#include <HierarchicalShapeModel.h>

Public Member Functions
double	calculateProbabilityForHypothesis (std::vector< ISM::Object > pEvidenceList, std::vector< unsigned int > pAssignments)

unsigned int	getNumberOfNodes ()

	HierarchicalShapeModel ()

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

void	load (boost::property_tree::ptree &pPt)

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

	~HierarchicalShapeModel ()

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

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

std::string	mConditionalProbabilityAlgorithm

boost::shared_ptr< Visualization::ProbabilisticPrimarySceneObjectVisualization >	mVisualizer

double	mWorkspaceVolume

Detailed Description

This class encapsulates the functionalities and data structures required by the hierarchical shape model. It also acts as the root node of the tree.

Author: Joachim Gehrung

Version: See SVN

Definition at line 58 of file HierarchicalShapeModel.h.

Constructor & Destructor Documentation

ProbabilisticSceneRecognition::HierarchicalShapeModel::HierarchicalShapeModel ( )

Constructor.

Definition at line 22 of file HierarchicalShapeModel.cpp.

ProbabilisticSceneRecognition::HierarchicalShapeModel::~HierarchicalShapeModel ( )

Destructor.

Definition at line 33 of file HierarchicalShapeModel.cpp.

Member Function Documentation

double ProbabilisticSceneRecognition::HierarchicalShapeModel::calculateProbabilityForHypothesis	(	std::vector< ISM::Object >	pEvidenceList,
		std::vector< unsigned int >	pAssignments
	)

Calculates the probability for a hypothesis with the given assignments.

Parameters

pEvidenceList	A list containing all evidences.
pAssignments	Assignments of parts to slots.

Returns: Probability as determined by the hierarchical shape model.

Definition at line 99 of file HierarchicalShapeModel.cpp.

unsigned int ProbabilisticSceneRecognition::HierarchicalShapeModel::getNumberOfNodes ( )

Return the number of nodes in the OCM.

Definition at line 206 of file HierarchicalShapeModel.cpp.

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

Initializes the visualization mechanism.

Parameters

mSuperior The superior visualizer coordinating the scene visualizers.

Definition at line 89 of file HierarchicalShapeModel.cpp.

void ProbabilisticSceneRecognition::HierarchicalShapeModel::load ( boost::property_tree::ptree & pPt )

Loads the working data from an XML file.

Parameters

pPt	Data structure for performing XML operations.

Definition at line 37 of file HierarchicalShapeModel.cpp.

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

Update the visualizers based on the evidence.

Parameters

pEvidenceList A list containing all evidences.

Definition at line 178 of file HierarchicalShapeModel.cpp.

Member Data Documentation

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

private

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

Definition at line 116 of file HierarchicalShapeModel.h.

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

private

The chrildren of this node.

Definition at line 121 of file HierarchicalShapeModel.h.

std::string ProbabilisticSceneRecognition::HierarchicalShapeModel::mConditionalProbabilityAlgorithm

private

The type of algorithm used to handle the conditional probabilities depending on several parents. "single_parent" - forbid more than one parent and throw std::runtime_error if more are used. "minimum" - use the minimum of the conditional probabilities depending on each parent alone.

Definition at line 133 of file HierarchicalShapeModel.h.

boost::shared_ptr<Visualization::ProbabilisticPrimarySceneObjectVisualization> ProbabilisticSceneRecognition::HierarchicalShapeModel::mVisualizer

private

A copy of the visualizer that coordinates the secondary scene object visualizers.

Definition at line 126 of file HierarchicalShapeModel.h.

double ProbabilisticSceneRecognition::HierarchicalShapeModel::mWorkspaceVolume

private

The volume of the workspace in cubic meters.

Definition at line 111 of file HierarchicalShapeModel.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