IRI ROS Specific Driver Class. More...

#include <finddd_alg.h>

Public Types
typedef iri_finddd::FindddConfig	Config
	define config type
Public Member Functions
void	compute_ndescs_integral_spatial_interpolation (pcl::PointCloud< pcl::PointXYZ > &cloud, iri_perception_msgs::DescriptorSet &descriptor_set)
	compute all descriptors with spatial bin support of image using an integral image
void	compute_radius_inf ()
	Determine vote influence cutoff.
int	compute_total_bins ()
	Set total descriptor bins.
void	config_update (Config &new_cfg, uint32_t level=0)
	config update
	FindddAlgorithm (void)
	constructor
void	lock (void)
	Lock Algorithm.
void	set_centroids_file (std::string new_centroids_file)
	Set centroids file.
int	set_desc_patch_radius (int r)
	Set patch radius.
int	set_num_side_spatial_bins (int nb)
	Set number of spatial bins (side)
void	set_positions_file (std::string new_positions_file)
	Set positions file.
int	set_sample_each (int s)
	Set sample each.
bool	try_enter (void)
	Tries Access to Algorithm.
void	unlock (void)
	Unlock Algorithm.
void	update_centroids ()
	~FindddAlgorithm (void)
	Destructor.
Public Attributes
Config	config_
	config variable
Protected Attributes
CMutex	alg_mutex_
	define config type
std::string	centroids_file_
std::vector< int >	desc_compute_positionsX_
std::vector< int >	desc_compute_positionsY_
uint	desc_num_orient_bins_
uint	desc_num_side_spatial_bins_
uint	desc_num_total_bins_
uint	desc_patch_radius_
uint	margin_
uint	normalize_desc_
uint	nt_
std::vector< float >	orient_bin_centers_x_
std::vector< float >	orient_bin_centers_y_
std::vector< float >	orient_bin_centers_z_
std::string	positions_file_
float	radius_inf_
uint	sample_each_
uint	use_soft_voting_

Detailed Description

IRI ROS Specific Driver Class.

Definition at line 62 of file finddd_alg.h.

Member Typedef Documentation

typedef iri_finddd::FindddConfig FindddAlgorithm::Config

define config type

Define a Config type with the FindddConfig. All driver implementations will then use the same variable type Config.

Definition at line 103 of file finddd_alg.h.

Constructor & Destructor Documentation

FindddAlgorithm::FindddAlgorithm ( void )

constructor

In this constructor parameters related to the specific driver can be initalized. Those parameters can be also set in the openDriver() function. Attributes from the main node driver class IriBaseDriver such as loop_rate, may be also overload here.

Definition at line 202 of file finddd_alg.cpp.

FindddAlgorithm::~FindddAlgorithm ( void )

Destructor.

This destructor is called when the object is about to be destroyed.

Definition at line 227 of file finddd_alg.cpp.

Member Function Documentation

void FindddAlgorithm::compute_ndescs_integral_spatial_interpolation	(	pcl::PointCloud< pcl::PointXYZ > &	cloud,
		iri_perception_msgs::DescriptorSet &	descriptor_set
	)

compute all descriptors with spatial bin support of image using an integral image

Main interface to compute normal descriptors with spatial support from a point cloud

Definition at line 274 of file finddd_alg.cpp.

void FindddAlgorithm::compute_radius_inf ( ) [inline]

Determine vote influence cutoff.

Function to compute minimum distance between bin 0 and the rest of bins, for vote interpolation.

Definition at line 309 of file finddd_alg.h.

int FindddAlgorithm::compute_total_bins ( ) [inline]

Set total descriptor bins.

Given the current parameters, this function computes the total number of bins of the descriptor.

Definition at line 169 of file finddd_alg.h.

void FindddAlgorithm::config_update	(	Config &	new_cfg,
		uint32_t	level = `0`
	)

config update

In this function the driver parameters must be updated with the input config variable. Then the new configuration state will be stored in the Config attribute.

Parameters: