#include <pose_predictor.h>

Inheritance diagram for pose_prediction_ism::PosePredictor:

[legend]

Public Member Functions
void	clearPointCloud ()

void	disableRandom ()

void	enableRandom (double sphere_radius, double max_projection_angle)

AttributedPointCloud	getAttributedPointCloud () const

std::string	getMarkerNameSpace () const

PredictorType	getPredictorType () const

virtual AttributedPointCloud	predictUnfoundPoses (ISM::PosePtr &reference_pose, std::string pattern_name, double percentage_of_records_for_prediction)=0
	predictUnfoundPoses Processes the following steps for each object in the objectpattern set. More...

void	setFoundObjects (const FoundObjects &value)

void	setPredictionGenerationFactor (double prediction_generation_factor_)

void	traverseISM (std::string pattern_name, unsigned int level)

Protected Types
typedef std::pair< std::string, std::string >	IsmObject

typedef std::vector< IsmObject >	IsmObjects

typedef std::set< IsmObject >	IsmObjectSet

typedef std::map< IsmObject, unsigned int >	SizeMap

typedef boost::variate_generator< boost::mt19937, boost::uniform_real<> >	UniformDistributionGenerator

Protected Member Functions
void	addPointToPointCloud (ISM::PosePtr pose_to_add, std::string type, std::string identifier)
	RecognizerPredictionISM::addPointToPointCloud Adds an ISM Pose with object type and identifier as attributed point to the attributed point cloud if the number of hypotheses is higher than the threshold. More...

virtual void	createAttributedPointCloud (ISM::PosePtr reference_pose_ptr, double percentage_of_records_for_prediction)=0

IsmObjectSet	getObjectTypesAndIdsBelongingToPattern (std::string type)

bool	isFoundObject (IsmObject object)

bool	isPointCloudEmpty ()

bool	isReferenceObject (IsmObject object)

	PosePredictor (std::string database_filename, std::string name_space, PredictorType predictor_type)

ISM::PosePtr	predictPose (ISM::PosePtr reference_pose_ptr, IsmObjects path_to_object)

	~PosePredictor ()

Protected Attributes
AttributedPointCloud	attributed_point_cloud_

double	average_votes_ = 0

double	prediction_generation_factor_ = 1

SizeMap	specifiers_size_map_

UniformDistributionGenerator *	udg_dist_

UniformDistributionGenerator *	udg_rot_

ISM::PatternToObjectToVoteMap	votes_

Private Attributes
FoundObjects	found_objects_

double	MAX_PROJECTION_ANGLE = 0.0

const std::string	NAME_SPACE_

const PredictorType	PREDICTOR_TYPE_

double	SPHERE_RADIUS = 0.0

ISM::TableHelperPtr	table_helper_

bool	USE_RANDOMS = false

Detailed Description

Definition at line 46 of file pose_predictor.h.

Member Typedef Documentation

typedef std::pair<std::string, std::string> pose_prediction_ism::PosePredictor::IsmObject

protected

Definition at line 49 of file pose_predictor.h.

typedef std::vector<IsmObject> pose_prediction_ism::PosePredictor::IsmObjects

protected

Definition at line 50 of file pose_predictor.h.

typedef std::set<IsmObject> pose_prediction_ism::PosePredictor::IsmObjectSet

protected

Definition at line 51 of file pose_predictor.h.

typedef std::map<IsmObject , unsigned int> pose_prediction_ism::PosePredictor::SizeMap

protected

Definition at line 125 of file pose_predictor.h.

typedef boost::variate_generator<boost::mt19937, boost::uniform_real<> > pose_prediction_ism::PosePredictor::UniformDistributionGenerator

protected

Definition at line 126 of file pose_predictor.h.

Constructor & Destructor Documentation

pose_prediction_ism::PosePredictor::PosePredictor	(	std::string	database_filename,
		std::string	name_space,
		PredictorType	predictor_type
	)

protected

Definition at line 23 of file pose_predictor.cpp.

pose_prediction_ism::PosePredictor::~PosePredictor ( )

protected

Destructor.

Definition at line 60 of file pose_predictor.cpp.

Member Function Documentation

void pose_prediction_ism::PosePredictor::addPointToPointCloud	(	ISM::PosePtr	pose_to_add,
		std::string	type,
		std::string	identifier
	)

inlineprotected

RecognizerPredictionISM::addPointToPointCloud Adds an ISM Pose with object type and identifier as attributed point to the attributed point cloud if the number of hypotheses is higher than the threshold.

Parameters

poseToAdd
type
identifier

Definition at line 149 of file pose_predictor.h.

void pose_prediction_ism::PosePredictor::clearPointCloud ( )

inline

Definition at line 87 of file pose_predictor.h.

virtual void pose_prediction_ism::PosePredictor::createAttributedPointCloud	(	ISM::PosePtr	reference_pose_ptr,
		double	percentage_of_records_for_prediction
	)

protectedpure virtual

Implemented in pose_prediction_ism::PaperPredictionNonNormalized, pose_prediction_ism::PaperPredictionNormalized, pose_prediction_ism::RandomPath, pose_prediction_ism::BestPath, and pose_prediction_ism::ShortestPath.

void pose_prediction_ism::PosePredictor::disableRandom ( )

inline

Definition at line 116 of file pose_predictor.h.

void pose_prediction_ism::PosePredictor::enableRandom	(	double	sphere_radius,
		double	max_projection_angle
	)

inline

Definition at line 107 of file pose_predictor.h.

AttributedPointCloud pose_prediction_ism::PosePredictor::getAttributedPointCloud ( ) const

Definition at line 141 of file pose_predictor.cpp.

std::string pose_prediction_ism::PosePredictor::getMarkerNameSpace ( ) const

Definition at line 136 of file pose_predictor.cpp.

IsmObjectSet pose_prediction_ism::PosePredictor::getObjectTypesAndIdsBelongingToPattern ( std::string type )

inlineprotected

Definition at line 173 of file pose_predictor.h.

PredictorType pose_prediction_ism::PosePredictor::getPredictorType ( ) const

Definition at line 145 of file pose_predictor.cpp.

bool pose_prediction_ism::PosePredictor::isFoundObject ( IsmObject object )

inlineprotected

Definition at line 153 of file pose_predictor.h.

bool pose_prediction_ism::PosePredictor::isPointCloudEmpty ( )

inlineprotected

Definition at line 163 of file pose_predictor.h.

bool pose_prediction_ism::PosePredictor::isReferenceObject ( IsmObject object )

inlineprotected

Definition at line 168 of file pose_predictor.h.

ISM::PosePtr pose_prediction_ism::PosePredictor::predictPose	(	ISM::PosePtr	reference_pose_ptr,
		IsmObjects	path_to_object
	)

protected

Definition at line 77 of file pose_predictor.cpp.

virtual AttributedPointCloud pose_prediction_ism::PosePredictor::predictUnfoundPoses	(	ISM::PosePtr &	reference_pose,
		std::string	pattern_name,
		double	percentage_of_records_for_prediction
	)

pure virtual

predictUnfoundPoses Processes the following steps for each object in the objectpattern set.

Look whether we have an unfound object (reference object can never be
found as they do not exist). Else ignore vote, as we already know itsattributedPoint.pose.
If the object was not found
- Get all votes that fit to combination of this reference
  (to reference and non-reference objects) and unfound object.
- If we have a reference object
  - search under it for unknown object.
- If we have a non-reference object
  - we have not found and save its position.
- Save that we found this object as missing in our currently considered scene hypotheses.

Parameters

reference_pose
pattern_name

Implemented in pose_prediction_ism::PaperPredictionNonNormalized, pose_prediction_ism::PaperPredictionNormalized, pose_prediction_ism::RandomPath, pose_prediction_ism::ShortestPath, and pose_prediction_ism::BestPath.

void pose_prediction_ism::PosePredictor::setFoundObjects ( const FoundObjects & value )

Definition at line 130 of file pose_predictor.cpp.

void pose_prediction_ism::PosePredictor::setPredictionGenerationFactor ( double prediction_generation_factor_ )

inline

Definition at line 100 of file pose_predictor.h.

void pose_prediction_ism::PosePredictor::traverseISM	(	std::string	pattern_name,
		unsigned int	level
	)

Definition at line 64 of file pose_predictor.cpp.

Member Data Documentation

AttributedPointCloud pose_prediction_ism::PosePredictor::attributed_point_cloud_

protected

Definition at line 140 of file pose_predictor.h.

double pose_prediction_ism::PosePredictor::average_votes_ = 0

protected

Definition at line 138 of file pose_predictor.h.

FoundObjects pose_prediction_ism::PosePredictor::found_objects_

private

Definition at line 188 of file pose_predictor.h.

double pose_prediction_ism::PosePredictor::MAX_PROJECTION_ANGLE = 0.0

private

Definition at line 186 of file pose_predictor.h.

const std::string pose_prediction_ism::PosePredictor::NAME_SPACE_

private

Definition at line 182 of file pose_predictor.h.

double pose_prediction_ism::PosePredictor::prediction_generation_factor_ = 1

protected

Definition at line 136 of file pose_predictor.h.

const PredictorType pose_prediction_ism::PosePredictor::PREDICTOR_TYPE_

private

Definition at line 183 of file pose_predictor.h.

SizeMap pose_prediction_ism::PosePredictor::specifiers_size_map_

protected

Definition at line 130 of file pose_predictor.h.

double pose_prediction_ism::PosePredictor::SPHERE_RADIUS = 0.0

private

Definition at line 185 of file pose_predictor.h.

ISM:: TableHelperPtr pose_prediction_ism::PosePredictor::table_helper_

private

Definition at line 187 of file pose_predictor.h.

UniformDistributionGenerator* pose_prediction_ism::PosePredictor::udg_dist_

protected

Definition at line 127 of file pose_predictor.h.

UniformDistributionGenerator* pose_prediction_ism::PosePredictor::udg_rot_

protected

Definition at line 128 of file pose_predictor.h.

bool pose_prediction_ism::PosePredictor::USE_RANDOMS = false

private

Definition at line 184 of file pose_predictor.h.

ISM::PatternToObjectToVoteMap pose_prediction_ism::PosePredictor::votes_

protected

Definition at line 134 of file pose_predictor.h.

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

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Private Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation