ProbabilisticSceneRecognition::SceneInferenceEngine Class Reference

#include <SceneInferenceEngine.h>

Public Member Functions
void	executeInStackMode ()
SceneModelDescription	getModel ()
void	newObservationCallback (const boost::shared_ptr< asr_msgs::AsrObject > &pObject)
	SceneInferenceEngine ()
void	update ()
	~SceneInferenceEngine ()

Private Member Functions
boost::shared_ptr< ISM::Object >	AsrObjectToISMObject (boost::shared_ptr< asr_msgs::AsrObject > pObject)
void	initializeVisualizationChain (const double pScale, const float pSigmaMultiplicator, const std::string pFrameId)
boost::shared_ptr< asr_msgs::AsrObject >	ISMObjectToAsrObject (boost::shared_ptr< ISM::Object > pObject)
void	loadSceneModel (const std::string pSceneModelFileName, const std::string pInferenceAlgorithm)

Private Attributes
std::queue< boost::shared_ptr< asr_msgs::AsrObject > >	mEvidenceBuffer
SceneModelDescription	mModel
ros::NodeHandle	mNodeHandle
ros::Subscriber	mObjectListener
ObjectTransformation	mObjectTransform
ros::Subscriber	mSceneGraphListener
bool	mTargetingHelp
Visualization::GnuplotVisualization	mVisGnuplot
boost::shared_ptr< Visualization::ProbabilisticSceneModelVisualization >	mVisualizer
bool	showPlot

Detailed Description

Probabilistic scene inference engine in form of a ROS node. This class is basically a ROS wrapper for the inference model. Engine parameters are loaded via node handle, the model is loaded from file.

Definition at line 46 of file SceneInferenceEngine.h.

Constructor & Destructor Documentation

ProbabilisticSceneRecognition::SceneInferenceEngine::SceneInferenceEngine

(

)

Constructor.

Definition at line 22 of file SceneInferenceEngine.cpp.

ProbabilisticSceneRecognition::SceneInferenceEngine::~SceneInferenceEngine

(

)

Destructor.

Definition at line 96 of file SceneInferenceEngine.cpp.

Member Function Documentation

boost::shared_ptr< ISM::Object > ProbabilisticSceneRecognition::SceneInferenceEngine::AsrObjectToISMObject ( boost::shared_ptr< asr_msgs::AsrObject >  pObject )

private

Converts an AsrObject to ISMObject

Parameters

pObject

the Object to convert

Definition at line 328 of file SceneInferenceEngine.cpp.

void ProbabilisticSceneRecognition::SceneInferenceEngine::executeInStackMode

(

)

Runs a single update and then terminates.

Definition at line 180 of file SceneInferenceEngine.cpp.

SceneModelDescription ProbabilisticSceneRecognition::SceneInferenceEngine::getModel ( )

inline

Returns the model. The model is responsible for loading the scene model from file, collect and manage the evidence and do the inference.

Definition at line 80 of file SceneInferenceEngine.h.

void ProbabilisticSceneRecognition::SceneInferenceEngine::initializeVisualizationChain ( const double  pScale, const float  pSigmaMultiplicator, const std::string  pFrameId  )

private

Initializes the chain responsible for visualization.

Parameters

pScale	Factor to multiply the kernel with.
pSigmaMultiplicator	Scaling factor for the size of the visualized covariance ellipsoid.
pFrameId	The name of the coordinate frame that should be drawn into.

Definition at line 257 of file SceneInferenceEngine.cpp.

boost::shared_ptr< asr_msgs::AsrObject > ProbabilisticSceneRecognition::SceneInferenceEngine::ISMObjectToAsrObject ( boost::shared_ptr< ISM::Object >  pObject )

private

Converts an ISMObject to an AsrObject

Parameters

pObject

the Object to convert

Definition at line 300 of file SceneInferenceEngine.cpp.

void ProbabilisticSceneRecognition::SceneInferenceEngine::loadSceneModel ( const std::string  pSceneModelFileName, const std::string  pInferenceAlgorithm  )

private

Loads the probabilistic scene model from XMl file.

Parameters

pSceneModelFileName	The name of the XMl file containing the scene model that should we used.
pInferenceAlgorithm	The name of the inference algorithm.

Definition at line 248 of file SceneInferenceEngine.cpp.

void ProbabilisticSceneRecognition::SceneInferenceEngine::newObservationCallback

(

const boost::shared_ptr< asr_msgs::AsrObject > &

pObject

)

Collects evidences in form of AsrObject and forwards them to the inference model.

Parameters

pObject

An observation result for a potential scene element coming from an arbitrary sensor data processing system.

Definition at line 293 of file SceneInferenceEngine.cpp.

void ProbabilisticSceneRecognition::SceneInferenceEngine::update

(

)

Updates the inference engine.

Definition at line 100 of file SceneInferenceEngine.cpp.

Member Data Documentation

std::queue<boost::shared_ptr<asr_msgs::AsrObject> > ProbabilisticSceneRecognition::SceneInferenceEngine::mEvidenceBuffer

private

A buffer for storing evidences.

Definition at line 145 of file SceneInferenceEngine.h.

SceneModelDescription ProbabilisticSceneRecognition::SceneInferenceEngine::mModel

private

The model is responsible for loading the scene model from file, collect and manage the evidence and do the inference.

Definition at line 155 of file SceneInferenceEngine.h.

ros::NodeHandle ProbabilisticSceneRecognition::SceneInferenceEngine::mNodeHandle

private

Interface to private ros node namespace.

Definition at line 130 of file SceneInferenceEngine.h.

ros::Subscriber ProbabilisticSceneRecognition::SceneInferenceEngine::mObjectListener

private

A callback handler listening to objects found by an object detection system.

Definition at line 135 of file SceneInferenceEngine.h.

ObjectTransformation ProbabilisticSceneRecognition::SceneInferenceEngine::mObjectTransform

private

A transformer for objects into the target coordinate frame.

Definition at line 150 of file SceneInferenceEngine.h.

ros::Subscriber ProbabilisticSceneRecognition::SceneInferenceEngine::mSceneGraphListener

private

A callback handler listening to preprocessed observations that describe the objects in a scene over time

Definition at line 140 of file SceneInferenceEngine.h.

bool ProbabilisticSceneRecognition::SceneInferenceEngine::mTargetingHelp

private

Set true to overwrite the visualization of results and plot the target distributions instead.

Definition at line 125 of file SceneInferenceEngine.h.

Visualization::GnuplotVisualization ProbabilisticSceneRecognition::SceneInferenceEngine::mVisGnuplot

private

Gnuplot visualizer for drawing bar diagrams.

Definition at line 160 of file SceneInferenceEngine.h.

boost::shared_ptr<Visualization::ProbabilisticSceneModelVisualization> ProbabilisticSceneRecognition::SceneInferenceEngine::mVisualizer

private

Class for coordinating the scene visualizers.

Definition at line 165 of file SceneInferenceEngine.h.

bool ProbabilisticSceneRecognition::SceneInferenceEngine::showPlot

private

True to show the plot of the scene probabilities.

Definition at line 120 of file SceneInferenceEngine.h.

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

• SceneInferenceEngine.h
• SceneInferenceEngine.cpp