pose_prediction_ism::ShortestPath Class Reference

#include <shortest_path.h>

Inheritance diagram for pose_prediction_ism::ShortestPath:

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...
	ShortestPath (std::string database_filename)
	~ShortestPath ()
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::map< IsmObject, IsmObjects >	ShortestPathMap

Private Member Functions
void	createAttributedPointCloud (ISM::PosePtr reference_pose_ptr, double percentage_of_records_for_prediction)
void	createShortestPathMap (std::string type, IsmObjects paths)
void	printShortestPaths ()

Private Attributes
ShortestPathMap	shortest_path_map_

Additional Inherited Members
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 24 of file shortest_path.h.

Member Typedef Documentation

typedef std::map<IsmObject , IsmObjects> pose_prediction_ism::ShortestPath::ShortestPathMap

private

Definition at line 32 of file shortest_path.h.

Constructor & Destructor Documentation

pose_prediction_ism::ShortestPath::ShortestPath

(

std::string

database_filename

)

Definition at line 22 of file shortest_path.cpp.

pose_prediction_ism::ShortestPath::~ShortestPath

(

)

Definition at line 27 of file shortest_path.cpp.

Member Function Documentation

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

privatevirtual

Implements pose_prediction_ism::PosePredictor.

Definition at line 98 of file shortest_path.cpp.

void pose_prediction_ism::ShortestPath::createShortestPathMap ( std::string  type, IsmObjects  paths  )

private

Definition at line 54 of file shortest_path.cpp.

AttributedPointCloud pose_prediction_ism::ShortestPath::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 31 of file shortest_path.cpp.

void pose_prediction_ism::ShortestPath::printShortestPaths ( )

private

Definition at line 124 of file shortest_path.cpp.

Member Data Documentation

ShortestPathMap pose_prediction_ism::ShortestPath::shortest_path_map_

private

Definition at line 35 of file shortest_path.h.

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

• shortest_path.h
• shortest_path.cpp