ProbabilisticSceneRecognition::SceneModelLearner Class Reference

#include <SceneModelLearner.h>

Public Member Functions
void	addExample (const ISM::ObjectSetPtr pExample)
void	generateSceneModel ()
void	initializeVisualizer (boost::shared_ptr< Visualization::ProbabilisticSceneModelVisualization > mSuperior)
void	saveSceneModelToFile (std::string pPathToFile)
	SceneModelLearner (std::string pForegroundSceneModel, double pWorkspaceVolume, double pStaticBreakRatio, double pTogetherRatio, double pMaxAngleDeviation)
	~SceneModelLearner ()

Private Attributes
BackgroundSceneLearner	mBackgroundSceneLearner
std::string	mForegroundSceneModel
double	mMaxAngleDeviation
std::vector< boost::shared_ptr< ForegroundSceneLearner > >	mSceneLearners
double	mStaticBreakRatio
double	mTogetherRatio
double	mWorkspaceVolume

Detailed Description

Learner for the probabilistic scene model.

Author

Joachim Gehrung

Version

See SVN

Definition at line 58 of file SceneModelLearner.h.

Constructor & Destructor Documentation

ProbabilisticSceneRecognition::SceneModelLearner::SceneModelLearner	(	std::string	pForegroundSceneModel,
		double	pWorkspaceVolume,
		double	pStaticBreakRatio,
		double	pTogetherRatio,
		double	pMaxAngleDeviation
	)

Constructor.

Parameters

pForegroundSceneModel	The type of model that should be used for foreground scene representation.
pWorkspaceVolume	The volume of the workspace in cubic meters.
pStaticBreakRatio	The maximum ration the relationship between two objects may break.
pTogetherRatio	The minimum ratio that two objects must be together.
pMaxAngleDeviation	Maximum angle deviation between two objects before counting as break.

Definition at line 22 of file SceneModelLearner.cpp.

ProbabilisticSceneRecognition::SceneModelLearner::~SceneModelLearner

(

)

Destructor.

Definition at line 31 of file SceneModelLearner.cpp.

Member Function Documentation

void ProbabilisticSceneRecognition::SceneModelLearner::addExample

(

const ISM::ObjectSetPtr

pExample

)

Adds a ISM::ObjectSet to the learner.

Parameters

pExample

ISM::ObjectSet containing an example for a scene.

Definition at line 42 of file SceneModelLearner.cpp.

void ProbabilisticSceneRecognition::SceneModelLearner::generateSceneModel

(

)

Calculates the model parameters based on the collected evidence.

Definition at line 75 of file SceneModelLearner.cpp.

void ProbabilisticSceneRecognition::SceneModelLearner::initializeVisualizer

(

boost::shared_ptr< Visualization::ProbabilisticSceneModelVisualization >

mSuperior

)

Initializes the visualization mechanism.

Parameters

mSuperior

The superior visualizer coordinating the scene visualizers.

Definition at line 35 of file SceneModelLearner.cpp.

void ProbabilisticSceneRecognition::SceneModelLearner::saveSceneModelToFile

(

std::string

pPathToFile

)

Saves the model to an XML file.

Parameters

pPathToFile

The CMl file the scene model should be written to.

Definition at line 99 of file SceneModelLearner.cpp.

Member Data Documentation

BackgroundSceneLearner ProbabilisticSceneRecognition::SceneModelLearner::mBackgroundSceneLearner

private

A seperate learner for the background model.

Definition at line 123 of file SceneModelLearner.h.

std::string ProbabilisticSceneRecognition::SceneModelLearner::mForegroundSceneModel

private

The type of model that should be used for foreground scene representation.

Definition at line 108 of file SceneModelLearner.h.

double ProbabilisticSceneRecognition::SceneModelLearner::mMaxAngleDeviation

private

Definition at line 118 of file SceneModelLearner.h.

std::vector<boost::shared_ptr<ForegroundSceneLearner> > ProbabilisticSceneRecognition::SceneModelLearner::mSceneLearners

private

A list of all foreground scene learners. If an ISM::ObjectSet could not be associated with a learner in the list, a new scene learner is automatically added.

Definition at line 128 of file SceneModelLearner.h.

double ProbabilisticSceneRecognition::SceneModelLearner::mStaticBreakRatio

private

Parameters of heuristics used for hierarchical clustering.

Definition at line 118 of file SceneModelLearner.h.

double ProbabilisticSceneRecognition::SceneModelLearner::mTogetherRatio

private

Definition at line 118 of file SceneModelLearner.h.

double ProbabilisticSceneRecognition::SceneModelLearner::mWorkspaceVolume

private

The volume of the workspace the scene takes place in qubic meters.

Definition at line 113 of file SceneModelLearner.h.

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

• SceneModelLearner.h
• SceneModelLearner.cpp