pose_prediction_ism::RandomPath Class Reference

#include <random_path.h>

Inheritance diagram for pose_prediction_ism::RandomPath:

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< PathWithScore >	PathsWithScores
typedef std::map< IsmObject, PathsWithScores >	PathsWithScoresMap
typedef std::vector< double >	Slots
typedef std::map< IsmObject, Slots >	SlotsMap

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< 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 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_
UniformDistributionGenerator *	udg_dist_
UniformDistributionGenerator *	udg_rot_
ISM::PatternToObjectToVoteMap	votes_

Detailed Description

Definition at line 25 of file random_path.h.

Member Typedef Documentation

typedef std::vector<PathWithScore> pose_prediction_ism::RandomPath::PathsWithScores

private

Definition at line 35 of file random_path.h.

typedef std::map<IsmObject , PathsWithScores> pose_prediction_ism::RandomPath::PathsWithScoresMap

private

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.

typedef std::map<IsmObject , Slots> pose_prediction_ism::RandomPath::SlotsMap

private

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:

• random_path.h
• random_path.cpp