place_matcher_mcc::DissimilarityGetter Class Reference

`#include <dissimilarity_getter.h>`

List of all members.

Public Member Functions

DissimilarityGetter ()
double getDissimilarity (const geometry_msgs::Polygon &polygon1, const geometry_msgs::Polygon &polygon2)
bool getDissimilarity (place_matcher_msgs::PolygonDissimilarityRequest &req, place_matcher_msgs::PolygonDissimilarityResponse &res)

Public Attributes

bool rotation_invariance
unsigned int sample_count
unsigned int scale_count

Private Member Functions

matrix compare (const matrix &a, const matrix &b)
double compute_convexity (const polygon_list &polygons, matrix &m)

Detailed Description

Definition at line 41 of file dissimilarity_getter.h.

Constructor & Destructor Documentation

 place_matcher_mcc::DissimilarityGetter::DissimilarityGetter ( )

Definition at line 98 of file dissimilarity_getter.cpp.

Member Function Documentation

 matrix place_matcher_mcc::DissimilarityGetter::compare ( const matrix & a, const matrix & b ) ` [private]`

Compute the distance between two MCC representations

Compute the distance between two MCC representations, i.e. for each contour point of a and b (rows) sum the absolute difference on all scale levels (columns). In order to achieve the optional rotational invariance, a circular shift is applied on the rows of the second matrix.

Parameters:
 [in] a An (na x m) matrix. [in] b An (nb x m) matrix. [out] An (na x nb) matrix.

Definition at line 249 of file dissimilarity_getter.cpp.

 double place_matcher_mcc::DissimilarityGetter::compute_convexity ( const polygon_list & polygons, matrix & m ) ` [private]`

Compute the convexity of scaled polygons.

Compute the convexity of scaled polygons by looking at the signed distance between a point at scale s and the same point at scale (s - 1). This approximates the curvature.

Return the estimated shape complexity as the average of the differences between max and min convexity/concavity measures over all scale levels.

Parameters:
 [in] polygons A list of s scaled polygons of n points each. [out] m A multi-scale convexity concavity representation, an (n x s) matrix.
Returns:
The polygon complexity.

Definition at line 201 of file dissimilarity_getter.cpp.

 double place_matcher_mcc::DissimilarityGetter::getDissimilarity ( const geometry_msgs::Polygon & polygon1, const geometry_msgs::Polygon & polygon2 )

Definition at line 105 of file dissimilarity_getter.cpp.

 bool place_matcher_mcc::DissimilarityGetter::getDissimilarity ( place_matcher_msgs::PolygonDissimilarityRequest & req, place_matcher_msgs::PolygonDissimilarityResponse & res )

Definition at line 138 of file dissimilarity_getter.cpp.

Member Data Documentation

Definition at line 57 of file dissimilarity_getter.h.

 unsigned int place_matcher_mcc::DissimilarityGetter::sample_count

Definition at line 54 of file dissimilarity_getter.h.

 unsigned int place_matcher_mcc::DissimilarityGetter::scale_count

Definition at line 51 of file dissimilarity_getter.h.

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

place_matcher_mcc
Author(s): Gaël Ecorchard , Karel Košnar
autogenerated on Sat Jun 8 2019 19:53:05