place_matcher_mcc::DissimilarityGetter Class Reference

#include <dissimilarity_getter.h>

List of all members.

Public Member Functions
	DissimilarityGetter ()
double	getDissimilarity (const geometry_msgs::Polygon &polygon1, const geometry_msgs::Polygon &polygon2)
bool	getDissimilarity (place_matcher_msgs::PolygonDissimilarityRequest &req, place_matcher_msgs::PolygonDissimilarityResponse &res)
Public Attributes
bool	rotation_invariance
unsigned int	sample_count
unsigned int	scale_count
Private Member Functions
matrix	compare (const matrix &a, const matrix &b)
double	compute_convexity (const polygon_list &polygons, matrix &m)

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Detailed Description

Definition at line 41 of file dissimilarity_getter.h.

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Constructor & Destructor Documentation

place_matcher_mcc::DissimilarityGetter::DissimilarityGetter

(

)

Definition at line 98 of file dissimilarity_getter.cpp.

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Member Function Documentation

matrix place_matcher_mcc::DissimilarityGetter::compare	(	const matrix &	a,
		const matrix &	b
	)		[private]

Compute the distance between two MCC representations

Compute the distance between two MCC representations, i.e. for each contour point of a and b (rows) sum the absolute difference on all scale levels (columns). In order to achieve the optional rotational invariance, a circular shift is applied on the rows of the second matrix.

Parameters:

[in]	a	An (na x m) matrix.
[in]	b	An (nb x m) matrix.
[out]	An	(na x nb) matrix.

Definition at line 249 of file dissimilarity_getter.cpp.

double place_matcher_mcc::DissimilarityGetter::compute_convexity	(	const polygon_list &	polygons,
		matrix &	m
	)		[private]

Compute the convexity of scaled polygons.

Compute the convexity of scaled polygons by looking at the signed distance between a point at scale s and the same point at scale (s - 1). This approximates the curvature.

Return the estimated shape complexity as the average of the differences between max and min convexity/concavity measures over all scale levels.

Parameters:

[in]	polygons	A list of s scaled polygons of n points each.
[out]	m	A multi-scale convexity concavity representation, an (n x s) matrix.

Returns:

The polygon complexity.

Definition at line 201 of file dissimilarity_getter.cpp.

double place_matcher_mcc::DissimilarityGetter::getDissimilarity	(	const geometry_msgs::Polygon &	polygon1,
		const geometry_msgs::Polygon &	polygon2
	)

Definition at line 105 of file dissimilarity_getter.cpp.

bool place_matcher_mcc::DissimilarityGetter::getDissimilarity	(	place_matcher_msgs::PolygonDissimilarityRequest &	req,
		place_matcher_msgs::PolygonDissimilarityResponse &	res
	)

Definition at line 138 of file dissimilarity_getter.cpp.

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Member Data Documentation

bool place_matcher_mcc::DissimilarityGetter::rotation_invariance

Definition at line 57 of file dissimilarity_getter.h.

unsigned int place_matcher_mcc::DissimilarityGetter::sample_count

Definition at line 54 of file dissimilarity_getter.h.

unsigned int place_matcher_mcc::DissimilarityGetter::scale_count

Definition at line 51 of file dissimilarity_getter.h.

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

• dissimilarity_getter.h
• dissimilarity_getter.cpp