Public Types | Public Member Functions | Public Attributes
srs_env_model_percp::SceneModel Class Reference

#include <scene_model.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 AddNext (cv::Mat &depth, const sensor_msgs::CameraInfoConstPtr &cam_info, but_plane_detector::Normals &normals, double min_current)
void AddNext (but_plane_detector::Normals &normals, double min_current)
void clearNoise (double minValue)
void recomputePlanes (double min_current, double min_global, int blur, int search_neighborhood, double substraction)
 SceneModel (double max_depth=3.0, double min_shift=-40.0, double max_shift=40.0, int angle_resolution=512, int shift_resolution=4096, int gauss_angle_res=11, int gauss_shift_res=11, double gauss_angle_sigma=0.04, double gauss_shift_sigma=0.15, int lvl1_gauss_angle_res=21, int lvl1_gauss_shift_res=21, double lvl1_gauss_angle_sigma=5.0, double lvl1_gauss_shift_sigma=5.0, double plane_merge_angle=0.3, double plane_merge_shift=0.1)

Public Attributes

ParameterSpaceHierarchy current_space
ParameterSpace gauss
ParameterSpace gaussPlane
double indexFactor
double m_angle_max
double m_angle_min
int m_angle_res
double m_depth
double m_plane_merge_angle
double m_plane_merge_shift
double m_shift_max
double m_shift_min
int m_shift_res
int max_plane
tPlanes planes
pcl::PointCloud
< pcl::PointXYZRGB >::Ptr 
scene_cloud
ParameterSpaceHierarchy space

Detailed Description

Definition at line 65 of file scene_model.h.


Member Typedef Documentation

Definition at line 68 of file scene_model.h.

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

Definition at line 69 of file scene_model.h.


Constructor & Destructor Documentation

srs_env_model_percp::SceneModel::SceneModel ( double  max_depth = 3.0,
double  min_shift = -40.0,
double  max_shift = 40.0,
int  angle_resolution = 512,
int  shift_resolution = 4096,
int  gauss_angle_res = 11,
int  gauss_shift_res = 11,
double  gauss_angle_sigma = 0.04,
double  gauss_shift_sigma = 0.15,
int  lvl1_gauss_angle_res = 21,
int  lvl1_gauss_shift_res = 21,
double  lvl1_gauss_angle_sigma = 5.0,
double  lvl1_gauss_shift_sigma = 5.0,
double  plane_merge_angle = 0.3,
double  plane_merge_shift = 0.1 
)

Constructor - initializes a scene and allocates necessary space - a space of (angle, angle, d) where angles are angles of plane normal and d is d parameter of plane equation.

Parameters:
max_depthMaximum computed depth by each frame in meters (default 3.0)
min_shiftMinimal d parameter value (ax + by + cz + d = 0) in Hough space (default -40.0)
max_shiftMaximal d parameter value (ax + by + cz + d = 0) in Hough space (default 40.0)
angle_resolutionAngle coordinates resolution (Hough space size in angle directions) (default 512)
shift_resolutiond parameter coordinates resolution (Hough space size in angle directions) (default 4096)
gauss_angle_resAngle resolution of added Gauss function (default 11)
gauss_shift_resd parameter resolution of added Gauss function (default 11)
gauss_angle_sigmaSigma of added Gauss function in angle coordinates (default 11)
gauss_shift_sigmaSigma of added Gauss function in d parameter coordinates (default 11)

Definition at line 58 of file scene_model.cpp.


Member Function Documentation

void srs_env_model_percp::SceneModel::AddNext ( cv::Mat &  depth,
const sensor_msgs::CameraInfoConstPtr &  cam_info,
but_plane_detector::Normals normals,
double  min_current 
)

Function adds a depth map with computed normals into existing Hough space

Parameters:
depthDepth image
cam_infoCamera info object
normalsComputed normals of depth image
void srs_env_model_percp::SceneModel::AddNext ( but_plane_detector::Normals normals,
double  min_current 
)

Function adds a depth map with computed normals into existing Hough space

Parameters:
normalsNormals object (point cloud with precomputed normals)

Definition at line 400 of file scene_model.cpp.

Clears all nodes with value lesser than parameter

Parameters:
minValueAll nodes with value lesser than this parameter will be removed

Definition at line 379 of file scene_model.cpp.

void srs_env_model_percp::SceneModel::recomputePlanes ( double  min_current,
double  min_global,
int  blur,
int  search_neighborhood,
double  substraction 
)

Function recomputes a list of planes saved in this class (scene model)

Parameters:
min_currentMinimal value for detected plane in current frame Hough space
min_globalMinimal value for detected plane in global frame Hough space

Definition at line 111 of file scene_model.cpp.


Member Data Documentation

Definition at line 142 of file scene_model.h.

Cached Hough space aux Discretized Gauss function

Definition at line 152 of file scene_model.h.

Definition at line 153 of file scene_model.h.

Definition at line 163 of file scene_model.h.

Definition at line 171 of file scene_model.h.

Definition at line 170 of file scene_model.h.

Definition at line 174 of file scene_model.h.

Definition at line 168 of file scene_model.h.

Definition at line 178 of file scene_model.h.

Definition at line 177 of file scene_model.h.

Definition at line 173 of file scene_model.h.

Definition at line 172 of file scene_model.h.

Definition at line 175 of file scene_model.h.

Maximum plane index

Definition at line 158 of file scene_model.h.

Detected planes vector

Definition at line 135 of file scene_model.h.

Point cloud representation of Hough space for visualisation purposes

Definition at line 130 of file scene_model.h.

Hough space representation

Definition at line 141 of file scene_model.h.


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


srs_env_model_percp
Author(s): Rostislav Hulik (ihulik@fit.vutbr.cz), Tomas Hodan, Michal Spanel (spanel@fit.vutbr.cz)
autogenerated on Sun Jan 5 2014 11:51:57