#include <place_recognition.h>

Public Member Functions
CvSeq *	cvSURFDescriptor (const CvArr _img, CvMemStorage storage, double quality, int flags=0)
void	cvSURFInitialize ()
bool	drawSURFFeatures (IplImage img, CvSeq feat, int n)
bool	extractGlobalFeature (std::vector< std::vector< pcl::PointXYZ > > &points, GlobalFeature *global_feature)
CvSeq *	findSURFMatchPairs (CvSeq sep, int n, std::vector< SURFDescriptor > sfeat, CvMemStorage storage)
double	getMatchDegree (CvSeq *seq)
	PlaceRecognition ()
void	readFeaturesFromFile ()
	~PlaceRecognition ()
Public Attributes
int	eff_match_pairs
QStringList	files
std::vector< GlobalFeature >	global_descriptors
std::vector< std::vector < SURFDescriptor > >	surf_descriptors
Private Member Functions
void	assignPartKey (SURFKDNode *kd_node, int flags)
SURFKDNode *	buildKDTree (SURFDescriptor *features, int n, int flags)
double	calculateErr (CvSeq *seq, double RMatrix[9], double TVector[3])
void	cutFalseMatrix ()
double	cvCalHaarPattern (int origin, int t, int widthStep)
CvSeq *	cvFastHessianDetector (const CvMat sum, CvMemStorage storage, double quality)
void	cvResizeHaarPattern (int t_s, int t_d, int OldSize, int NewSize)
void	cvSURFGaussian (CvMat *mat, double s)
SURFPoint	cvSURFPoint (int x, int y, int laplacian, int size, int octave, int scale)
void	decreasePqNodeKey (PqNode *pq_array, int i, int key)
double	descrDistSq (SURFDescriptor f1, SURFDescriptor f2, int flags)
int	doubleArray (void **array, int n, int size)
void	drawSURFLoweFeature (IplImage , SURFDescriptor , CvScalar)
void	drawSURFLoweFeatures (IplImage , CvSeq , int)
void	execute (CvSeq *seq)
void	expandKDNodeSubtree (SURFKDNode *kd_node, int flags)
SURFKDNode *	exploreToLeaf (SURFKDNode kd_node, SURFDescriptor feat, MinPq *min_pq, int flags)
SURFKDNode *	initKDNode (SURFDescriptor *features, int n)
MinPq *	initMinPq ()
void	initSelect (CvSeq *seq)
int	insertIntoNbrArray (SURFDescriptor feat, SURFDescriptor *nbrs, int n, int k)
int	insertMinPq (MinPq min_pq, void data, int key)
int	Jcbi (double A[], double V[])
int	KDTreeBbfKnn (SURFKDNode kd_root, SURFDescriptor feat, int k, SURFDescriptor ***nbrs, int max_nn_chks, int flags)
bool	Marix (CvSeq seq, double RMatrix, double *TVector)
void	Matrix ()
void *	minPqExtractMin (MinPq *min_pq)
int	partitionArray (double *array, int n, double pivot)
void	partitionFeatures (SURFKDNode *kd_node)
void	releaseMinPq (MinPq **min_pq)
void	restoreMinPqOrder (PqNode *pq_array, int i, int n)
double	selectMedian (double *array, int n)
double	selectRank (double *array, int n, int r)
void	sortInsertion (double *array, int n)
void	SVD ()
void	transMatrix (CvSeq *seq)
Private Attributes
double	A [9]
double	A_AH [9]
double	AH_A [9]
pcl::PointXYZ	centroid1
pcl::PointXYZ	centroid2
double	cos_cache [3600]
CvMat *	dx_cache
CvMat *	dy_cache
CvMat *	gauss_kernel_cache
std::vector< bool >	if_false_pairs
std::vector< pcl::PointXYZ >	lib_points
IplImage *	region_cache
IplImage *	regions_cache [SCANOCTAVE *FILTERSCALE]
double	RMatrix [9]
std::vector< double * >	RMatrixPlist
std::vector< pcl::PointXYZ >	sce_points
double	sin_cache [3600]
double	TVector [3]
std::vector< double * >	TVectorPlist
double	U [9]
double	V [9]
CvMat *	wrap

Detailed Description

Definition at line 115 of file place_recognition.h.

Constructor & Destructor Documentation

PlaceRecognition::PlaceRecognition ( )

Definition at line 75 of file place_recognition.cpp.

PlaceRecognition::~PlaceRecognition ( )

Definition at line 80 of file place_recognition.cpp.

Member Function Documentation

void PlaceRecognition::assignPartKey	(	SURFKDNode *	kd_node,
		int	flags
	)		`[private]`

Definition at line 881 of file place_recognition.cpp.

SURFKDNode * PlaceRecognition::buildKDTree	(	SURFDescriptor *	features,
		int	n,
		int	flags
	)		`[private]`

Definition at line 835 of file place_recognition.cpp.

double PlaceRecognition::calculateErr	(	CvSeq *	seq,
		double	RMatrix[9],
		double	TVector[3]
	)		`[private]`

Definition at line 1821 of file place_recognition.cpp.

void PlaceRecognition::cutFalseMatrix ( ) [private]

Definition at line 1758 of file place_recognition.cpp.

double PlaceRecognition::cvCalHaarPattern	(	int *	origin,
		int *	t,
		int	widthStep
	)		`[private]`

Definition at line 577 of file place_recognition.cpp.

CvSeq * PlaceRecognition::cvFastHessianDetector	(	const CvMat *	sum,
		CvMemStorage *	storage,
		double	quality
	)		`[private]`

Definition at line 414 of file place_recognition.cpp.

void PlaceRecognition::cvResizeHaarPattern	(	int *	t_s,
		int *	t_d,
		int	OldSize,
		int	NewSize
	)		`[private]`

Definition at line 561 of file place_recognition.cpp.

CvSeq * PlaceRecognition::cvSURFDescriptor	(	const CvArr *	_img,
		CvMemStorage *	storage,
		double	quality,
		int	flags = `0`
	)

Definition at line 174 of file place_recognition.cpp.

void PlaceRecognition::cvSURFGaussian	(	CvMat *	mat,
		double	s
	)		`[private]`

Definition at line 158 of file place_recognition.cpp.

void PlaceRecognition::cvSURFInitialize ( )

Definition at line 131 of file place_recognition.cpp.

SURFPoint PlaceRecognition::cvSURFPoint	(	int	x,
		int	y,
		int	laplacian,
		int	size,
		int	octave,
		int	scale
	)		`[private]`

Definition at line 594 of file place_recognition.cpp.

void PlaceRecognition::decreasePqNodeKey	(	PqNode *	pq_array,
		int	i,
		int	key
	)		`[private]`

Definition at line 1160 of file place_recognition.cpp.

double PlaceRecognition::descrDistSq	(	SURFDescriptor *	f1,
		SURFDescriptor *	f2,
		int	flags
	)		`[private]`

Definition at line 1262 of file place_recognition.cpp.

int PlaceRecognition::doubleArray	(	void **	array,
		int	n,
		int	size
	)		`[private]`

Definition at line 1352 of file place_recognition.cpp.

bool PlaceRecognition::drawSURFFeatures	(	IplImage *	img,
		CvSeq *	feat,
		int	n
	)

Definition at line 606 of file place_recognition.cpp.

void PlaceRecognition::drawSURFLoweFeature	(	IplImage *	img,
		SURFDescriptor *	feat,
		CvScalar	color
	)		`[private]`

Definition at line 636 of file place_recognition.cpp.

void PlaceRecognition::drawSURFLoweFeatures	(	IplImage *	img,
		CvSeq *	feat,
		int	n
	)		`[private]`

Definition at line 622 of file place_recognition.cpp.

void PlaceRecognition::execute ( CvSeq * seq ) [private]

Definition at line 1421 of file place_recognition.cpp.

void PlaceRecognition::expandKDNodeSubtree	(	SURFKDNode *	kd_node,
		int	flags
	)		`[private]`

Definition at line 863 of file place_recognition.cpp.

SURFKDNode * PlaceRecognition::exploreToLeaf	(	SURFKDNode *	kd_node,
		SURFDescriptor *	feat,
		MinPq *	min_pq,
		int	flags
	)		`[private]`

Definition at line 1224 of file place_recognition.cpp.

bool PlaceRecognition::extractGlobalFeature	(	std::vector< std::vector< pcl::PointXYZ > > &	points,
		GlobalFeature *	global_feature
	)

Definition at line 85 of file place_recognition.cpp.

CvSeq * PlaceRecognition::findSURFMatchPairs	(	CvSeq *	sep,
		int	n,
		std::vector< SURFDescriptor >	sfeat,
		CvMemStorage *	storage
	)

Definition at line 795 of file place_recognition.cpp.

double PlaceRecognition::getMatchDegree ( CvSeq * seq )

Definition at line 1369 of file place_recognition.cpp.

SURFKDNode * PlaceRecognition::initKDNode	(	SURFDescriptor *	features,
		int	n
	)		`[private]`

Definition at line 851 of file place_recognition.cpp.

MinPq * PlaceRecognition::initMinPq ( ) [private]

Definition at line 1125 of file place_recognition.cpp.

void PlaceRecognition::initSelect ( CvSeq * seq ) [private]

Definition at line 1706 of file place_recognition.cpp.

int PlaceRecognition::insertIntoNbrArray	(	SURFDescriptor *	feat,
		SURFDescriptor **	nbrs,
		int	n,
		int	k
	)		`[private]`

Definition at line 1281 of file place_recognition.cpp.

int PlaceRecognition::insertMinPq	(	MinPq *	min_pq,
		void *	data,
		int	key
	)		`[private]`

Definition at line 1136 of file place_recognition.cpp.

int PlaceRecognition::Jcbi	(	double	A[],
		double	V[]
	)		`[private]`

Definition at line 1617 of file place_recognition.cpp.

int PlaceRecognition::KDTreeBbfKnn	(	SURFKDNode *	kd_root,
		SURFDescriptor *	feat,
		int	k,
		SURFDescriptor ***	nbrs,
		int	max_nn_chks,
		int	flags
	)		`[private]`

Definition at line 1050 of file place_recognition.cpp.

bool PlaceRecognition::Marix	(	CvSeq *	seq,
		double *	RMatrix,
		double *	TVector
	)		`[private]`

Definition at line 1727 of file place_recognition.cpp.

void PlaceRecognition::Matrix ( ) [private]

Definition at line 1504 of file place_recognition.cpp.

void * PlaceRecognition::minPqExtractMin ( MinPq * min_pq ) [private]

Definition at line 1207 of file place_recognition.cpp.

int PlaceRecognition::partitionArray	(	double *	array,
		int	n,
		double	pivot
	)		`[private]`

Definition at line 990 of file place_recognition.cpp.

void PlaceRecognition::partitionFeatures ( SURFKDNode * kd_node ) [private]

Definition at line 1012 of file place_recognition.cpp.

void PlaceRecognition::readFeaturesFromFile ( )

Definition at line 669 of file place_recognition.cpp.

void PlaceRecognition::releaseMinPq ( MinPq ** min_pq ) [private]

Definition at line 1337 of file place_recognition.cpp.

void PlaceRecognition::restoreMinPqOrder	(	PqNode *	pq_array,
		int	i,
		int	n
	)		`[private]`

Definition at line 1184 of file place_recognition.cpp.

double PlaceRecognition::selectMedian	(	double *	array,
		int	n
	)		`[private]`

Definition at line 924 of file place_recognition.cpp.

double PlaceRecognition::selectRank	(	double *	array,
		int	n,
		int	r
	)		`[private]`

Definition at line 929 of file place_recognition.cpp.

void PlaceRecognition::sortInsertion	(	double *	array,
		int	n
	)		`[private]`

Definition at line 972 of file place_recognition.cpp.

void PlaceRecognition::SVD ( ) [private]

Definition at line 1596 of file place_recognition.cpp.

void PlaceRecognition::transMatrix ( CvSeq * seq ) [private]

Definition at line 1431 of file place_recognition.cpp.

Member Data Documentation

double PlaceRecognition::A[9] [private]

Definition at line 232 of file place_recognition.h.

double PlaceRecognition::A_AH[9] [private]

Definition at line 233 of file place_recognition.h.

double PlaceRecognition::AH_A[9] [private]

Definition at line 234 of file place_recognition.h.

pcl::PointXYZ PlaceRecognition::centroid1 [private]

Definition at line 237 of file place_recognition.h.

pcl::PointXYZ PlaceRecognition::centroid2 [private]

Definition at line 238 of file place_recognition.h.

double PlaceRecognition::cos_cache[3600] [private]

Definition at line 225 of file place_recognition.h.

CvMat* PlaceRecognition::dx_cache [private]

Definition at line 221 of file place_recognition.h.

CvMat* PlaceRecognition::dy_cache [private]

Definition at line 222 of file place_recognition.h.

int PlaceRecognition::eff_match_pairs

Definition at line 212 of file place_recognition.h.

QStringList PlaceRecognition::files

Definition at line 211 of file place_recognition.h.

CvMat* PlaceRecognition::gauss_kernel_cache [private]

Definition at line 223 of file place_recognition.h.

std::vector<GlobalFeature> PlaceRecognition::global_descriptors

Definition at line 213 of file place_recognition.h.

std::vector<bool> PlaceRecognition::if_false_pairs [private]

Definition at line 245 of file place_recognition.h.

std::vector<pcl::PointXYZ> PlaceRecognition::lib_points [private]

Definition at line 229 of file place_recognition.h.

IplImage* PlaceRecognition::region_cache [private]

Definition at line 218 of file place_recognition.h.

IplImage* PlaceRecognition::regions_cache[SCANOCTAVE *FILTERSCALE] [private]

Definition at line 219 of file place_recognition.h.

double PlaceRecognition::RMatrix[9] [private]

Definition at line 240 of file place_recognition.h.

std::vector<double*> PlaceRecognition::RMatrixPlist [private]

Definition at line 243 of file place_recognition.h.

std::vector<pcl::PointXYZ> PlaceRecognition::sce_points [private]

Definition at line 230 of file place_recognition.h.

double PlaceRecognition::sin_cache[3600] [private]

Definition at line 226 of file place_recognition.h.

std::vector< std::vector<SURFDescriptor> > PlaceRecognition::surf_descriptors

Definition at line 214 of file place_recognition.h.

double PlaceRecognition::TVector[3] [private]

Definition at line 241 of file place_recognition.h.

std::vector<double*> PlaceRecognition::TVectorPlist [private]

Definition at line 244 of file place_recognition.h.

double PlaceRecognition::U[9] [private]

Definition at line 235 of file place_recognition.h.

double PlaceRecognition::V[9] [private]

Definition at line 236 of file place_recognition.h.

CvMat* PlaceRecognition::wrap [private]

Definition at line 217 of file place_recognition.h.

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

Public Member Functions

Public Attributes

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation