Public Types | Public Member Functions | Static Public Member Functions | Public Attributes
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)
int getIndex (double angle1, double angle2, double z)
void getIndex (double angle1, double angle2, double z, int &angle1Index, int &angle2Index, int &shiftIndex)
double getShift (int irndex)
int getSize ()
double & operator() (int angle1, int angle2, int z)
double & operator() (double angle1, double angle2, double 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

Detailed Description

Class encapsulating a Hough parameter space

Definition at line 58 of file parameter_space.h.


Member Typedef Documentation

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.


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:
angleminMinimal angle in space
anglemaxMaximal angle in space
zminMinimal shift in space
zmaxMaximal shift in space
angleResAngle resolution (step)
shiftResShift resolution (step)

Definition at line 51 of file parameter_space.cpp.

Destructor

Definition at line 73 of file parameter_space.cpp.


Member Function Documentation

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

Adds a second volume to this with offset

Parameters:
secondSecond volume to be added
angle1Angle 1 offset
angle2Angle 2 offset
shiftShift 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:
indicesFound 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:
angleSigmasigma in angle directions
shiftSigmasigma 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:
indexAngle axis index

Definition at line 316 of file parameter_space.cpp.

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

Returns an index from given values

Parameters:
angle1First angle value
angle2Second angle value
zShift (d param) value

Definition at line 134 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:
angle1First angle value
angle2Second angle value
zShift (d param) value
angle1IndexFirst angle coordinate
angle2IndexSecond angle coordinate
shiftIndex(d param) coordinate

Definition at line 151 of file parameter_space.cpp.

double ParameterSpace::getShift ( int  irndex)

Converts index in parameter space into shift value

Parameters:
indexShift axis index

Definition at line 325 of file parameter_space.cpp.

Returns a size of this space structure in Bytes

Definition at line 344 of file parameter_space.cpp.

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

Returns a value saved at given coordinates (indices)

Parameters:
angle1First angle coordinate
angle2Second angle coordinate
zShift (d param) coordinate

Definition at line 116 of file parameter_space.cpp.

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

Returns a value saved at given values

Parameters:
angle1First angle value
angle2Second angle value
zShift (d param) value

Definition at line 336 of file parameter_space.cpp.

double & ParameterSpace::operator[] ( int  index)

Returns a value saved at given index

Parameters:
indexGiven 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:
xX vector coordinate
yY vector coordinate
zZ vector coordinate
a1First angle
a2Second 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:
xX vector coordinate
yY vector coordinate
zZ vector coordinate
a1First angle
a2Second angle

Definition at line 102 of file parameter_space.cpp.


Member Data Documentation

Maximal shift value

Definition at line 214 of file parameter_space.h.

Minimal angle value

Definition at line 209 of file parameter_space.h.

Size of angle axis

Definition at line 224 of file parameter_space.h.

Size of angle axis ^ 2

Definition at line 229 of file parameter_space.h.

Step of one angle coordinage

Definition at line 189 of file parameter_space.h.

Pointer to the Hough space structure

Definition at line 244 of file parameter_space.h.

Initialized flag

Definition at line 184 of file parameter_space.h.

Param space matrix

Definition at line 239 of file parameter_space.h.

Maximal shift value

Definition at line 204 of file parameter_space.h.

Minimal shift value

Definition at line 199 of file parameter_space.h.

Shift axis size

Definition at line 234 of file parameter_space.h.

Step of one shift coordinate

Definition at line 194 of file parameter_space.h.

Size of underlying structure

Definition at line 219 of file parameter_space.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 Mon Oct 6 2014 08:07:23