next_best_view::NextBestViewCalculator Class Reference

#include <NextBestViewCalculator.hpp>

Public Member Functions
bool	calculateNextBestView (const ViewportPoint &currentCameraViewport, ViewportPoint &resultViewport)
bool	doFrustumCulling (const SimpleVector3 &position, const SimpleQuaternion &orientation, const IndicesPtr &indices, ViewportPoint &viewportPoint)
	creates a new camera viewport with the given data More...
bool	doFrustumCulling (const CameraModelFilterPtr &cameraModelFilterPtr, const SimpleVector3 &position, const SimpleQuaternion &orientation, const IndicesPtr &indices, ViewportPoint &resultViewport)
	creates a new camera viewport with the given data More...
bool	doFrustumCulling (ViewportPoint &resultViewportPoint)
	creates a new camera viewport with the given data More...
bool	doFrustumCulling (const CameraModelFilterPtr &cameraModelFilterPtr, ViewportPoint &resultViewportPoint)
	creates a new camera viewport with the given data More...
IndicesPtr	getActiveIndices ()
CameraModelFilterPtr	getCameraModelFilter ()
CameraModelFilterAbstractFactoryPtr	getCameraModelFilterAbstractFactoryPtr ()
	getCameraModelFilterAbstractFactoryPtr More...
float	getEpsilon ()
bool	getFeasibleHypothesis (SimpleVector3 samplePoint, IndicesPtr &resultIndicesPtr)
	getFeasibleHypothesis finds object hypothesis near samplePoint More...
void	getFeasibleSamplePoints (const SamplePointCloudPtr &sampledSpacePointCloudPtr, IndicesPtr &resultIndicesPtr)
void	getFeasibleViewports (const ViewportPointCloudPtr &sampleViewportsPtr, IndicesPtr &resultIndicesPtr)
	getFeasibleViewports returns a vector of indices/sampleViewports which contain nearby (hypothesis) More...
HypothesisUpdaterPtr	getHypothesisUpdater ()
KdTreePtr	getKdTreePtr ()
MapHelperPtr	getMapHelper ()
std::string	getMeshPathByName (std::string objectType)
double	getMinUtility () const
int	getNumberActiveNormals ()
unsigned int	getNumberActiveNormals (std::string type, std::string identifier)
int	getNumberOfThreads () const
	getNumberOfThreads More...
unsigned int	getNumberTotalNormals (std::string type, std::string identifier)
ObjectPointCloudPtr	getPointCloudPtr ()
RatingModulePtr	getRatingModule ()
RatingModuleAbstractFactoryPtr	getRatingModuleAbstractFactoryPtr ()
	getRatingModuleAbstractFactoryPtr More...
bool	getRequireMinUtility () const
robot_model_services::RobotModelPtr	getRobotModel ()
SpaceSamplerPtr	getSpaceSampler ()
std::vector< std::pair< std::string, std::string > >	getTypeAndIds ()
UnitSphereSamplerPtr	getUnitSphereSampler ()
void	initializeRobotState (const ViewportPoint &currentCameraViewport)
	initializeRobotState initializes the robotstate to the given viewport More...
void	loadCropBoxListFromFile (const std::string mCropBoxListFilePath)
	NextBestViewCalculator (const UnitSphereSamplerPtr &unitSphereSamplerPtr=UnitSphereSamplerPtr(), const MapHelperPtr &mapHelperPtr=MapHelperPtr(), const SpaceSamplerPtr &spaceSamplerPtr=SpaceSamplerPtr(), const robot_model_services::RobotModelPtr &robotModelPtr=robot_model_services::RobotModelPtr(), const CameraModelFilterPtr &cameraModelFilterPtr=CameraModelFilterPtr(), const RatingModulePtr &ratingModulePtr=RatingModulePtr())
bool	rateViewports (const ViewportPointCloudPtr &sampleNextBestViewportsPtr, const ViewportPoint &currentCameraViewport, ViewportPoint &resultViewport, bool objectTypeSetIsKnown=false)
	rates given viewports, which must contain child_indices More...
bool	rateViewports (const ViewportPointCloudPtr &sampleNextBestViewports, const ViewportPoint &currentCameraViewport, ViewportPointCloudPtr &ratedNextBestViewportsPtr, bool objectTypeSetIsKnown=false)
	rates given viewports, which must contain child_indices More...
bool	removeObjects (std::string type, std::string identifier)
void	setActiveIndices (const IndicesPtr &activeIndicesPtr)
	sets the active indices. More...
void	setCameraModelFilter (const CameraModelFilterPtr &cameraModelFilterPtr)
void	setCameraModelFilterAbstractFactoryPtr (const CameraModelFilterAbstractFactoryPtr &cameraModelFilterAbstractFactoryPtr)
	setCameraModelFilterAbstractFactoryPtr used to generate camera models per thread. More...
void	setEnableCropBoxFiltering (const bool mEnableCropBoxFiltering)
void	setEnableIntermediateObjectWeighting (const bool mEnableIntermediateObjectWeighting)
void	setEpsilon (float epsilon)
void	setHeight (SamplePointCloudPtr pointCloudPtr, double height)
void	setHypothesisUpdater (const HypothesisUpdaterPtr &hypothesisUpdaterPtr)
void	setMapHelper (const MapHelperPtr &mapHelperPtr)
void	setMaxIterationSteps (int maxIterationSteps)
void	setMinUtility (double minUtility)
void	setNumberOfThreads (int value)
	sets number of threads used to rate samples, negative numbers use boost::thread::hardware_concurrency() as number of threads. More...
bool	setPointCloudFromMessage (const asr_msgs::AsrAttributedPointCloud &msg)
	/// More...
void	setPointCloudPtr (const ObjectPointCloudPtr &pointCloudPtr)
void	setRatingModule (const RatingModulePtr &ratingModulePtr)
void	setRatingModuleAbstractFactoryPtr (const RatingModuleAbstractFactoryPtr &ratingModuleAbstractFactoryPtr)
	setRatingModuleAbstractFactoryPtr used to generate rating modules per thread. More...
void	setRequireMinUtility (bool requireMinUtility)
void	setRobotModel (const robot_model_services::RobotModelPtr &robotModelPtr)
void	setSpaceSampler (const SpaceSamplerPtr &spaceSamplerPtr)
void	setUnitSphereSampler (const UnitSphereSamplerPtr &unitSphereSamplerPtr)
void	updateFromExternalViewportPointList (const std::vector< ViewportPoint > &viewportPointList)
	updates point cloud with external viewport point list More...
unsigned int	updateObjectPointCloud (const ObjectTypeSetPtr &objectTypeSetPtr, const ViewportPoint &viewportPoint)
	Updates the point cloud under the assumption that the given viewport was chosen. More...

Private Member Functions
ViewportPointCloudPtr	combineSamples (SamplePointCloudPtr sampledSpacePointCloudPtr, SimpleQuaternionCollectionPtr sampledOrientationsPtr)
	combines space samples and orientation samples to viewport samples More...
bool	doIteration (const ViewportPoint &currentCameraViewport, const SimpleQuaternionCollectionPtr &sampledOrientationsPtr, ViewportPoint &resultViewport)
bool	doIterationStep (const ViewportPoint &currentCameraViewport, const ViewportPoint &currentBestViewport, const SimpleQuaternionCollectionPtr &sampledOrientationsPtr, float contractor, ViewportPoint &resultViewport, int iterationStep)
SimpleQuaternionCollectionPtr	generateOrientationSamples ()
	generateOrientationSamples More...
ViewportPointCloudPtr	generateSampleViewports (SimpleVector3 spaceSampleStartVector, double contractor, double pointCloudHeight)
	generateSampleViewports More...
SamplePointCloudPtr	generateSpaceSamples (SimpleVector3 spaceSampleStartVector, double contractor, double pointCloudHeight)
	generateSpaceSamples More...
bool	isPointInCropbox (const SimpleVector3 &position, const Eigen::Vector3f &translation, const Eigen::Vector4f &max) const
bool	isPointInRange (float point, float min, float lenght) const
bool	rateSingleViewportFixedObjectTypes (const RatingModulePtr &ratingModulePtr, const ViewportPoint &currentCameraViewport, ViewportPoint &fullViewportPoint)
	uses setSingleScoreContainer to use object_type_set of fullViewportPoint to rate. More...
bool	rateSingleViewportOptimizeObjectTypes (const RatingModulePtr &ratingModulePtr, const ViewportPoint &currentCameraViewport, ViewportPoint &fullViewportPoint)
	uses setBestScoreContainer to optimize which objects should be recognized More...
bool	rateViewportsInternal (const ViewportPointCloudPtr &sampleNextBestViewports, const ViewportPoint &currentCameraViewport, ViewportPointCloudPtr &ratedNextBestViewports, ViewportPoint &resultViewport, bool objectTypeSetIsKnown)
	rates viewports and returns vector with rated wiewports and the best rated viewport More...
void	ratingThread (int threadId, boost::mutex &mutex, const ViewportPointCloudPtr &sampleNextBestViewports, const ViewportPoint &currentCameraViewport, const ViewportPointCloudPtr &ratedNextBestViewports, bool objectTypeSetIsKnown)
	ratingThread More...
bool	setNormals (const ObjectPoint &pointCloudPoint)
bool	setNormalsInCropBoxMode (const ObjectPoint &pointCloudPoint)

Private Attributes
IndicesPtr	mActiveIndicesPtr
CameraModelFilterAbstractFactoryPtr	mCameraModelFilterAbstractFactoryPtr
CameraModelFilterPtr	mCameraModelFilterPtr
CropBoxFilterPtr	mCropBoxFilterPtr
DebugHelperPtr	mDebugHelperPtr
bool	mEnableCropBoxFiltering
bool	mEnableIntermediateObjectWeighting
float	mEpsilon
HypothesisUpdaterPtr	mHypothesisUpdaterPtr
KdTreePtr	mKdTreePtr
MapHelperPtr	mMapHelperPtr
int	mMaxIterationSteps
double	mMinUtility
int	mNumberOfThreads
ObjectTypeSetPtr	mObjectTypeSetPtr
ObjectPointCloudPtr	mPointCloudPtr
RatingModuleAbstractFactoryPtr	mRatingModuleAbstractFactoryPtr
RatingModulePtr	mRatingModulePtr
bool	mRequireMinUtility
robot_model_services::RobotModelPtr	mRobotModelPtr
SpaceSamplerPtr	mSpaceSamplerPtr
std::vector< CameraModelFilterPtr >	mThreadCameraModels
std::vector< RatingModulePtr >	mThreadRatingModules
UnitSphereSamplerPtr	mUnitSphereSamplerPtr
VisualizationHelperPtr	mVisHelperPtr
std::map< std::string, std::string >	objectsResources

Detailed Description

Definition at line 50 of file NextBestViewCalculator.hpp.

Constructor & Destructor Documentation

next_best_view::NextBestViewCalculator::NextBestViewCalculator ( const UnitSphereSamplerPtr &  unitSphereSamplerPtr = UnitSphereSamplerPtr(), const MapHelperPtr &  mapHelperPtr = MapHelperPtr(), const SpaceSamplerPtr &  spaceSamplerPtr = SpaceSamplerPtr(), const robot_model_services::RobotModelPtr &  robotModelPtr = robot_model_services::RobotModelPtr(), const CameraModelFilterPtr &  cameraModelFilterPtr = CameraModelFilterPtr(), const RatingModulePtr &  ratingModulePtr = RatingModulePtr()  )

inline

Definition at line 90 of file NextBestViewCalculator.hpp.

Member Function Documentation

bool next_best_view::NextBestViewCalculator::calculateNextBestView ( const ViewportPoint &  currentCameraViewport, ViewportPoint &  resultViewport  )

inline

Calculates the next best view. Starting point of iterative calculations for getNextBestView() service call.

Definition at line 115 of file NextBestViewCalculator.hpp.

ViewportPointCloudPtr next_best_view::NextBestViewCalculator::combineSamples ( SamplePointCloudPtr  sampledSpacePointCloudPtr, SimpleQuaternionCollectionPtr  sampledOrientationsPtr  )

inlineprivate

combines space samples and orientation samples to viewport samples

Parameters

sampledSpacePointCloudPtr
sampledOrientationsPtr
feasibleIndicesPtr

Returns

Definition at line 782 of file NextBestViewCalculator.hpp.

bool next_best_view::NextBestViewCalculator::doFrustumCulling ( const SimpleVector3 &  position, const SimpleQuaternion &  orientation, const IndicesPtr &  indices, ViewportPoint &  viewportPoint  )

inline

creates a new camera viewport with the given data

Parameters

position	[in] the position of the camera
orientation	[in] the orientation of the camera
indices	[in] the object point indices to be used
viewportPoint	[out] the resulting camera viewport

Returns

whether there are objects in the resulting viewport

Definition at line 486 of file NextBestViewCalculator.hpp.

bool next_best_view::NextBestViewCalculator::doFrustumCulling ( const CameraModelFilterPtr &  cameraModelFilterPtr, const SimpleVector3 &  position, const SimpleQuaternion &  orientation, const IndicesPtr &  indices, ViewportPoint &  resultViewport  )

inline

creates a new camera viewport with the given data

Parameters

cameraModelFilterPtr	[in] the cameraModel used to filter objects
position	[in] the position of the camera
orientation	[in] the orientation of the camera
indices	[in] the object point indices to be used
viewportPoint	[out] the resulting camera viewport

Returns

whether there are objects in the resulting viewport

Definition at line 499 of file NextBestViewCalculator.hpp.

bool next_best_view::NextBestViewCalculator::doFrustumCulling ( ViewportPoint &  resultViewportPoint )

inline

creates a new camera viewport with the given data

Parameters

resultViewportPoint

Returns

whether there are objects in the resulting viewport

Definition at line 510 of file NextBestViewCalculator.hpp.

bool next_best_view::NextBestViewCalculator::doFrustumCulling ( const CameraModelFilterPtr &  cameraModelFilterPtr, ViewportPoint &  resultViewportPoint  )

inline

creates a new camera viewport with the given data

Parameters

cameraModelFilterPtr	[in] the cameraModel used to filter objects
resultViewportPoint	[out|in] the resulting camera viewport containg the camera position and orientation and the object point indices to be used

Returns

whether there are objects in the resulting viewport

Definition at line 520 of file NextBestViewCalculator.hpp.

bool next_best_view::NextBestViewCalculator::doIteration ( const ViewportPoint &  currentCameraViewport, const SimpleQuaternionCollectionPtr &  sampledOrientationsPtr, ViewportPoint &  resultViewport  )

inlineprivate

Definition at line 352 of file NextBestViewCalculator.hpp.

bool next_best_view::NextBestViewCalculator::doIterationStep ( const ViewportPoint &  currentCameraViewport, const ViewportPoint &  currentBestViewport, const SimpleQuaternionCollectionPtr &  sampledOrientationsPtr, float  contractor, ViewportPoint &  resultViewport, int  iterationStep  )

inlineprivate

Definition at line 406 of file NextBestViewCalculator.hpp.

SimpleQuaternionCollectionPtr next_best_view::NextBestViewCalculator::generateOrientationSamples ( )

inlineprivate

generateOrientationSamples

Returns

Definition at line 742 of file NextBestViewCalculator.hpp.

ViewportPointCloudPtr next_best_view::NextBestViewCalculator::generateSampleViewports ( SimpleVector3  spaceSampleStartVector, double  contractor, double  pointCloudHeight  )

inlineprivate

generateSampleViewports

Parameters

spaceSampleStartVector
contractor
pointCloudHeight

Returns

Definition at line 727 of file NextBestViewCalculator.hpp.

SamplePointCloudPtr next_best_view::NextBestViewCalculator::generateSpaceSamples ( SimpleVector3  spaceSampleStartVector, double  contractor, double  pointCloudHeight  )

inlineprivate

generateSpaceSamples

Parameters

spaceSampleStartVector
contractor
pointCloudHeight

Returns

Definition at line 762 of file NextBestViewCalculator.hpp.

IndicesPtr next_best_view::NextBestViewCalculator::getActiveIndices ( )

inline

Returns

the active Indices.

Definition at line 942 of file NextBestViewCalculator.hpp.

CameraModelFilterPtr next_best_view::NextBestViewCalculator::getCameraModelFilter ( )

inline

Returns

the pointer to the camera model filter

Definition at line 1083 of file NextBestViewCalculator.hpp.

CameraModelFilterAbstractFactoryPtr next_best_view::NextBestViewCalculator::getCameraModelFilterAbstractFactoryPtr ( )

inline

getCameraModelFilterAbstractFactoryPtr

Returns

Definition at line 1189 of file NextBestViewCalculator.hpp.

float next_best_view::NextBestViewCalculator::getEpsilon ( )

inline

Returns

epsilon

Definition at line 1136 of file NextBestViewCalculator.hpp.

bool next_best_view::NextBestViewCalculator::getFeasibleHypothesis ( SimpleVector3  samplePoint, IndicesPtr &  resultIndicesPtr  )

inline

getFeasibleHypothesis finds object hypothesis near samplePoint

Parameters

samplePoint	the point to find nearby hypothesis
resultIndicesPtr	nearby object hypothesis

Returns

true if more than 0 object hypothesis are in range of samplePoint

Definition at line 200 of file NextBestViewCalculator.hpp.

void next_best_view::NextBestViewCalculator::getFeasibleSamplePoints ( const SamplePointCloudPtr &  sampledSpacePointCloudPtr, IndicesPtr &  resultIndicesPtr  )

inline

Definition at line 151 of file NextBestViewCalculator.hpp.

void next_best_view::NextBestViewCalculator::getFeasibleViewports ( const ViewportPointCloudPtr &  sampleViewportsPtr, IndicesPtr &  resultIndicesPtr  )

inline

getFeasibleViewports returns a vector of indices/sampleViewports which contain nearby (hypothesis)

Parameters

sampleViewportsPtr	viewports which may contain nearby object hypothesis
resultIndicesPtr

Definition at line 175 of file NextBestViewCalculator.hpp.

HypothesisUpdaterPtr next_best_view::NextBestViewCalculator::getHypothesisUpdater ( )

inline

Definition at line 1122 of file NextBestViewCalculator.hpp.

KdTreePtr next_best_view::NextBestViewCalculator::getKdTreePtr ( )

inline

Returns

the point cloud pointer

Definition at line 1023 of file NextBestViewCalculator.hpp.

MapHelperPtr next_best_view::NextBestViewCalculator::getMapHelper ( )

inline

Returns

the map helper ptr

Definition at line 1114 of file NextBestViewCalculator.hpp.

std::string next_best_view::NextBestViewCalculator::getMeshPathByName ( std::string  objectType )

inline

Returns the path to a meshs resource file

Definition at line 880 of file NextBestViewCalculator.hpp.

double next_best_view::NextBestViewCalculator::getMinUtility ( ) const

inline

Definition at line 1233 of file NextBestViewCalculator.hpp.

int next_best_view::NextBestViewCalculator::getNumberActiveNormals ( )

inline

Definition at line 946 of file NextBestViewCalculator.hpp.

unsigned int next_best_view::NextBestViewCalculator::getNumberActiveNormals ( std::string  type, std::string  identifier  )

inline

Definition at line 970 of file NextBestViewCalculator.hpp.

int next_best_view::NextBestViewCalculator::getNumberOfThreads ( ) const

inline

getNumberOfThreads

Returns

Definition at line 1197 of file NextBestViewCalculator.hpp.

unsigned int next_best_view::NextBestViewCalculator::getNumberTotalNormals ( std::string  type, std::string  identifier  )

inline

Definition at line 957 of file NextBestViewCalculator.hpp.

ObjectPointCloudPtr next_best_view::NextBestViewCalculator::getPointCloudPtr ( )

inline

Returns

the point cloud pointer

Definition at line 928 of file NextBestViewCalculator.hpp.

RatingModulePtr next_best_view::NextBestViewCalculator::getRatingModule ( )

inline

Returns

the pointer to the rating module.

Definition at line 1098 of file NextBestViewCalculator.hpp.

RatingModuleAbstractFactoryPtr next_best_view::NextBestViewCalculator::getRatingModuleAbstractFactoryPtr ( )

inline

getRatingModuleAbstractFactoryPtr

Returns

Definition at line 1167 of file NextBestViewCalculator.hpp.

bool next_best_view::NextBestViewCalculator::getRequireMinUtility ( ) const

inline

Definition at line 1241 of file NextBestViewCalculator.hpp.

robot_model_services::RobotModelPtr next_best_view::NextBestViewCalculator::getRobotModel ( )

inline

Returns

the robot ptr

Definition at line 1068 of file NextBestViewCalculator.hpp.

SpaceSamplerPtr next_best_view::NextBestViewCalculator::getSpaceSampler ( )

inline

Returns

the pointer to the space sampler.

Definition at line 1053 of file NextBestViewCalculator.hpp.

std::vector<std::pair<std::string, std::string> > next_best_view::NextBestViewCalculator::getTypeAndIds ( )

inline

Definition at line 983 of file NextBestViewCalculator.hpp.

UnitSphereSamplerPtr next_best_view::NextBestViewCalculator::getUnitSphereSampler ( )

inline

Returns

the unit sphere sampler.

Definition at line 1038 of file NextBestViewCalculator.hpp.

void next_best_view::NextBestViewCalculator::initializeRobotState ( const ViewportPoint &  currentCameraViewport )

inline

initializeRobotState initializes the robotstate to the given viewport

Parameters

currentCameraViewport

the camera viewport of the robot

Definition at line 141 of file NextBestViewCalculator.hpp.

bool next_best_view::NextBestViewCalculator::isPointInCropbox ( const SimpleVector3 &  position, const Eigen::Vector3f &  translation, const Eigen::Vector4f &  max  ) const

inlineprivate

Definition at line 866 of file NextBestViewCalculator.hpp.

bool next_best_view::NextBestViewCalculator::isPointInRange ( float  point, float  min, float  lenght  ) const

inlineprivate

Definition at line 872 of file NextBestViewCalculator.hpp.

void next_best_view::NextBestViewCalculator::loadCropBoxListFromFile ( const std::string  mCropBoxListFilePath )

inline

Definition at line 910 of file NextBestViewCalculator.hpp.

bool next_best_view::NextBestViewCalculator::rateSingleViewportFixedObjectTypes ( const RatingModulePtr &  ratingModulePtr, const ViewportPoint &  currentCameraViewport, ViewportPoint &  fullViewportPoint  )

inlineprivate

uses setSingleScoreContainer to use object_type_set of fullViewportPoint to rate.

Parameters

ratingModulePtr	[in] used to rate
currentCameraViewport	[in] used to rate
fullViewportPoint	[out] resulting rated viewport

Returns

Definition at line 347 of file NextBestViewCalculator.hpp.

bool next_best_view::NextBestViewCalculator::rateSingleViewportOptimizeObjectTypes ( const RatingModulePtr &  ratingModulePtr, const ViewportPoint &  currentCameraViewport, ViewportPoint &  fullViewportPoint  )

inlineprivate

uses setBestScoreContainer to optimize which objects should be recognized

Parameters

ratingModulePtr	[in] used to rate
currentCameraViewport	[in] used to rate
fullViewportPoint	[out] resulting rated viewport

Returns

Definition at line 334 of file NextBestViewCalculator.hpp.

bool next_best_view::NextBestViewCalculator::rateViewports ( const ViewportPointCloudPtr &  sampleNextBestViewportsPtr, const ViewportPoint &  currentCameraViewport, ViewportPoint &  resultViewport, bool  objectTypeSetIsKnown = false  )

inline

rates given viewports, which must contain child_indices

Parameters

sampleNextBestViewports	[in] viewports to rate
currentCameraViewport	[in] current camera viewport to rate
resultViewport	[out] viewport with best rating
objectTypeSetIsKnown

Returns

if valid result

Definition at line 232 of file NextBestViewCalculator.hpp.

bool next_best_view::NextBestViewCalculator::rateViewports ( const ViewportPointCloudPtr &  sampleNextBestViewports, const ViewportPoint &  currentCameraViewport, ViewportPointCloudPtr &  ratedNextBestViewportsPtr, bool  objectTypeSetIsKnown = false  )

inline

rates given viewports, which must contain child_indices

Parameters

sampleNextBestViewports	[in] viewports to rate
currentCameraViewport	[in] current camera viewport to rate
ratedNextBestViewports	[out] rated viewports, which might be fewer
objectTypeSetIsKnown

Returns

if valid result

Definition at line 245 of file NextBestViewCalculator.hpp.

bool next_best_view::NextBestViewCalculator::rateViewportsInternal ( const ViewportPointCloudPtr &  sampleNextBestViewports, const ViewportPoint &  currentCameraViewport, ViewportPointCloudPtr &  ratedNextBestViewports, ViewportPoint &  resultViewport, bool  objectTypeSetIsKnown  )

inlineprivate

rates viewports and returns vector with rated wiewports and the best rated viewport

Parameters

sampleNextBestViewports	[in] viewports to rate
currentCameraViewport	[in] current camera viewport to rate
ratedNextBestViewports	[out] rated (unsorted in most cases) vector of viewports
resultViewport	[out] best viewport
objectTypeSetIsKnown

Returns

if valid result

Definition at line 262 of file NextBestViewCalculator.hpp.

void next_best_view::NextBestViewCalculator::ratingThread ( int  threadId, boost::mutex &  mutex, const ViewportPointCloudPtr &  sampleNextBestViewports, const ViewportPoint &  currentCameraViewport, const ViewportPointCloudPtr &  ratedNextBestViewports, bool  objectTypeSetIsKnown  )

inlineprivate

ratingThread

Parameters

threadId
mutex
sampleNextBestViewports	viewport sampling, which contains a good estimation for nearby objects per viewport
currentCameraViewport	current camera viewport, used to rate
ratedNextBestViewports	results
objectTypeSetIsKnown	if object_types_set is set fixed and hould not be optimized

Definition at line 290 of file NextBestViewCalculator.hpp.

bool next_best_view::NextBestViewCalculator::removeObjects ( std::string  type, std::string  identifier  )

inline

Definition at line 997 of file NextBestViewCalculator.hpp.

void next_best_view::NextBestViewCalculator::setActiveIndices ( const IndicesPtr &  activeIndicesPtr )

inline

sets the active indices.

Definition at line 935 of file NextBestViewCalculator.hpp.

void next_best_view::NextBestViewCalculator::setCameraModelFilter ( const CameraModelFilterPtr &  cameraModelFilterPtr )

inline

Sets the camera model filter.

Parameters

cameraModelFilterPtr

- the pointer to the camera model filter.

Definition at line 1076 of file NextBestViewCalculator.hpp.

void next_best_view::NextBestViewCalculator::setCameraModelFilterAbstractFactoryPtr ( const CameraModelFilterAbstractFactoryPtr &  cameraModelFilterAbstractFactoryPtr )

inline

setCameraModelFilterAbstractFactoryPtr used to generate camera models per thread.

Parameters

cameraModelFilterAbstractFactoryPtr

Definition at line 1175 of file NextBestViewCalculator.hpp.

void next_best_view::NextBestViewCalculator::setEnableCropBoxFiltering ( const bool  mEnableCropBoxFiltering )

inline

Definition at line 915 of file NextBestViewCalculator.hpp.

void next_best_view::NextBestViewCalculator::setEnableIntermediateObjectWeighting ( const bool  mEnableIntermediateObjectWeighting )

inline

Definition at line 920 of file NextBestViewCalculator.hpp.

void next_best_view::NextBestViewCalculator::setEpsilon ( float  epsilon )

inline

Parameters

epsilon

- error threshold

Definition at line 1129 of file NextBestViewCalculator.hpp.

void next_best_view::NextBestViewCalculator::setHeight ( SamplePointCloudPtr  pointCloudPtr, double  height  )

inline

Definition at line 472 of file NextBestViewCalculator.hpp.

void next_best_view::NextBestViewCalculator::setHypothesisUpdater ( const HypothesisUpdaterPtr &  hypothesisUpdaterPtr )

inline

Definition at line 1118 of file NextBestViewCalculator.hpp.

void next_best_view::NextBestViewCalculator::setMapHelper ( const MapHelperPtr &  mapHelperPtr )

inline

sets the map helper

Parameters

mapHelperPtr

- the pointer to map helper.

Definition at line 1106 of file NextBestViewCalculator.hpp.

void next_best_view::NextBestViewCalculator::setMaxIterationSteps ( int  maxIterationSteps )

inline

Max number of hierarchical iterations when calculating a next-best-view.

Parameters

maxIterationSteps

- max number of iteration steps

Definition at line 1144 of file NextBestViewCalculator.hpp.

void next_best_view::NextBestViewCalculator::setMinUtility ( double  minUtility )

inline

Definition at line 1237 of file NextBestViewCalculator.hpp.

bool next_best_view::NextBestViewCalculator::setNormals ( const ObjectPoint &  pointCloudPoint )

inlineprivate

Definition at line 805 of file NextBestViewCalculator.hpp.

bool next_best_view::NextBestViewCalculator::setNormalsInCropBoxMode ( const ObjectPoint &  pointCloudPoint )

inlineprivate

Definition at line 829 of file NextBestViewCalculator.hpp.

void next_best_view::NextBestViewCalculator::setNumberOfThreads ( int  value )

inline

sets number of threads used to rate samples, negative numbers use boost::thread::hardware_concurrency() as number of threads.

Parameters

value

Definition at line 1205 of file NextBestViewCalculator.hpp.

bool next_best_view::NextBestViewCalculator::setPointCloudFromMessage ( const asr_msgs::AsrAttributedPointCloud &  msg )

inline

///

Sets the point cloud points from point cloud message

Parameters

message

- message containing the point cloud

Definition at line 610 of file NextBestViewCalculator.hpp.

void next_best_view::NextBestViewCalculator::setPointCloudPtr ( const ObjectPointCloudPtr &  pointCloudPtr )

inline

Sets the point cloud ptr.

Definition at line 896 of file NextBestViewCalculator.hpp.

void next_best_view::NextBestViewCalculator::setRatingModule ( const RatingModulePtr &  ratingModulePtr )

inline

Sets the rating module.

Parameters

ratingModulePtr

- the pointer to the rating module

Definition at line 1091 of file NextBestViewCalculator.hpp.

void next_best_view::NextBestViewCalculator::setRatingModuleAbstractFactoryPtr ( const RatingModuleAbstractFactoryPtr &  ratingModuleAbstractFactoryPtr )

inline

setRatingModuleAbstractFactoryPtr used to generate rating modules per thread.

Parameters

ratingModuleAbstractFactoryPtr

Definition at line 1153 of file NextBestViewCalculator.hpp.

void next_best_view::NextBestViewCalculator::setRequireMinUtility ( bool  requireMinUtility )

inline

Definition at line 1245 of file NextBestViewCalculator.hpp.

void next_best_view::NextBestViewCalculator::setRobotModel ( const robot_model_services::RobotModelPtr &  robotModelPtr )

inline

sets the robot model

Parameters

robotModelPtr

- the pointer to robot model.

Definition at line 1061 of file NextBestViewCalculator.hpp.

void next_best_view::NextBestViewCalculator::setSpaceSampler ( const SpaceSamplerPtr &  spaceSamplerPtr )

inline

Sets the space sampler.

Parameters

spaceSamplerPtr

- the pointer to the space sampler

Definition at line 1046 of file NextBestViewCalculator.hpp.

void next_best_view::NextBestViewCalculator::setUnitSphereSampler ( const UnitSphereSamplerPtr &  unitSphereSamplerPtr )

inline

Sets the unit sphere sampler.

Parameters

unitSphereSamplerPtr

- the pointer to the unit sphere sampler

Definition at line 1031 of file NextBestViewCalculator.hpp.

void next_best_view::NextBestViewCalculator::updateFromExternalViewportPointList ( const std::vector< ViewportPoint > &  viewportPointList )

inline

updates point cloud with external viewport point list

Parameters

viewportPointList

the list of viewport points

Returns

the number of deactivated normals

Definition at line 545 of file NextBestViewCalculator.hpp.

unsigned int next_best_view::NextBestViewCalculator::updateObjectPointCloud ( const ObjectTypeSetPtr &  objectTypeSetPtr, const ViewportPoint &  viewportPoint  )

inline

Updates the point cloud under the assumption that the given viewport was chosen.

Parameters

objectTypeSetPtr	the object type names that shall be updated.
viewportPoint	the viewport that was chosen

Returns

the number of deactivated normals

Definition at line 584 of file NextBestViewCalculator.hpp.

Member Data Documentation

IndicesPtr next_best_view::NextBestViewCalculator::mActiveIndicesPtr

private

Definition at line 54 of file NextBestViewCalculator.hpp.

CameraModelFilterAbstractFactoryPtr next_best_view::NextBestViewCalculator::mCameraModelFilterAbstractFactoryPtr

private

Definition at line 68 of file NextBestViewCalculator.hpp.

CameraModelFilterPtr next_best_view::NextBestViewCalculator::mCameraModelFilterPtr

private

Definition at line 63 of file NextBestViewCalculator.hpp.

CropBoxFilterPtr next_best_view::NextBestViewCalculator::mCropBoxFilterPtr

private

Definition at line 70 of file NextBestViewCalculator.hpp.

DebugHelperPtr next_best_view::NextBestViewCalculator::mDebugHelperPtr

private

Definition at line 73 of file NextBestViewCalculator.hpp.

bool next_best_view::NextBestViewCalculator::mEnableCropBoxFiltering

private

Definition at line 76 of file NextBestViewCalculator.hpp.

bool next_best_view::NextBestViewCalculator::mEnableIntermediateObjectWeighting

private

Definition at line 77 of file NextBestViewCalculator.hpp.

float next_best_view::NextBestViewCalculator::mEpsilon

private

Definition at line 71 of file NextBestViewCalculator.hpp.

HypothesisUpdaterPtr next_best_view::NextBestViewCalculator::mHypothesisUpdaterPtr

private

Definition at line 65 of file NextBestViewCalculator.hpp.

KdTreePtr next_best_view::NextBestViewCalculator::mKdTreePtr

private

Definition at line 55 of file NextBestViewCalculator.hpp.

MapHelperPtr next_best_view::NextBestViewCalculator::mMapHelperPtr

private

Definition at line 60 of file NextBestViewCalculator.hpp.

int next_best_view::NextBestViewCalculator::mMaxIterationSteps

private

Definition at line 79 of file NextBestViewCalculator.hpp.

double next_best_view::NextBestViewCalculator::mMinUtility

private

Definition at line 85 of file NextBestViewCalculator.hpp.

int next_best_view::NextBestViewCalculator::mNumberOfThreads

private

Definition at line 81 of file NextBestViewCalculator.hpp.

ObjectTypeSetPtr next_best_view::NextBestViewCalculator::mObjectTypeSetPtr

private

Definition at line 72 of file NextBestViewCalculator.hpp.

ObjectPointCloudPtr next_best_view::NextBestViewCalculator::mPointCloudPtr

private

Definition at line 52 of file NextBestViewCalculator.hpp.

RatingModuleAbstractFactoryPtr next_best_view::NextBestViewCalculator::mRatingModuleAbstractFactoryPtr

private

Definition at line 67 of file NextBestViewCalculator.hpp.

RatingModulePtr next_best_view::NextBestViewCalculator::mRatingModulePtr

private

Definition at line 64 of file NextBestViewCalculator.hpp.

bool next_best_view::NextBestViewCalculator::mRequireMinUtility

private

Definition at line 86 of file NextBestViewCalculator.hpp.

robot_model_services::RobotModelPtr next_best_view::NextBestViewCalculator::mRobotModelPtr

private

Definition at line 62 of file NextBestViewCalculator.hpp.

SpaceSamplerPtr next_best_view::NextBestViewCalculator::mSpaceSamplerPtr

private

Definition at line 61 of file NextBestViewCalculator.hpp.

std::vector<CameraModelFilterPtr> next_best_view::NextBestViewCalculator::mThreadCameraModels

private

Definition at line 82 of file NextBestViewCalculator.hpp.

std::vector<RatingModulePtr> next_best_view::NextBestViewCalculator::mThreadRatingModules

private

Definition at line 83 of file NextBestViewCalculator.hpp.

UnitSphereSamplerPtr next_best_view::NextBestViewCalculator::mUnitSphereSamplerPtr

private

Definition at line 59 of file NextBestViewCalculator.hpp.

VisualizationHelperPtr next_best_view::NextBestViewCalculator::mVisHelperPtr

private

Definition at line 74 of file NextBestViewCalculator.hpp.

std::map<std::string, std::string> next_best_view::NextBestViewCalculator::objectsResources

private

Definition at line 56 of file NextBestViewCalculator.hpp.

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

• NextBestViewCalculator.hpp