSpaceHierarchy (  ) 

Destructor

Definition at line 88 of file parameter_space_hierarchy.cpp.


Member Function Documentation

void ParameterSpaceHierarchy::addVolume ( ParameterSpace second,
int  angle1,
int  angle2,
int  shift,
float  factor 
)

Adds a second volume to this with offset and multiplied by given factor

Parameters:
second Second volume to be added
angle1 Angle 1 offset
angle2 Angle 2 offset
shift Shift offset
factor number by which each gauss function will be multiplied

Definition at line 316 of file parameter_space_hierarchy.cpp.

void ParameterSpaceHierarchy::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 286 of file parameter_space_hierarchy.cpp.

void ParameterSpaceHierarchy::clear ( void   ) 

Definition at line 96 of file parameter_space_hierarchy.cpp.

int ParameterSpaceHierarchy::findMaxima ( tPlanes indices,
double  min_value,
int  neighborhood,
int  around 
)

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

Parameters:
indices Found planes
Returns:
index of maximal plane

Definition at line 342 of file parameter_space_hierarchy.cpp.

void ParameterSpaceHierarchy::fromIndex ( int  bin_index,
int  inside_index,
int &  angle1,
int &  angle2,
int &  z 
)

Converts an index into axis coordinates

Parameters:
i Given index
angle1 First angle coordinate
angle2 Second angle coordinate
z Shift (d param) coordinate

Definition at line 227 of file parameter_space_hierarchy.cpp.

double ParameterSpaceHierarchy::get ( 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 483 of file parameter_space_hierarchy.cpp.

double ParameterSpaceHierarchy::get ( int  bin_index,
int  inside_index 
)

Returns a value saved at given index

Parameters:
index Given index

Definition at line 179 of file parameter_space_hierarchy.cpp.

double ParameterSpaceHierarchy::get ( 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 144 of file parameter_space_hierarchy.cpp.

double ParameterSpaceHierarchy::getAngle ( int  index  ) 

Converts index in parameter space into angle value

Parameters:
index Angle axis index

Definition at line 452 of file parameter_space_hierarchy.cpp.

void ParameterSpaceHierarchy::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 272 of file parameter_space_hierarchy.cpp.

IndexStruct ParameterSpaceHierarchy::getIndex ( int  angle1,
int  angle2,
int  z 
)

Returns an index from given coordinate indices

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

Definition at line 253 of file parameter_space_hierarchy.cpp.

IndexStruct ParameterSpaceHierarchy::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 208 of file parameter_space_hierarchy.cpp.

double ParameterSpaceHierarchy::getShift ( int  irndex  ) 

Converts index in parameter space into shift value

Parameters:
index Shift axis index

Definition at line 461 of file parameter_space_hierarchy.cpp.

int ParameterSpaceHierarchy::getSize (  ) 

Returns a size of this space structure in Bytes

Definition at line 469 of file parameter_space_hierarchy.cpp.

void ParameterSpaceHierarchy::set ( double  angle1,
double  angle2,
double  z,
double  val 
)

Saves a value at given values

Parameters:
angle1 First angle value
angle2 Second angle value
z Shift (d param) value
val Value to be saved

Definition at line 500 of file parameter_space_hierarchy.cpp.

void ParameterSpaceHierarchy::set ( int  bin_index,
int  inside_index,
double  val 
)

Saves a value at given index

Parameters:
index Given index
val Value to be saved

Definition at line 192 of file parameter_space_hierarchy.cpp.

void ParameterSpaceHierarchy::set ( int  angle1,
int  angle2,
int  z,
double  val 
)

Saves a value at given coordinates (indices)

Parameters:
angle1 First angle coordinate
angle2 Second angle coordinate
z Shift (d param) coordinate
val Value to be saved

Definition at line 164 of file parameter_space_hierarchy.cpp.

void ParameterSpaceHierarchy::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 114 of file parameter_space_hierarchy.cpp.

void ParameterSpaceHierarchy::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 130 of file parameter_space_hierarchy.cpp.


Member Data Documentation

Low resolution angle axis size

Definition at line 324 of file parameter_space_hierarchy.h.

Low resolution angle axis size ^ 2

Definition at line 329 of file parameter_space_hierarchy.h.

Step of one low resolution angle coordinate

Definition at line 269 of file parameter_space_hierarchy.h.

Maximal shift value

Definition at line 294 of file parameter_space_hierarchy.h.

Minimal angle value

Definition at line 289 of file parameter_space_hierarchy.h.

Size of angle axis

Definition at line 309 of file parameter_space_hierarchy.h.

Size of angle axis ^ 2

Definition at line 314 of file parameter_space_hierarchy.h.

Step of one angle coordinage

Definition at line 259 of file parameter_space_hierarchy.h.

Pointer to the low resolution structure

Definition at line 354 of file parameter_space_hierarchy.h.

High resolution space size

Definition at line 339 of file parameter_space_hierarchy.h.

High resolution space size ^ 2

Definition at line 344 of file parameter_space_hierarchy.h.

Initialized flag

Definition at line 254 of file parameter_space_hierarchy.h.

Size of low reslution array

Definition at line 304 of file parameter_space_hierarchy.h.

Param space matrix

Definition at line 349 of file parameter_space_hierarchy.h.

Low resolution shift axis size

Definition at line 334 of file parameter_space_hierarchy.h.

Step of one low resolution shift coordinate

Definition at line 274 of file parameter_space_hierarchy.h.

Maximal shift value

Definition at line 284 of file parameter_space_hierarchy.h.

Minimal shift value

Definition at line 279 of file parameter_space_hierarchy.h.

Shift axis size

Definition at line 319 of file parameter_space_hierarchy.h.

Step of one shift coordinate

Definition at line 264 of file parameter_space_hierarchy.h.

Size of underlying structure

Definition at line 299 of file parameter_space_hierarchy.h.


The documentation for this class was generated from the following files:
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srs_env_model_percp
Author(s): Rostislav Hulik (ihulik@fit.vutbr.cz), Tomas Hodan, Michal Spanel (spanel@fit.vutbr.cz)
autogenerated on Tue Mar 5 14:55:27 2013