Class for GeometryMap. More...

#include <geometry_map.h>

Public Types
typedef std::vector < cob_3d_mapping::Polygon::Ptr > ::iterator	cylinder_iterator
	Cylinder iterator.
typedef std::vector < cob_3d_mapping::Polygon::Ptr > ::iterator	polygon_iterator
	Polygon iterator.
Public Member Functions
void	addMapEntry (cob_3d_mapping::Polygon::Ptr &p_ptr)
	Add polygon to map.
void	addMapEntry (cob_3d_mapping::Cylinder::Ptr &c_ptr)
	Add cylinder to map.
void	cleanUp ()
	Remove clutter from map.
void	clearMap ()
	Remove all shapes from map.
void	colorizeMap ()
	Colorize shapes in map.
	GeometryMap ()
	Constructor for geometry map object.
const Eigen::Affine3f &	getLastError ()
	Last transformation error is returned.
std::vector < cob_3d_mapping::Polygon::Ptr > *	getMapCylinder ()
	Return Cylinder map.
std::vector < cob_3d_mapping::Polygon::Ptr > *	getMapPolygon ()
	Return Polygon map.
void	incrFrame ()
	Add shape cluster to map.
float	rounding (float x)
	Customized rounding operation.
void	saveMap (std::string path)
	Debug output of whole polygon map.
void	saveMapEntry (std::string path, int ctr, cob_3d_mapping::Polygon &p)
	Debug output of polygon map to file.
void	setFilePath (std::string file_path)
	Return ShapeCluster map.
void	setMergeThresholds (double cos_angle, double d)
	Set merging thresholds.
void	setSaveToFile (bool save_to_file)
	Set option if map is saved to file.
	~GeometryMap ()
	Destructor for geometry map object.
Protected Attributes
double	cos_angle_
double	d_
std::string	file_path_
int	frame_counter_
Eigen::Affine3f	last_tf_err_
std::vector < cob_3d_mapping::Polygon::Ptr >	map_cylinder_
std::vector < cob_3d_mapping::Polygon::Ptr >	map_polygon_
unsigned int	new_id_
bool	save_to_file_

Detailed Description

Class for GeometryMap.

The class GeometryMap handles storage of Shape objects of types Polygon,Cylinder,ShapeCluster.

Definition at line 85 of file geometry_map.h.

Member Typedef Documentation

typedef std::vector<cob_3d_mapping::Polygon::Ptr>::iterator GeometryMap::cylinder_iterator

Cylinder iterator.

Definition at line 96 of file geometry_map.h.

typedef std::vector<cob_3d_mapping::Polygon::Ptr>::iterator GeometryMap::polygon_iterator

Polygon iterator.

Definition at line 91 of file geometry_map.h.

Constructor & Destructor Documentation

GeometryMap::GeometryMap ( ) [inline]

Constructor for geometry map object.

Definition at line 101 of file geometry_map.h.

GeometryMap::~GeometryMap ( ) [inline]

Destructor for geometry map object.

Definition at line 110 of file geometry_map.h.

Member Function Documentation

void GeometryMap::addMapEntry ( cob_3d_mapping::Polygon::Ptr & p_ptr )

Add polygon to map.

Method adds new polygon to map or initiates merge process with existing polygons in map. Weighting and merging configuration are set.

Parameters:

[in] p_ptr Polygon, that is added to map.

Definition at line 92 of file geometry_map.cpp.

void GeometryMap::addMapEntry ( cob_3d_mapping::Cylinder::Ptr & c_ptr )

Add cylinder to map.

Method adds new cylinder to map or initiates merge process with existing cylinders in map. Weighting and merging configuration are set.

Parameters:

[in] c_ptr Cylinder, that is added to map.

Definition at line 146 of file geometry_map.cpp.

void GeometryMap::cleanUp ( )

Remove clutter from map.

Geometry map is cleaned using criterias like: Minimal size of shape, plausible parameters, repeated detection.

Definition at line 329 of file geometry_map.cpp.

void GeometryMap::clearMap ( )

Remove all shapes from map.

Definition at line 425 of file geometry_map.cpp.

void GeometryMap::colorizeMap ( )

Colorize shapes in map.

Definition at line 432 of file geometry_map.cpp.

const Eigen::Affine3f& GeometryMap::getLastError ( ) [inline]

Last transformation error is returned.

Returns:: Latest error transformation matrix.

Definition at line 271 of file geometry_map.h.

std::vector<cob_3d_mapping::Polygon::Ptr>* GeometryMap::getMapCylinder ( ) [inline]

Return Cylinder map.

Returns:: Cylinder Pointer to array with Cylinders contained in map.

Definition at line 223 of file geometry_map.h.

std::vector<cob_3d_mapping::Polygon::Ptr>* GeometryMap::getMapPolygon ( ) [inline]

Return Polygon map.

Returns:: Polygon Pointer to array with Polygons contained in map.

Definition at line 213 of file geometry_map.h.

void GeometryMap::incrFrame ( ) [inline]

Add shape cluster to map.

Method adds new shape cluster to map or initiates merge process with existing shape clusters in map. Weighting and merging configuration are set.

Parameters:

[in] sc_ptr Shape Cluster, that is added to map. Transformation error is calculated.

The error Transformation between two polygons from different input frames is calculated. param[in] list_polygon List of Polygons to be checked for similarity. param[in] tf_old Original transformation param[out] adjust_tf The correctional transformation, calculated by this function. Increment frame counter.

Definition at line 159 of file geometry_map.h.

float GeometryMap::rounding ( float x )

Customized rounding operation.

void GeometryMap::saveMap ( std::string path )

Debug output of whole polygon map.

Parameters:

[in] path Name of output file.

Definition at line 410 of file geometry_map.cpp.

void GeometryMap::saveMapEntry	(	std::string	path,
		int	ctr,
		cob_3d_mapping::Polygon &	p
	)

Debug output of polygon map to file.

Parameters:

[in]	path	path Name of output file.
[in]	p	Polygon that is saved.

Definition at line 383 of file geometry_map.cpp.

void GeometryMap::setFilePath ( std::string file_path ) [inline]

Return ShapeCluster map.

Returns:: ShapeCluster Pointer to array with ShapeClusters contained in map. File path is set.

Parameters:

[in] file_path Filepath

Definition at line 239 of file geometry_map.h.

void GeometryMap::setMergeThresholds	(	double	cos_angle,
		double	d
	)		`[inline]`

Set merging thresholds.

Parameters:

[in]	cos_angle	Angular limit.
[in]	d	Distance limit.

Definition at line 260 of file geometry_map.h.

void GeometryMap::setSaveToFile ( bool save_to_file ) [inline]

Set option if map is saved to file.

Parameters:

[in] save_to_file Set to true, to enable file output.

Definition at line 249 of file geometry_map.h.

Member Data Documentation

double GeometryMap::cos_angle_ [protected]

Angle limit, used during merging.

Definition at line 285 of file geometry_map.h.

double GeometryMap::d_ [protected]

Distance threshold, used during merging.

Definition at line 286 of file geometry_map.h.

std::string GeometryMap::file_path_ [protected]

Path for file output.

Definition at line 283 of file geometry_map.h.

int GeometryMap::frame_counter_ [protected]

Counter for frame_stamp of shapes.

Definition at line 282 of file geometry_map.h.

Eigen::Affine3f GeometryMap::last_tf_err_ [protected]

Transformation error.

Definition at line 287 of file geometry_map.h.

std::vector<cob_3d_mapping::Polygon::Ptr> GeometryMap::map_cylinder_ [protected]

Array containing all cylinder structures.

Definition at line 278 of file geometry_map.h.

std::vector<cob_3d_mapping::Polygon::Ptr> GeometryMap::map_polygon_ [protected]

Array containing all polygon structures.

Definition at line 277 of file geometry_map.h.

unsigned int GeometryMap::new_id_ [protected]

Counter for shape IDs

Definition at line 280 of file geometry_map.h.

bool GeometryMap::save_to_file_ [protected]

Boolean for file output.

Definition at line 284 of file geometry_map.h.

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

Public Types

Public Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation