#include <parameter_space_hierarchy.h>

Public Types
typedef but_plane_detector::Plane < float >	tPlane
typedef std::vector< tPlane, Eigen::aligned_allocator < tPlane > >	tPlanes
Public Member Functions
void	addVolume (ParameterSpace &second, int angle1, int angle2, int shift)
void	addVolume (ParameterSpace &second, int angle1, int angle2, int shift, float factor)
void	clear ()
int	findMaxima (tPlanes &indices, double min_value, int neighborhood, int around)
void	fromIndex (int bin_index, int inside_index, int &angle1, int &angle2, int &z)
double	get (int angle1, int angle2, int z)
double	get (int bin_index, int inside_index)
double	get (double angle1, double angle2, double z)
double	getAngle (int index)
IndexStruct	getIndex (double angle1, double angle2, double z)
IndexStruct	getIndex (int angle1, int angle2, int z)
void	getIndex (double angle1, double angle2, double z, int &angle1Index, int &angle2Index, int &shiftIndex)
double	getShift (int irndex)
int	getSize ()
	ParameterSpaceHierarchy (double anglemin, double anglemax, double zmin, double zmax, double angleRes=DEFAULT_ANGLE_STEP, double shiftRes=DEFAULT_SHIFT_STEP)
void	set (int angle1, int angle2, int z, double val)
void	set (int bin_index, int inside_index, double val)
void	set (double angle1, double angle2, double z, double val)
	~ParameterSpaceHierarchy ()
Static Public Member Functions
static void	toAngles (float x, float y, float z, float &a1, float &a2)
static void	toEuklid (float a1, float a2, float &x, float &y, float &z)
Public Attributes
int	m_angleLoSize
int	m_angleLoSize2
double	m_angleLoStep
double	m_anglemax
double	m_anglemin
int	m_angleSize
int	m_angleSize2
double	m_angleStep
double **	m_dataLowRes
int	m_hiSize
int	m_hiSize2
bool	m_init
int	m_loSize
cv::Mat	m_paramSpace
int	m_shiftLoSize
double	m_shiftLoStep
double	m_shiftmax
double	m_shiftmin
int	m_shiftSize
double	m_shiftStep
int	m_size

Detailed Description

Class encapsulating a Hough parameter space - (angle, angle, shift) Structure is 2 level hierarchic

Definition at line 80 of file parameter_space_hierarchy.h.

Member Typedef Documentation

typedef but_plane_detector::Plane<float> srs_env_model_percp::ParameterSpaceHierarchy::tPlane

Definition at line 83 of file parameter_space_hierarchy.h.

typedef std::vector<tPlane, Eigen::aligned_allocator<tPlane> > srs_env_model_percp::ParameterSpaceHierarchy::tPlanes

Definition at line 84 of file parameter_space_hierarchy.h.

Constructor & Destructor Documentation

ParameterSpaceHierarchy::ParameterSpaceHierarchy	(	double	anglemin,
		double	anglemax,
		double	zmin,
		double	zmax,
		double	angleRes = `DEFAULT_ANGLE_STEP`,
		double	shiftRes = `DEFAULT_SHIFT_STEP`
	)

Constructor - creates and allocates a space (angle X angle X shift)

Parameters:

anglemin	Minimal angle in space
anglemax	Maximal angle in space
zmin	Minimal shift in space
zmax	Maximal shift in space
angleRes	Angle resolution (step)
shiftRes	Shift resolution (step)

Definition at line 52 of file parameter_space_hierarchy.cpp.

ParameterSpaceHierarchy::~ParameterSpaceHierarchy ( )

Destructor

Definition at line 88 of file parameter_space_hierarchy.cpp.

Member Function Documentation

void ParameterSpaceHierarchy::addVolume	(	ParameterSpace &	second,
		int	angle1,
		int	angle2,
		int	shift
	)

Adds a second volume to this with offset

Parameters:

second	Second volume to be added
angle1	Angle 1 offset
angle2	Angle 2 offset
shift	Shift offset

Definition at line 286 of file parameter_space_hierarchy.cpp.

void ParameterSpaceHierarchy::addVolume	(	ParameterSpace &	second,
		int	angle1,
		int	angle2,
		int	shift,
		float	factor
	)

Adds a second volume to this with offset and multiplied by given factor

Parameters:

second	Second volume to be added
angle1	Angle 1 offset
angle2	Angle 2 offset
shift	Shift offset
factor	number by which each gauss function will be multiplied

Definition at line 316 of file parameter_space_hierarchy.cpp.

void ParameterSpaceHierarchy::clear ( void )

Definition at line 96 of file parameter_space_hierarchy.cpp.

int ParameterSpaceHierarchy::findMaxima	(	tPlanes &	indices,
		double	min_value,
		int	neighborhood,
		int	around
	)

Finds maximas in this and saves them as planes to given vector

Parameters:

indices Found planes

Returns:: index of maximal plane

Definition at line 342 of file parameter_space_hierarchy.cpp.

void ParameterSpaceHierarchy::fromIndex	(	int	bin_index,
		int	inside_index,
		int &	angle1,
		int &	angle2,
		int &	z
	)

Converts an index into axis coordinates

Parameters:

i	Given index
angle1	First angle coordinate
angle2	Second angle coordinate
z	Shift (d param) coordinate

Definition at line 227 of file parameter_space_hierarchy.cpp.

double ParameterSpaceHierarchy::get	(	int	angle1,
		int	angle2,
		int	z
	)

Returns a value saved at given coordinates (indices)

Parameters:

angle1	First angle coordinate
angle2	Second angle coordinate
z	Shift (d param) coordinate

Definition at line 144 of file parameter_space_hierarchy.cpp.

double ParameterSpaceHierarchy::get	(	int	bin_index,
		int	inside_index
	)

Returns a value saved at given index

Parameters:

index Given index

Definition at line 179 of file parameter_space_hierarchy.cpp.

double ParameterSpaceHierarchy::get	(	double	angle1,
		double	angle2,
		double	z
	)

Returns a value saved at given values

Parameters:

angle1	First angle value
angle2	Second angle value
z	Shift (d param) value

Definition at line 483 of file parameter_space_hierarchy.cpp.

double ParameterSpaceHierarchy::getAngle ( int index )

Converts index in parameter space into angle value

Parameters:

index Angle axis index

Definition at line 452 of file parameter_space_hierarchy.cpp.

IndexStruct ParameterSpaceHierarchy::getIndex	(	double	angle1,
		double	angle2,
		double	z
	)

Returns an index from given values

Parameters:

angle1	First angle value
angle2	Second angle value
z	Shift (d param) value

Definition at line 208 of file parameter_space_hierarchy.cpp.

IndexStruct ParameterSpaceHierarchy::getIndex	(	int	angle1,
		int	angle2,
		int	z
	)

Returns an index from given coordinate indices

Parameters:

angle1	First angle coordinate
angle2	Second angle coordinate
z	Shift (d param) coordinate

Definition at line 253 of file parameter_space_hierarchy.cpp.

void ParameterSpaceHierarchy::getIndex	(	double	angle1,
		double	angle2,
		double	z,
		int &	angle1Index,
		int &	angle2Index,
		int &	shiftIndex
	)

Converts between values and coordinates

Parameters:

angle1	First angle value
angle2	Second angle value
z	Shift (d param) value
angle1Index	First angle coordinate
angle2Index	Second angle coordinate
shiftIndex	(d param) coordinate