SurfaceHistoryRecorder records information of time, iteration and history of each surface. More...

#include <surface_history_recorder.h>

Public Member Functions
void	GetClock (size_t id, clock_t *clock_ptr) const
	Output the latest clock when the surface is found.
void	GetCloudHistory (size_t id, pcl::PointCloud< pcl::PointXYZRGB >::Ptr output_cloud) const
	Output the point cloud history of a surface.
void	GetIteration (size_t id, size_t *iteration_ptr) const
	Output the latest iteration number when the surface is found.
void	Record (size_t id, const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, const pcl::PointIndices::Ptr &indices, size_t iteration)
	Record the surface data when the surface is seen in the first time.
void	Update (size_t old_id, size_t new_id, const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, const pcl::PointIndices::Ptr &indices, size_t iteration)
	Update the existing surface data stored in this instance.
Private Attributes
std::map< size_t, pcl::PointCloud < pcl::PointXYZRGB >::Ptr >	cloud_history_
std::map< size_t, size_t >	iteration_history_
std::map< size_t, clock_t >	time_history_

Detailed Description

SurfaceHistoryRecorder records information of time, iteration and history of each surface.

This class designed for SurfaceFinder in order to record the performance of the algorithm. In particular, SurfaceHistoryRecorder tracks clock info, the latest iteration and the concatenated point cloud that represents the evolution of a surface.

Example usage:

  SurfaceHistoryRecorder recorder;

  pcl::PointIndices::Ptr indices(new pcl::PointIndices);
  ...Find some surface and fill indices...
  recorder.Record(indices->indices.size(), input_cloud, indices,
                  iteration_number)

  pcl::PointIndices::Ptr new_indices(new pcl::PointIndices);
  ...Find another surface and fill new_indices...
  if (surface is already seen) {
    recorder.Update(indices->indices.size(), new_indices->indices.size(),
                    input_cloud, new_indices,
                    iteration_number);
  } else {
    recorder.Record(...)
  }

  ...

  // Get the recorded result for surface i
  pcl::PointCloud<pcl::PointXYZRGB>::Ptr surface_history(
      new pcl::PointCloud<pcl::PointXYZRGB>);
  clock_t current_clock;
  size_t latest_iteration;
  recorder.GetCloudHistory(indices_of_surface_i->indices.size(),
                           surface_history);
  recorder.GetClock(indices_of_surface_i->indices.size(), &current_clock);
  recorder.GetIteration(indices_of_surface_i->indices.size(),
                        &last_iteration);

Definition at line 52 of file surface_history_recorder.h.

Member Function Documentation

void surface_perception::SurfaceHistoryRecorder::GetClock	(	size_t	id,
		clock_t *	clock_ptr
	)		const

Output the latest clock when the surface is found.

The clock indicates the system clock when the algorithm finds the surface. The resultant clock info is expected to be used to calculate time spent on finding a surface.

Parameters:

[in]	id	The identification number of the surface.
[out]	clock_ptr	The pointer to the recorded clock_t value.

Definition at line 57 of file surface_history_recorder.cpp.

void surface_perception::SurfaceHistoryRecorder::GetCloudHistory	(	size_t	id,
		pcl::PointCloud< pcl::PointXYZRGB >::Ptr	output_cloud
	)		const

Output the point cloud history of a surface.

The point cloud history, or the evolution of surface, is defined as the concatenation of past and resent points for a surface.

Parameters:

[in]	id	The identification number of the surface.
[out]	output_cloud	The concatenated point cloud history as output.

Definition at line 48 of file surface_history_recorder.cpp.

void surface_perception::SurfaceHistoryRecorder::GetIteration	(	size_t	id,
		size_t *	iteration_ptr
	)		const

Output the latest iteration number when the surface is found.

Parameters:

[in]	id	The identification number of the surface.
[out]	iteration_ptr	The pointer to the recorded iteration number.

Definition at line 64 of file surface_history_recorder.cpp.

void surface_perception::SurfaceHistoryRecorder::Record	(	size_t	id,
		const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &	cloud,
		const pcl::PointIndices::Ptr &	indices,
		size_t	iteration
	)

Record the surface data when the surface is seen in the first time.

This function records the data for the surface not stored in this instance. If the surface is already seen, please use Update(...).

Parameters:

[in]	id	The identification number of data. In SurfaceFinder, the id is the number of points in the surface.
[in]	cloud	The input cloud of SurfaceFinder.
[in]	indices	The indices of the surface found.
[in]	iteration	The iteration number when this surface is found.

Definition at line 16 of file surface_history_recorder.cpp.

void surface_perception::SurfaceHistoryRecorder::Update	(	size_t	old_id,
		size_t	new_id,
		const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &	cloud,
		const pcl::PointIndices::Ptr &	indices,
		size_t	iteration
	)

Update the existing surface data stored in this instance.

This function updates the surface data for a surface that the algorithm has already seen. If the surface found is not seen before, please use Record(...), because the id of a surface may change over time.

Parameters:

[in]	old_id	The old identification number of the surface.
[in]	new_id	The new identification number of the surface.
[in]	cloud	The input point cloud of SurfaceFinder.
[in]	indices	The indices of the surface found.
[in]	iteration	The iteration number when the surface is found.

Definition at line 22 of file surface_history_recorder.cpp.

Member Data Documentation

std::map<size_t, pcl::PointCloud<pcl::PointXYZRGB>::Ptr> surface_perception::SurfaceHistoryRecorder::cloud_history_ [private]

Definition at line 110 of file surface_history_recorder.h.

std::map<size_t, size_t> surface_perception::SurfaceHistoryRecorder::iteration_history_ [private]

Definition at line 112 of file surface_history_recorder.h.

std::map<size_t, clock_t> surface_perception::SurfaceHistoryRecorder::time_history_ [private]

Definition at line 111 of file surface_history_recorder.h.

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

Public Member Functions

Private Attributes

Detailed Description

Member Function Documentation

Member Data Documentation