#include <objctxt.h>

Classes
class	CtxtBB
struct	SCOR
struct	SCOR_MEMBER
Public Types
typedef Slam_CurvedPolygon::OBJCTXT::CtxtBB	BB
typedef _DOF6	DOF6
typedef Slam_CurvedPolygon::Object < DOF6 >	OBJECT
typedef boost::shared_ptr < OBJCTXT >	Ptr
Public Member Functions
void	clear ()
OBJCTXT::Ptr	clone () const
bool	empty () const
const BB &	getBoundingBox () const
size_t	getFramesProcessed () const
size_t	getNumObjs () const
const std::vector< typename OBJECT::Ptr > &	getObjs () const
bool	merge (const OBJCTXT &ctxt, const DOF6 &tf, std::map< typename OBJECT::Ptr, bool > &used, const BoundingBox::TransformedFoVBB &fov, const bool only_merge)
	OBJCTXT ()
void	operator+= (typename OBJECT::Ptr obj)
void	operator+= (const OBJCTXT &o)
bool	registration (const OBJCTXT &ctxt, DOF6 &tf, typename DOF6::TYPE &probability_success_rate, typename DOF6::TYPE &probability_error_rate)
OBJCTXT &	transform (const DOF6 &tf)
void	update ()
	update all properties: 1. filter 2. bounding box
Private Member Functions
DOF6::TYPE	check_assumption (typename SCOR_MEMBER::Ptr m1, typename SCOR_MEMBER::Ptr m2) const
void	filter ()
	remove "noise" like seldom seend objects
void	findCorrespondences1 (const OBJCTXT &ctxt, std::list< SCOR > &cors, const DOF6 &tf) const
void	findCorrespondences3 (const OBJCTXT &ctxt, std::vector< SCOR > &cors, const DOF6 &tf)
DOF6	optimizeLink1 (const DOF6 &tf, std::list< SCOR > &cors, const typename DOF6::TYPE &thr_rot, const typename DOF6::TYPE &thr_tr, const Eigen::Matrix3f &rot, const Eigen::Vector3f &tr, const int depth=0) const
DOF6	optimizeLink2 (const DOF6 &tf, std::list< SCOR > &cors, const typename DOF6::TYPE &thr_rot, const typename DOF6::TYPE &thr_tr, const Eigen::Matrix3f &rot, const Eigen::Vector3f &tr, const int depth=0) const
DOF6	optimizeLink3 (const OBJCTXT &ctxt, std::vector< SCOR > &cors, const DOF6 &tf, const typename DOF6::TYPE &thr_rot, const typename DOF6::TYPE &thr_tr, const Eigen::Matrix3f &rot, const Eigen::Vector3f &tr, const int depth=0) const
void	updateBB ()
	update the bounding box (pyramid)
Private Attributes
BB	bb_
bool	enabled_all_merge_
	allows fast intersection tests
size_t	frames_
std::map< typename OBJECT::Ptr, std::vector< size_t > >	map_cors_
	remeber successfully used correspondences from registration for merging
std::vector< typename OBJECT::Ptr >	objs_
std::vector< SCOR >	used_cors_

Detailed Description

template<typename _DOF6>
class Slam_CurvedPolygon::OBJCTXT< _DOF6 >

Definition at line 76 of file curved_polygons/objctxt.h.

Member Typedef Documentation

template<typename _DOF6 >

typedef Slam_CurvedPolygon::OBJCTXT::CtxtBB Slam_CurvedPolygon::OBJCTXT< _DOF6 >::BB

template<typename _DOF6 >

typedef _DOF6 Slam_CurvedPolygon::OBJCTXT< _DOF6 >::DOF6

Definition at line 80 of file curved_polygons/objctxt.h.

template<typename _DOF6 >

typedef Slam_CurvedPolygon::Object<DOF6> Slam_CurvedPolygon::OBJCTXT< _DOF6 >::OBJECT

Definition at line 81 of file curved_polygons/objctxt.h.

template<typename _DOF6 >

typedef boost::shared_ptr<OBJCTXT> Slam_CurvedPolygon::OBJCTXT< _DOF6 >::Ptr

Definition at line 79 of file curved_polygons/objctxt.h.

Constructor & Destructor Documentation

template<typename _DOF6 >

Slam_CurvedPolygon::OBJCTXT< _DOF6 >::OBJCTXT ( ) [inline]

Definition at line 179 of file curved_polygons/objctxt.h.

Member Function Documentation

template<typename _DOF6 >

_DOF6::TYPE Slam_CurvedPolygon::OBJCTXT< _DOF6 >::check_assumption	(	typename SCOR_MEMBER::Ptr	m1,
		typename SCOR_MEMBER::Ptr	m2
	)		const `[private]`

Definition at line 63 of file registration.hpp.

template<typename _DOF6 >

void Slam_CurvedPolygon::OBJCTXT< _DOF6 >::clear ( ) [inline]

Definition at line 194 of file curved_polygons/objctxt.h.

template<typename _DOF6 >

OBJCTXT< _DOF6 >::Ptr Slam_CurvedPolygon::OBJCTXT< _DOF6 >::clone ( ) const

Definition at line 346 of file curved_polygons/objctxt.h.

template<typename _DOF6 >

bool Slam_CurvedPolygon::OBJCTXT< _DOF6 >::empty ( ) const [inline]

Definition at line 211 of file curved_polygons/objctxt.h.

template<typename _DOF6 >

void Slam_CurvedPolygon::OBJCTXT< _DOF6 >::filter ( ) [private]

remove "noise" like seldom seend objects

Definition at line 321 of file objctxt.hpp.

template<typename _DOF6 >

void Slam_CurvedPolygon::OBJCTXT< _DOF6 >::findCorrespondences1	(	const OBJCTXT< _DOF6 > &	ctxt,
		std::list< SCOR > &	cors,
		const DOF6 &	tf
	)		const `[private]`

find correspondences for objects

search overlapping areas
search by similarity score

Definition at line 112 of file registration.hpp.

template<typename _DOF6 >

void Slam_CurvedPolygon::OBJCTXT< _DOF6 >::findCorrespondences3	(	const OBJCTXT< _DOF6 > &	ctxt,
		std::vector< SCOR > &	cors,
		const DOF6 &	tf
	)		`[private]`

Definition at line 580 of file registration.hpp.

template<typename _DOF6 >

const BB& Slam_CurvedPolygon::OBJCTXT< _DOF6 >::getBoundingBox ( ) const [inline]

Definition at line 209 of file curved_polygons/objctxt.h.

template<typename _DOF6 >

size_t Slam_CurvedPolygon::OBJCTXT< _DOF6 >::getFramesProcessed ( ) const [inline]

Definition at line 207 of file curved_polygons/objctxt.h.

template<typename _DOF6 >

size_t Slam_CurvedPolygon::OBJCTXT< _DOF6 >::getNumObjs ( ) const [inline]

Definition at line 203 of file curved_polygons/objctxt.h.

template<typename _DOF6 >

const std::vector<typename OBJECT::Ptr>& Slam_CurvedPolygon::OBJCTXT< _DOF6 >::getObjs ( ) const [inline]

Definition at line 205 of file curved_polygons/objctxt.h.

template<typename _DOF6 >

bool Slam_CurvedPolygon::OBJCTXT< _DOF6 >::merge	(	const OBJCTXT< _DOF6 > &	ctxt,
		const DOF6 &	tf,
		std::map< typename OBJECT::Ptr, bool > &	used,
		const BoundingBox::TransformedFoVBB &	fov,
		const bool	only_merge
	)

Definition at line 120 of file curved_polygons/objctxt.h.

template<typename _DOF6 >

void Slam_CurvedPolygon::OBJCTXT< _DOF6 >::operator+= ( typename OBJECT::Ptr obj ) [inline]

Definition at line 182 of file curved_polygons/objctxt.h.

template<typename _DOF6 >

void Slam_CurvedPolygon::OBJCTXT< _DOF6 >::operator+= ( const OBJCTXT< _DOF6 > & o ) [inline]

Definition at line 188 of file curved_polygons/objctxt.h.

template<typename _DOF6 >

_DOF6 Slam_CurvedPolygon::OBJCTXT< _DOF6 >::optimizeLink1	(	const DOF6 &	tf,
		std::list< SCOR > &	cors,
		const typename DOF6::TYPE &	thr_rot,
		const typename DOF6::TYPE &	thr_tr,
		const Eigen::Matrix3f &	rot,
		const Eigen::Vector3f &	tr,
		const int	depth = `0`
	)		const `[private]`

optimize link 1

remove non matching correspondences recursively
takes all correspondences in account

Definition at line 239 of file registration.hpp.

template<typename _DOF6 >

_DOF6 Slam_CurvedPolygon::OBJCTXT< _DOF6 >::optimizeLink2	(	const DOF6 &	tf,
		std::list< SCOR > &	cors,
		const typename DOF6::TYPE &	thr_rot,
		const typename DOF6::TYPE &	thr_tr,
		const Eigen::Matrix3f &	rot,
		const Eigen::Vector3f &	tr,
		const int	depth = `0`
	)		const `[private]`

optimize link 2

remove non matching correspondences recursively
only uses most probable correspondences

Definition at line 416 of file registration.hpp.

template<typename _DOF6 >

_DOF6 Slam_CurvedPolygon::OBJCTXT< _DOF6 >::optimizeLink3	(	const OBJCTXT< _DOF6 > &	ctxt,
		std::vector< SCOR > &	cors,
		const DOF6 &	tf,
		const typename DOF6::TYPE &	thr_rot,
		const typename DOF6::TYPE &	thr_tr,
		const Eigen::Matrix3f &	rot,
		const Eigen::Vector3f &	tr,
		const int	depth = `0`
	)		const `[private]`

Definition at line 627 of file registration.hpp.

template<typename _DOF6 >

bool Slam_CurvedPolygon::OBJCTXT< _DOF6 >::registration	(	const OBJCTXT< _DOF6 > &	ctxt,
		DOF6 &	tf,
		typename DOF6::TYPE &	probability_success_rate,
		typename DOF6::TYPE &	probability_error_rate
	)

Definition at line 65 of file curved_polygons/objctxt.h.

template<typename _DOF6 >

OBJCTXT< _DOF6 > & Slam_CurvedPolygon::OBJCTXT< _DOF6 >::transform ( const DOF6 & tf )

Definition at line 355 of file curved_polygons/objctxt.h.

template<typename _DOF6 >

void Slam_CurvedPolygon::OBJCTXT< _DOF6 >::update ( )

update all properties: 1. filter 2. bounding box

Definition at line 315 of file curved_polygons/objctxt.h.

template<typename _DOF6 >

void Slam_CurvedPolygon::OBJCTXT< _DOF6 >::updateBB ( ) [private]

update the bounding box (pyramid)

Definition at line 339 of file objctxt.hpp.

Member Data Documentation

template<typename _DOF6 >

BB Slam_CurvedPolygon::OBJCTXT< _DOF6 >::bb_ [private]

Definition at line 133 of file curved_polygons/objctxt.h.

template<typename _DOF6 >

bool Slam_CurvedPolygon::OBJCTXT< _DOF6 >::enabled_all_merge_ [private]

allows fast intersection tests

Definition at line 136 of file curved_polygons/objctxt.h.

template<typename _DOF6 >

size_t Slam_CurvedPolygon::OBJCTXT< _DOF6 >::frames_ [private]

Definition at line 132 of file curved_polygons/objctxt.h.

template<typename _DOF6 >

std::map<typename OBJECT::Ptr,std::vector<size_t> > Slam_CurvedPolygon::OBJCTXT< _DOF6 >::map_cors_ [private]

remeber successfully used correspondences from registration for merging

Definition at line 131 of file curved_polygons/objctxt.h.

template<typename _DOF6 >

std::vector<typename OBJECT::Ptr> Slam_CurvedPolygon::OBJCTXT< _DOF6 >::objs_ [private]

Definition at line 129 of file curved_polygons/objctxt.h.

template<typename _DOF6 >

std::vector<SCOR> Slam_CurvedPolygon::OBJCTXT< _DOF6 >::used_cors_ [private]

Definition at line 130 of file curved_polygons/objctxt.h.

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

Classes

Public Types

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

template<typename _DOF6> class Slam_CurvedPolygon::OBJCTXT< _DOF6 >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<typename _DOF6>
class Slam_CurvedPolygon::OBJCTXT< _DOF6 >