next_best_view::DefaultRatingModule Class Reference

DefaultRatingModule implements the functionlities offered by RatingModule. More...

#include <DefaultRatingModule.hpp>

Inheritance diagram for next_best_view::DefaultRatingModule:

Public Member Functions
bool	compareScoreContainer (const BaseScoreContainerPtr &a, const BaseScoreContainerPtr &b)
	compares two ratings. More...
bool	compareViewports (const ViewportPoint &a, const ViewportPoint &b)
	compares two viewports More...
	DefaultRatingModule ()
	DefaultRatingModule (double fovV, double fovH, double fcp, double ncp, bool useTargetRobotState, const robot_model_services::RobotModelPtr &robotModelPtr=robot_model_services::RobotModelPtr(), const MapHelperPtr &mapHelperPtr=MapHelperPtr(), const CameraModelFilterPtr &cameraModelFilterPtr=CameraModelFilterPtr())
bool	getBestViewport (ViewportPointCloudPtr &viewports, ViewportPoint &bestViewport)
	Sets the best viewport from the given viewports cloud. More...
float	getFrustumPositionUtility (const ViewportPoint &viewport, ObjectPoint &objectPoint)
	returns the utility of the position of an object in the frustum of a given camera viewport. The frustum position utility is always between 0.0 and 1.0. More...
double	getNormalAngleThreshold ()
float	getNormalizedAngleUtility (const SimpleVector3 v1, const SimpleVector3 v2, double angleThreshold)
	returns a rating for the difference between the two given normals. More...
float	getNormalUtility (const ViewportPoint &viewport, const SimpleVector3 &objectNormalVector, const SimpleVector3 &objectPosition)
	returns the utility of one object normal for a given camera viewport. The normal utility is always between 0.0 and 1.0. More...
float	getNormalUtility (const ViewportPoint &viewport, const SimpleVector3 &objectNormalVector, const SimpleVector3 &objectPosition, double angleThreshold)
	returns the utility of one object normal for a given camera viewport. The normal utility is always between 0.0 and 1.0. More...
float	getOrientationUtility (const ViewportPoint &viewport, ObjectPoint &objectPoint)
	returns the orientation utility of an object point for a given camera viewport. The orientation utility is always between 0.0 and 1.0. More...
float	getProximityUtility (const ViewportPoint &viewport, const ObjectPoint &objectPoint)
	returns the proximity utility of a given object point for a given camera viewport. The proximizy utility is always between 0.0 and 1.0. Depends on the distance between the object and the camera. More...
float	getRating (const BaseScoreContainerPtr &a)
	returns the weighted rating of a rating object. More...
BaseScoreContainerPtr	getScoreContainerInstance ()
float	getSideUtility (const ViewportPoint &viewport, const ObjectPoint &objectPoint)
	returns the side utility of a given object point for a given camera viewport. The side utility is always between 0.0 and 1.0. Depends on how far the object is to the side of the camera view/srustum. More...
void	resetCache ()
	resets the cached data for a call of setBestScoreContainer More...
bool	setBestScoreContainer (const ViewportPoint &currentViewport, ViewportPoint &candidateViewport)
	Sets the best score for the given candidate camera viewport by choosing the best combination of objects. Writes the chosen object combination and its score into the candidate viewport. Does not change the pose of the candidate viewport. More...
void	setFrustumParameters (double fovV, double fovH, double fcp, double ncp)
void	setInputCloud (const ObjectPointCloudPtr &pointCloudPtr)
	setting the input cloud. More...
void	setNormalAngleThreshold (double angle)
	sets the threshold for the angle between the orientation of an object and the camera orientation. More...
void	setOmegaParameters (double omegaUtility, double omegaPan, double omegaTilt, double omegaRot, double omegaBase, double omegaRecognition)
	Set the weights of the movements of each component. More...
void	setRobotState (robot_model_services::RobotStatePtr robotState)
	setRobotState sets mRobotModelPtr's state. More...
bool	setSingleScoreContainer (const ViewportPoint &currentViewport, ViewportPoint &candidateViewport)
	sets the score container for one filtered camera viewport Before calling this method, the method resetCache() should be called. More...
void	setUseTargetRobotState (bool useTargetRobotState)
void	setUtilityParameters (bool useOrientationUtility=true, bool useProximityUtility=true, bool useSideUtility=true)
virtual	~DefaultRatingModule ()
Public Member Functions inherited from next_best_view::RatingModule
	RatingModule ()
	constructor of the RatingModule object More...
virtual	~RatingModule ()
	destructor of the RatingModule object. More...
Public Member Functions inherited from next_best_view::CommonClass
	CommonClass ()
	constructor More...
virtual IndicesPtr &	getIndices ()
virtual ObjectPointCloudPtr &	getInputCloud ()
virtual void	setIndices (const IndicesPtr &indicesPtr)
	setting the shared pointer to the active indices of the point cloud. More...
virtual	~CommonClass ()=0
	pure virtual deconstructor. More...

Private Member Functions
float	getNormalizedRating (float deviation, float threshold)
	returns the normalized rating for a given deviation from the optimum and a threshold for the deviation. The normalized rating is always between 0.0 and 1.0. More...
double	getUnweightedInverseRecognitionCosts (const ViewportPoint &targetViewport)
	returns the inverse recognition costs for the objects in the target viewport More...
double	getUnweightedUnnormalizedUtility (const ViewportPoint &candidateViewport)
	returns the utility for the given candidate camera viewport. More...
double	getWeightedInverseCosts (const ViewportPoint &sourceViewport, const ViewportPoint &targetViewport)
	returns the inverse costs for the movement from the source to the target viewport and the recognition of the objects More...
void	setMaxRecognitionCosts ()
	sets the mMaxRecognitionCosts member. Must be called before calling getNormalizedRecognitionCosts everytime the input cloud changed. More...
void	setRatingNormalization ()
	sets the mRatingNormalization member More...
void	setRobotState (const ViewportPoint &sourceViewport, const ViewportPoint &targetViewport)
	sets the robot state and the mTargetState member. Must be called before calling setOmegaPTU and setMovementCosts. More...
void	setUnweightedUnnormalizedObjectUtilities (const ViewportPoint &candidateViewport, std::string objectType)
	sets the mObjectUtilities member. More...
void	setWeightedInverseMovementCosts ()
	sets the mMovementCosts member. Must be called before calling setRatingNormalization. More...

Private Attributes
CameraModelFilterPtr	mCameraModelFilterPtr
DebugHelperPtr	mDebugHelperPtr
double	mFcp
double	mFovH
double	mFovV
bool	mInputCloudChanged = true
MapHelperPtr	mMapHelperPtr
double	mMaxRecognitionCosts
double	mNcp
double	mNormalAngleThreshold
double	mOmegaBase
double	mOmegaPan
Precision	mOmegaPTU = -1
double	mOmegaRecognizer
double	mOmegaRot
double	mOmegaTilt
double	mOmegaUtility
double	mRatingNormalization = -1
robot_model_services::RobotModelPtr	mRobotModelPtr
robot_model_services::RobotStatePtr	mTargetState = NULL
Precision	mUnweightedInverseMovementCostsBaseRotation = -1
Precision	mUnweightedInverseMovementCostsBaseTranslation = -1
Precision	mUnweightedInverseMovementCostsPTU = -1
double	mUnweightedInverseRecognitionCosts = -1
std::map< std::string, float >	mUnweightedUnnormalizedObjectUtilities
bool	mUseOrientationUtility = true
bool	mUseProximityUtility = true
bool	mUseSideUtility = true
bool	mUseTargetRobotState = false
double	mWeightedInverseMovementCosts = -1

Detailed Description

DefaultRatingModule implements the functionlities offered by RatingModule.

Author

Ralf Schleicher

Date

2014

Version

1.0

Copyright

GNU Public License

Definition at line 40 of file DefaultRatingModule.hpp.

Constructor & Destructor Documentation

next_best_view::DefaultRatingModule::DefaultRatingModule

(

)

Definition at line 25 of file DefaultRatingModule.cpp.

next_best_view::DefaultRatingModule::DefaultRatingModule	(	double	fovV,
		double	fovH,
		double	fcp,
		double	ncp,
		bool	useTargetRobotState,
		const robot_model_services::RobotModelPtr &	robotModelPtr = robot_model_services::RobotModelPtr(),
		const MapHelperPtr &	mapHelperPtr = MapHelperPtr(),
		const CameraModelFilterPtr &	cameraModelFilterPtr = CameraModelFilterPtr()
	)

Definition at line 31 of file DefaultRatingModule.cpp.

next_best_view::DefaultRatingModule::~DefaultRatingModule ( )

virtual

Definition at line 47 of file DefaultRatingModule.cpp.

Member Function Documentation

bool next_best_view::DefaultRatingModule::compareScoreContainer ( const BaseScoreContainerPtr &  a, const BaseScoreContainerPtr &  b  )

virtual

compares two ratings.

Parameters

a	[in] comparison object A
b	[in] comparison object B

Returns

whether A is smaller than B

Implements next_best_view::RatingModule.

Definition at line 156 of file DefaultRatingModule.cpp.

bool next_best_view::DefaultRatingModule::compareViewports ( const ViewportPoint &  a, const ViewportPoint &  b  )

virtual

compares two viewports

Parameters

a	[in] viewport a
b	[in] viewport b

Returns

whether a < b is true

Implements next_best_view::RatingModule.

Definition at line 152 of file DefaultRatingModule.cpp.

bool next_best_view::DefaultRatingModule::getBestViewport ( ViewportPointCloudPtr &  viewports, ViewportPoint &  bestViewport  )

virtual

Sets the best viewport from the given viewports cloud.

Parameters

viewports	[in] the viewports cloud
bestViewport	[out] the best viewport

Returns

whether a best viewport was found

Implements next_best_view::RatingModule.

Definition at line 95 of file DefaultRatingModule.cpp.

float next_best_view::DefaultRatingModule::getFrustumPositionUtility	(	const ViewportPoint &	viewport,
		ObjectPoint &	objectPoint
	)

returns the utility of the position of an object in the frustum of a given camera viewport. The frustum position utility is always between 0.0 and 1.0.

Parameters

viewport	[in] the camera viewport
objectPoint	[in] the object point.

Returns

the frustum position utility

Definition at line 245 of file DefaultRatingModule.cpp.

double next_best_view::DefaultRatingModule::getNormalAngleThreshold

(

)

Retuns the threshold for the angle between the orientation of an object and the camera orientation.

Returns

the angle threshold.

Definition at line 316 of file DefaultRatingModule.cpp.

float next_best_view::DefaultRatingModule::getNormalizedAngleUtility	(	const SimpleVector3	v1,
		const SimpleVector3	v2,
		double	angleThreshold
	)

returns a rating for the difference between the two given normals.

Parameters

v1	first normal
v2	second normal
angleThreshold

Returns

rating for the difference of v1 and v2

Definition at line 259 of file DefaultRatingModule.cpp.

float next_best_view::DefaultRatingModule::getNormalizedRating ( float  deviation, float  threshold  )

private

returns the normalized rating for a given deviation from the optimum and a threshold for the deviation. The normalized rating is always between 0.0 and 1.0.

Parameters

rating	the actual devation
threshold	the threshold for the deviation

Returns

the normalized rating

Definition at line 351 of file DefaultRatingModule.cpp.

float next_best_view::DefaultRatingModule::getNormalUtility	(	const ViewportPoint &	viewport,
		const SimpleVector3 &	objectNormalVector,
		const SimpleVector3 &	objectPosition
	)

returns the utility of one object normal for a given camera viewport. The normal utility is always between 0.0 and 1.0.

Parameters

viewport	[in] the the camera viewport
objectNormalVector	[in] the normalized vector which is perpendicular to the object surface
objerctPosition	[in] the position of the object

Returns

the normality utility

Definition at line 191 of file DefaultRatingModule.cpp.

float next_best_view::DefaultRatingModule::getNormalUtility	(	const ViewportPoint &	viewport,
		const SimpleVector3 &	objectNormalVector,
		const SimpleVector3 &	objectPosition,
		double	angleThreshold
	)

returns the utility of one object normal for a given camera viewport. The normal utility is always between 0.0 and 1.0.

Parameters

viewport	[in] the the camera viewport
objectNormalVector	[in] the normalized vector which is perpendicular to the object surface
objerctPosition	[in] the position of the object
angleThreshold	[in] the angle threshold

Returns

the normality utility

Definition at line 196 of file DefaultRatingModule.cpp.

float next_best_view::DefaultRatingModule::getOrientationUtility	(	const ViewportPoint &	viewport,
		ObjectPoint &	objectPoint
	)

returns the orientation utility of an object point for a given camera viewport. The orientation utility is always between 0.0 and 1.0.

Parameters

viewport	[in] the camera viewport
objectPoint	[in] the object point.

Returns

the orientation utility

Definition at line 175 of file DefaultRatingModule.cpp.

float next_best_view::DefaultRatingModule::getProximityUtility	(	const ViewportPoint &	viewport,
		const ObjectPoint &	objectPoint
	)

returns the proximity utility of a given object point for a given camera viewport. The proximizy utility is always between 0.0 and 1.0. Depends on the distance between the object and the camera.

Parameters

viewport	the camera viewport
objectPoint	the object point

Returns

the proximity utility

Definition at line 205 of file DefaultRatingModule.cpp.

float next_best_view::DefaultRatingModule::getRating ( const BaseScoreContainerPtr &  a )

virtual

returns the weighted rating of a rating object.

Parameters

a	[in] the rating object.

Returns

the weighted rating

Implements next_best_view::RatingModule.

Definition at line 265 of file DefaultRatingModule.cpp.

BaseScoreContainerPtr next_best_view::DefaultRatingModule::getScoreContainerInstance ( )

virtual

Returns

a shared pointer containing an empty rating object.

Implements next_best_view::RatingModule.

Definition at line 171 of file DefaultRatingModule.cpp.

float next_best_view::DefaultRatingModule::getSideUtility	(	const ViewportPoint &	viewport,
		const ObjectPoint &	objectPoint
	)

returns the side utility of a given object point for a given camera viewport. The side utility is always between 0.0 and 1.0. Depends on how far the object is to the side of the camera view/srustum.

Parameters

viewport	the camera viewport
objectPoint	objectPoint the object point

Returns

the side utility

Definition at line 228 of file DefaultRatingModule.cpp.

double next_best_view::DefaultRatingModule::getUnweightedInverseRecognitionCosts ( const ViewportPoint &  targetViewport )

private

returns the inverse recognition costs for the objects in the target viewport

Parameters

targetViewport

the target viewport

Returns

the normalized inverse recognition costs

Definition at line 436 of file DefaultRatingModule.cpp.

double next_best_view::DefaultRatingModule::getUnweightedUnnormalizedUtility ( const ViewportPoint &  candidateViewport )

private

returns the utility for the given candidate camera viewport.

Parameters

candidateViewport

the candidate camera viewport

Returns

the utility

Definition at line 358 of file DefaultRatingModule.cpp.

double next_best_view::DefaultRatingModule::getWeightedInverseCosts ( const ViewportPoint &  sourceViewport, const ViewportPoint &  targetViewport  )

private

returns the inverse costs for the movement from the source to the target viewport and the recognition of the objects

Parameters

sourceViewport	the source viewport
targetViewport	the target viewport

Returns

the inverse movement and recognition costs

Definition at line 401 of file DefaultRatingModule.cpp.

void next_best_view::DefaultRatingModule::resetCache ( )

virtual

resets the cached data for a call of setBestScoreContainer

Implements next_best_view::RatingModule.

Definition at line 512 of file DefaultRatingModule.cpp.

bool next_best_view::DefaultRatingModule::setBestScoreContainer ( const ViewportPoint &  currentViewport, ViewportPoint &  candidateViewport  )

virtual

Sets the best score for the given candidate camera viewport by choosing the best combination of objects. Writes the chosen object combination and its score into the candidate viewport. Does not change the pose of the candidate viewport.

Parameters

currentViewport	[in] the current camera viewport
candidateViewport	[in,out] the candidate camera viewport. If the rating is feasible, it contains the chosen object indices in the child_indices member and the corresponding score in the score member after this method was called

Returns

whether the rating is feasible or not

Implements next_best_view::RatingModule.

Definition at line 56 of file DefaultRatingModule.cpp.

void next_best_view::DefaultRatingModule::setFrustumParameters	(	double	fovV,
		double	fovH,
		double	fcp,
		double	ncp
	)

Definition at line 331 of file DefaultRatingModule.cpp.

void next_best_view::DefaultRatingModule::setInputCloud ( const ObjectPointCloudPtr &  pointCloudPtr )

virtual

setting the input cloud.

Parameters

pointCloudPtr

the shared pointer to point cloud

Reimplemented from next_best_view::CommonClass.

Definition at line 49 of file DefaultRatingModule.cpp.

void next_best_view::DefaultRatingModule::setMaxRecognitionCosts ( )

private

sets the mMaxRecognitionCosts member. Must be called before calling getNormalizedRecognitionCosts everytime the input cloud changed.

Definition at line 494 of file DefaultRatingModule.cpp.

void next_best_view::DefaultRatingModule::setNormalAngleThreshold

(

double

angle

)

sets the threshold for the angle between the orientation of an object and the camera orientation.

Parameters

angle

the angle threshold

Definition at line 312 of file DefaultRatingModule.cpp.

void next_best_view::DefaultRatingModule::setOmegaParameters	(	double	omegaUtility,
		double	omegaPan,
		double	omegaTilt,
		double	omegaRot,
		double	omegaBase,
		double	omegaRecognition
	)

Set the weights of the movements of each component.

Definition at line 320 of file DefaultRatingModule.cpp.

void next_best_view::DefaultRatingModule::setRatingNormalization ( )

private

sets the mRatingNormalization member

Definition at line 490 of file DefaultRatingModule.cpp.

void next_best_view::DefaultRatingModule::setRobotState ( robot_model_services::RobotStatePtr  robotState )

virtual

setRobotState sets mRobotModelPtr's state.

Parameters

robotState

Implements next_best_view::RatingModule.

Definition at line 523 of file DefaultRatingModule.cpp.

void next_best_view::DefaultRatingModule::setRobotState ( const ViewportPoint &  sourceViewport, const ViewportPoint &  targetViewport  )

private

sets the robot state and the mTargetState member. Must be called before calling setOmegaPTU and setMovementCosts.

Parameters

sourceViewport	[in] the source viewport
targetViewport	[in] the target viewport
targetState	[out] the target state

Definition at line 452 of file DefaultRatingModule.cpp.

bool next_best_view::DefaultRatingModule::setSingleScoreContainer ( const ViewportPoint &  currentViewport, ViewportPoint &  candidateViewport  )

virtual

sets the score container for one filtered camera viewport Before calling this method, the method resetCache() should be called.

Parameters

currentViewport	[in] the current camera viewport
candidateViewport	[in,out] the filtered candidate camera viewport

Returns

whether the rating is feasible or not

Implements next_best_view::RatingModule.

Definition at line 279 of file DefaultRatingModule.cpp.

void next_best_view::DefaultRatingModule::setUnweightedUnnormalizedObjectUtilities ( const ViewportPoint &  candidateViewport, std::string  objectType  )

private

sets the mObjectUtilities member.

Parameters

candidateViewport	the candidate camera viewport
objectType	the object type for which the utility shall be set

Definition at line 374 of file DefaultRatingModule.cpp.

void next_best_view::DefaultRatingModule::setUseTargetRobotState

(

bool

useTargetRobotState

)

Definition at line 339 of file DefaultRatingModule.cpp.

void next_best_view::DefaultRatingModule::setUtilityParameters	(	bool	useOrientationUtility = true,
		bool	useProximityUtility = true,
		bool	useSideUtility = true
	)

Definition at line 344 of file DefaultRatingModule.cpp.

void next_best_view::DefaultRatingModule::setWeightedInverseMovementCosts ( )

private

sets the mMovementCosts member. Must be called before calling setRatingNormalization.

Definition at line 464 of file DefaultRatingModule.cpp.

Member Data Documentation

CameraModelFilterPtr next_best_view::DefaultRatingModule::mCameraModelFilterPtr

private

Definition at line 79 of file DefaultRatingModule.hpp.

DebugHelperPtr next_best_view::DefaultRatingModule::mDebugHelperPtr

private

Definition at line 80 of file DefaultRatingModule.hpp.

double next_best_view::DefaultRatingModule::mFcp

private

Definition at line 50 of file DefaultRatingModule.hpp.

double next_best_view::DefaultRatingModule::mFovH

private

Definition at line 48 of file DefaultRatingModule.hpp.

double next_best_view::DefaultRatingModule::mFovV

private

Definition at line 48 of file DefaultRatingModule.hpp.

bool next_best_view::DefaultRatingModule::mInputCloudChanged = true

private

Definition at line 111 of file DefaultRatingModule.hpp.

MapHelperPtr next_best_view::DefaultRatingModule::mMapHelperPtr

private

Definition at line 78 of file DefaultRatingModule.hpp.

double next_best_view::DefaultRatingModule::mMaxRecognitionCosts

private

Definition at line 109 of file DefaultRatingModule.hpp.

double next_best_view::DefaultRatingModule::mNcp

private

Definition at line 50 of file DefaultRatingModule.hpp.

double next_best_view::DefaultRatingModule::mNormalAngleThreshold

private

Definition at line 46 of file DefaultRatingModule.hpp.

double next_best_view::DefaultRatingModule::mOmegaBase

private

Definition at line 60 of file DefaultRatingModule.hpp.

double next_best_view::DefaultRatingModule::mOmegaPan

private

Definition at line 54 of file DefaultRatingModule.hpp.

Precision next_best_view::DefaultRatingModule::mOmegaPTU = -1

private

Definition at line 101 of file DefaultRatingModule.hpp.

double next_best_view::DefaultRatingModule::mOmegaRecognizer

private

Definition at line 62 of file DefaultRatingModule.hpp.

double next_best_view::DefaultRatingModule::mOmegaRot

private

Definition at line 58 of file DefaultRatingModule.hpp.

double next_best_view::DefaultRatingModule::mOmegaTilt

private

Definition at line 56 of file DefaultRatingModule.hpp.

double next_best_view::DefaultRatingModule::mOmegaUtility

private

Definition at line 52 of file DefaultRatingModule.hpp.

double next_best_view::DefaultRatingModule::mRatingNormalization = -1

private

Definition at line 99 of file DefaultRatingModule.hpp.

robot_model_services::RobotModelPtr next_best_view::DefaultRatingModule::mRobotModelPtr

private

Definition at line 77 of file DefaultRatingModule.hpp.

robot_model_services::RobotStatePtr next_best_view::DefaultRatingModule::mTargetState = NULL

private

Definition at line 103 of file DefaultRatingModule.hpp.

Precision next_best_view::DefaultRatingModule::mUnweightedInverseMovementCostsBaseRotation = -1

private

Definition at line 93 of file DefaultRatingModule.hpp.

Precision next_best_view::DefaultRatingModule::mUnweightedInverseMovementCostsBaseTranslation = -1

private

Definition at line 91 of file DefaultRatingModule.hpp.

Precision next_best_view::DefaultRatingModule::mUnweightedInverseMovementCostsPTU = -1

private

Definition at line 95 of file DefaultRatingModule.hpp.

double next_best_view::DefaultRatingModule::mUnweightedInverseRecognitionCosts = -1

private

Definition at line 97 of file DefaultRatingModule.hpp.

std::map<std::string, float> next_best_view::DefaultRatingModule::mUnweightedUnnormalizedObjectUtilities

private

Definition at line 87 of file DefaultRatingModule.hpp.

bool next_best_view::DefaultRatingModule::mUseOrientationUtility = true

private

Definition at line 70 of file DefaultRatingModule.hpp.

bool next_best_view::DefaultRatingModule::mUseProximityUtility = true

private

Definition at line 71 of file DefaultRatingModule.hpp.

bool next_best_view::DefaultRatingModule::mUseSideUtility = true

private

Definition at line 72 of file DefaultRatingModule.hpp.

bool next_best_view::DefaultRatingModule::mUseTargetRobotState = false

private

Definition at line 65 of file DefaultRatingModule.hpp.

double next_best_view::DefaultRatingModule::mWeightedInverseMovementCosts = -1

private

Definition at line 89 of file DefaultRatingModule.hpp.

---

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

• DefaultRatingModule.hpp
• DefaultRatingModule.cpp