#include <HierarchicalShapeModelNode.h>

Public Member Functions
double	calculateProbabilityForHypothesis (std::vector< ISM::Object > pEvidenceList, std::vector< unsigned int > pAssignments, unsigned int &pSlotId, bool pCut, std::vector< boost::shared_ptr< ConditionalProbability >> &pConditionalProbabilities)

std::vector< boost::shared_ptr< HierarchicalShapeModelNode > >	getChildren ()

unsigned int	getNumberOfNodes ()

std::string	getSceneObjectType ()

	HierarchicalShapeModelNode (boost::property_tree::ptree &pPt, unsigned int &pID)

void	initializeVisualizer (boost::shared_ptr< Visualization::ProbabilisticPrimarySceneObjectVisualization > mSuperior)

bool	isReference (unsigned int &pReferenceTo)

void	load (boost::property_tree::ptree &pPt, unsigned int &pID)

void	resetVisit ()

void	setAbsoluteParentPose (boost::shared_ptr< ISM::Pose > pPose)

void	setParentObjectType (const std::string &pParentObject)

void	setReferencedNode (boost::shared_ptr< HierarchicalShapeModelNode > pReferencedNode)

void	visualize (std::vector< ISM::Object > pEvidenceList)

	~HierarchicalShapeModelNode ()

Private Attributes
boost::shared_ptr< ISM::Pose >	mAbsoluteParentPose

boost::shared_ptr< ISM::Pose >	mAbsolutePose

std::vector< boost::shared_ptr< HierarchicalShapeModelNode > >	mChildren

boost::shared_ptr< GaussianMixtureDistribution >	mGaussianMixtureDistributionOrientation

boost::shared_ptr< GaussianMixtureDistribution >	mGaussianMixtureDistributionPosition

bool	mIsReference

std::string	mParentObject

std::vector< Eigen::Vector3d >	mRawData

boost::shared_ptr< HierarchicalShapeModelNode >	mReferencedNode

unsigned int	mReferenceTo

boost::shared_ptr< ISM::Pose >	mRelativePose

std::string	mSceneObject

boost::shared_ptr< Visualization::ProbabilisticSecondarySceneObjectVisualization >	mVisualizer

bool	mWasVisited

Detailed Description

A node in object constellation model (OCM). It is responsible for maintaining the gaussian mixture distributions for this node. Note that all distributions are modelled in the coordinate system of their parent nodes and the transformation of evidence into this coordinate system is also handled here.

Definition at line 48 of file HierarchicalShapeModelNode.h.

Constructor & Destructor Documentation

ProbabilisticSceneRecognition::HierarchicalShapeModelNode::HierarchicalShapeModelNode	(	boost::property_tree::ptree &	pPt,
		unsigned int &	pID
	)

Constructor.

Parameters

pPt	Data structure for performing XML operations.

Definition at line 22 of file HierarchicalShapeModelNode.cpp.

ProbabilisticSceneRecognition::HierarchicalShapeModelNode::~HierarchicalShapeModelNode ( )

Destructor.

Definition at line 32 of file HierarchicalShapeModelNode.cpp.

Member Function Documentation

double ProbabilisticSceneRecognition::HierarchicalShapeModelNode::calculateProbabilityForHypothesis	(	std::vector< ISM::Object >	pEvidenceList,
		std::vector< unsigned int >	pAssignments,
		unsigned int &	pSlotId,
		bool	pCut,
		std::vector< boost::shared_ptr< ConditionalProbability >> &	pConditionalProbabilities
	)

Calculates the probability for a hypothesis with the given assignments.

Parameters

pEvidenceList	A list containing all evidences.
pAssignments	Assignments of parts to slots.
pSlotId	The id of the slot this node is associated with.
pCut	True, if a zero-object was assigned to a direct parent node.
pConditionalProbabilities	List of conditional probabilities associated with each slot.

Returns: Probability as determined by this subtree the hierarchical shape model.

Definition at line 96 of file HierarchicalShapeModelNode.cpp.

std::vector< boost::shared_ptr< HierarchicalShapeModelNode > > ProbabilisticSceneRecognition::HierarchicalShapeModelNode::getChildren ( )

Get the node's child nodes.

Returns: the node's children.

Definition at line 228 of file HierarchicalShapeModelNode.cpp.

unsigned int ProbabilisticSceneRecognition::HierarchicalShapeModelNode::getNumberOfNodes ( )

Return the number of nodes in the OCM.

Definition at line 208 of file HierarchicalShapeModelNode.cpp.

std::string ProbabilisticSceneRecognition::HierarchicalShapeModelNode::getSceneObjectType ( )

inline

get the type of the object that is represented by this node.

Returns: the type of the object that is represented by this node.

Definition at line 137 of file HierarchicalShapeModelNode.h.

void ProbabilisticSceneRecognition::HierarchicalShapeModelNode::initializeVisualizer ( boost::shared_ptr< Visualization::ProbabilisticPrimarySceneObjectVisualization > mSuperior )

Initializes the visualization mechanism.

Parameters

mSuperior The superior visualizer coordinating the scene visualizers.

Definition at line 72 of file HierarchicalShapeModelNode.cpp.

bool ProbabilisticSceneRecognition::HierarchicalShapeModelNode::isReference ( unsigned int & pReferenceTo )

Return whether the node is a reference to another.

Parameters

pReferenceTo the ID of the node this is a reference to or its own ID (non-reference nodes reference themselves).

Returns: whether the node is a reference to another.

Definition at line 222 of file HierarchicalShapeModelNode.cpp.

void ProbabilisticSceneRecognition::HierarchicalShapeModelNode::load	(	boost::property_tree::ptree &	pPt,
		unsigned int &	pID
	)

Loads the working data from an XML file.

Parameters

pPt	Data structure for performing XML operations.

Definition at line 36 of file HierarchicalShapeModelNode.cpp.

void ProbabilisticSceneRecognition::HierarchicalShapeModelNode::resetVisit ( )

set the node to unvisited.

Definition at line 240 of file HierarchicalShapeModelNode.cpp.

void ProbabilisticSceneRecognition::HierarchicalShapeModelNode::setAbsoluteParentPose ( boost::shared_ptr< ISM::Pose > pPose )

Sets the absolute pose of the parent node.

Parameters

pPose The absolute pose.

Definition at line 91 of file HierarchicalShapeModelNode.cpp.

void ProbabilisticSceneRecognition::HierarchicalShapeModelNode::setParentObjectType ( const std::string & pParentObject )

inline

set the type of the node's parent.

Parameters

pParentObject the type of the node's parent.

Definition at line 143 of file HierarchicalShapeModelNode.h.

void ProbabilisticSceneRecognition::HierarchicalShapeModelNode::setReferencedNode ( boost::shared_ptr< HierarchicalShapeModelNode > pReferencedNode )

set the actually referenced node.

Parameters

pReferencedNode the node that this one actually references, if it is a reference.

Definition at line 233 of file HierarchicalShapeModelNode.cpp.

void ProbabilisticSceneRecognition::HierarchicalShapeModelNode::visualize ( std::vector< ISM::Object > pEvidenceList )

Update the visualizers based on the evidence.

Parameters

pEvidenceList A list containing all evidences.

Definition at line 166 of file HierarchicalShapeModelNode.cpp.

Member Data Documentation

boost::shared_ptr<ISM::Pose> ProbabilisticSceneRecognition::HierarchicalShapeModelNode::mAbsoluteParentPose

private

The pose of the parent object in absolute coordinates.

Definition at line 165 of file HierarchicalShapeModelNode.h.

boost::shared_ptr<ISM::Pose> ProbabilisticSceneRecognition::HierarchicalShapeModelNode::mAbsolutePose

private

The pose of this object in absolute coordinates. This variable is used during inference and reused in the visualization.

Definition at line 155 of file HierarchicalShapeModelNode.h.

std::vector<boost::shared_ptr<HierarchicalShapeModelNode> > ProbabilisticSceneRecognition::HierarchicalShapeModelNode::mChildren

private

The chrildren of this node.

Definition at line 185 of file HierarchicalShapeModelNode.h.

boost::shared_ptr<GaussianMixtureDistribution> ProbabilisticSceneRecognition::HierarchicalShapeModelNode::mGaussianMixtureDistributionOrientation

private

The gaussian mixture distribution representing the orientation part of the shape.

Definition at line 175 of file HierarchicalShapeModelNode.h.

boost::shared_ptr<GaussianMixtureDistribution> ProbabilisticSceneRecognition::HierarchicalShapeModelNode::mGaussianMixtureDistributionPosition

private

The gaussian mixture distribution representing the position part of the shape.

Definition at line 170 of file HierarchicalShapeModelNode.h.

bool ProbabilisticSceneRecognition::HierarchicalShapeModelNode::mIsReference

private

Whether this node is only a reference to another one.

Definition at line 195 of file HierarchicalShapeModelNode.h.

std::string ProbabilisticSceneRecognition::HierarchicalShapeModelNode::mParentObject

private

The type of the parent object of this node.

Definition at line 217 of file HierarchicalShapeModelNode.h.

std::vector<Eigen::Vector3d> ProbabilisticSceneRecognition::HierarchicalShapeModelNode::mRawData

private

A list of all samples that were used to learn the gaussian mixture distributions.

Definition at line 180 of file HierarchicalShapeModelNode.h.

boost::shared_ptr<HierarchicalShapeModelNode> ProbabilisticSceneRecognition::HierarchicalShapeModelNode::mReferencedNode

private

The actual node this one is a reference to, if it is, null otherwise.

Definition at line 206 of file HierarchicalShapeModelNode.h.

unsigned int ProbabilisticSceneRecognition::HierarchicalShapeModelNode::mReferenceTo

private

The ID of the node this one is a reference to, if it is. If node is not a reference, ID of the node, which the references to it use (a non-reference references itself)

Definition at line 201 of file HierarchicalShapeModelNode.h.

boost::shared_ptr<ISM::Pose> ProbabilisticSceneRecognition::HierarchicalShapeModelNode::mRelativePose

private

The pose of this object in coordinates relative to the parent frame. This variable is used during inference and reused in the visualization.

Definition at line 160 of file HierarchicalShapeModelNode.h.

std::string ProbabilisticSceneRecognition::HierarchicalShapeModelNode::mSceneObject

private

The type of the object that is represented by this node.

Definition at line 150 of file HierarchicalShapeModelNode.h.

boost::shared_ptr<Visualization::ProbabilisticSecondarySceneObjectVisualization> ProbabilisticSceneRecognition::HierarchicalShapeModelNode::mVisualizer

private

Coordinates the secondary scene object visualizers.

Definition at line 190 of file HierarchicalShapeModelNode.h.

bool ProbabilisticSceneRecognition::HierarchicalShapeModelNode::mWasVisited

private

Whether this node was visited through a not cut path before (that is a path through the tree that does not contain an assignment to the null object)

Definition at line 212 of file HierarchicalShapeModelNode.h.

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

Public Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation