Public Member Functions | Private Types | Private Member Functions | Private Attributes | List of all members
pose_prediction_ism::RandomPath Class Reference

#include <random_path.h>

Inheritance diagram for pose_prediction_ism::RandomPath:
Inheritance graph
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Public Member Functions

AttributedPointCloud predictUnfoundPoses (ISM::PosePtr &reference_pose, std::string pattern_name, double percentage_of_records_for_prediction)
 predictUnfoundPoses Processes the following steps for each object in the objectpattern set. More...
 
 RandomPath (std::string database_filename)
 
 ~RandomPath ()
 
- Public Member Functions inherited from pose_prediction_ism::PredictorWithScore
 PredictorWithScore (std::string database_filename, std::string name_space, PredictorType predictor_type)
 
- Public Member Functions inherited from pose_prediction_ism::PosePredictor
void clearPointCloud ()
 
void disableRandom ()
 
void enableRandom (double sphere_radius, double max_projection_angle)
 
AttributedPointCloud getAttributedPointCloud () const
 
std::string getMarkerNameSpace () const
 
PredictorType getPredictorType () const
 
void setFoundObjects (const FoundObjects &value)
 
void setPredictionGenerationFactor (double prediction_generation_factor_)
 
void traverseISM (std::string pattern_name, unsigned int level)
 

Private Types

typedef std::vector< PathWithScorePathsWithScores
 
typedef std::map< IsmObject, PathsWithScoresPathsWithScoresMap
 
typedef std::vector< double > Slots
 
typedef std::map< IsmObject, SlotsSlotsMap
 

Private Member Functions

double calculatePathScore (IsmObjects path)
 
void createAttributedPointCloud (ISM::PosePtr reference_pose_ptr, double percentage_of_records_for_prediction)
 
void createPathsWithScoresMap (std::string type, IsmObjects predecessors)
 
void createSlotsMap ()
 

Private Attributes

PathsWithScoresMap paths_with_scores_map_
 
SlotsMap slots_map_
 

Additional Inherited Members

- Protected Types inherited from pose_prediction_ism::PredictorWithScore
typedef std::pair< IsmObjects, double > PathWithScore
 
- Protected Types inherited from pose_prediction_ism::PosePredictor
typedef std::pair< std::string, std::string > IsmObject
 
typedef std::vector< IsmObjectIsmObjects
 
typedef std::set< IsmObjectIsmObjectSet
 
typedef std::map< IsmObject, unsigned int > SizeMap
 
typedef boost::variate_generator< boost::mt19937, boost::uniform_real<> > UniformDistributionGenerator
 
- Protected Member Functions inherited from pose_prediction_ism::PosePredictor
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...
 
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 inherited from pose_prediction_ism::PosePredictor
AttributedPointCloud attributed_point_cloud_
 
double average_votes_ = 0
 
double prediction_generation_factor_ = 1
 
SizeMap specifiers_size_map_
 
UniformDistributionGeneratorudg_dist_
 
UniformDistributionGeneratorudg_rot_
 
ISM::PatternToObjectToVoteMap votes_
 

Detailed Description

Definition at line 25 of file random_path.h.

Member Typedef Documentation

Definition at line 35 of file random_path.h.

Definition at line 36 of file random_path.h.

typedef std::vector<double> pose_prediction_ism::RandomPath::Slots
private

Definition at line 33 of file random_path.h.

Definition at line 34 of file random_path.h.

Constructor & Destructor Documentation

pose_prediction_ism::RandomPath::RandomPath ( std::string  database_filename)

Definition at line 21 of file random_path.cpp.

pose_prediction_ism::RandomPath::~RandomPath ( )

Definition at line 26 of file random_path.cpp.

Member Function Documentation

double pose_prediction_ism::RandomPath::calculatePathScore ( IsmObjects  path)
privatevirtual

Implements pose_prediction_ism::PredictorWithScore.

Definition at line 164 of file random_path.cpp.

void pose_prediction_ism::RandomPath::createAttributedPointCloud ( ISM::PosePtr  reference_pose_ptr,
double  percentage_of_records_for_prediction 
)
privatevirtual

Implements pose_prediction_ism::PosePredictor.

Definition at line 87 of file random_path.cpp.

void pose_prediction_ism::RandomPath::createPathsWithScoresMap ( std::string  type,
IsmObjects  predecessors 
)
private

Definition at line 45 of file random_path.cpp.

void pose_prediction_ism::RandomPath::createSlotsMap ( )
private

Definition at line 127 of file random_path.cpp.

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

Implements pose_prediction_ism::PosePredictor.

Definition at line 30 of file random_path.cpp.

Member Data Documentation

PathsWithScoresMap pose_prediction_ism::RandomPath::paths_with_scores_map_
private

Definition at line 39 of file random_path.h.

SlotsMap pose_prediction_ism::RandomPath::slots_map_
private

Definition at line 40 of file random_path.h.


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


asr_lib_pose_prediction_ism
Author(s): Heizmann Heinrich, Heller Florian, Meißner Pascal, Stöckle Patrick
autogenerated on Thu Jan 9 2020 07:19:57