CodebookEntry.hh
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00001 
00007 #ifndef P_CODEBOOK_ENTRY_HH
00008 #define P_CODEBOOK_ENTRY_HH
00009 
00010 #include <limits.h>
00011 #include <blort/Recognizer3D/PNamespace.hh>
00012 #include <blort/Recognizer3D/Array.hh>
00013 #include <blort/Recognizer3D/KeypointDescriptor.hh>
00014 
00015 namespace P
00016 {
00017 
00018 class KeypointDescriptor;
00019 
00020 class CodebookEntry
00021 {
00022 public:
00023   float sqr_sigma;
00024   KeypointDescriptor *model;
00025   P::Array<KeypointDescriptor* > occurrences;
00026 
00027   bool good;          //-1 false match, 0 false and correct match, 1 only correct match
00028   bool bad;
00029   int cntGood;       // count good matches
00030   int cntTime;       // ''timestamp''
00031   double reliability;
00032 
00033   CodebookEntry();
00034   CodebookEntry(KeypointDescriptor *k);
00035   ~CodebookEntry();
00036 
00037   inline unsigned Size(){return occurrences.Size();}
00038   inline void Clear();
00039   inline KeypointDescriptor *Insert(KeypointDescriptor* oc);
00040   inline bool Insert(KeypointDescriptor* occ, float sqr_sigma); 
00041   inline void ComputeModel();
00042   inline float CombinedSqrSigma(CodebookEntry *c);
00043   inline float CombinedSqrSigma(KeypointDescriptor *occ);
00044   inline bool Combine(CodebookEntry *c);
00045   inline float DistanceSqr(CodebookEntry *c);
00046 
00047 };
00048 
00049 inline void DeleteCodebook(Array<CodebookEntry*> &codebook);
00050 
00051 }
00052 
00053 #include <blort/Recognizer3D/CodebookEntry.ic>
00054 
00055 #endif
00056 


blort
Author(s): Michael Zillich, Thomas Mörwald, Johann Prankl, Andreas Richtsfeld, Bence Magyar (ROS version)
autogenerated on Thu Jan 2 2014 11:38:25