#include <ShapeTermLearner.h>

Inheritance diagram for ProbabilisticSceneRecognition::ShapeTermLearner:

Public Member Functions
void	learn (boost::shared_ptr< OcmModel > pModel)

	ShapeTermLearner (std::string pSceneName="")

	~ShapeTermLearner ()

Public Member Functions inherited from ProbabilisticSceneRecognition::TermLearner
	TermLearner ()

virtual	~TermLearner ()

Private Member Functions
void	getParameter (std::string pParameterName, double &pParameter)

void	getParameter (std::string pParameterName, int &pParameter)

void	learn (boost::shared_ptr< OcmTree > pNode)

void	learnNodePose (boost::shared_ptr< OcmTree > pParent, boost::shared_ptr< OcmTree > pChild)

Private Attributes
int	mAttemptsPerRun

double	mIntervalOrientation

double	mIntervalPosition

int	mNumberKernelsMax

int	mNumberKernelsMin

int	mNumberOfSyntheticSamples

std::string	mPathOrientationPlots

ros::NodeHandle	mPrivateNamespaceHandle

int	mRunsPerKernel

std::string	mSceneName

Detailed Description

A learner for the shape term of the OCM.

Author: Joachim Gehrung

Version: See SVN

Definition at line 42 of file ShapeTermLearner.h.

Constructor & Destructor Documentation

ProbabilisticSceneRecognition::ShapeTermLearner::ShapeTermLearner ( std::string pSceneName = "" )

Constructor.

Parameters

pSceneName The name of the scene.

Definition at line 22 of file ShapeTermLearner.cpp.

ProbabilisticSceneRecognition::ShapeTermLearner::~ShapeTermLearner ( )

Destructor.

Definition at line 29 of file ShapeTermLearner.cpp.

Member Function Documentation

void ProbabilisticSceneRecognition::ShapeTermLearner::getParameter	(	std::string	pParameterName,
		double &	pParameter
	)

private

Fetches the parameter from the ROS parameter server. First attempts to get the parameter specified for this scene (~/mSceneName/pParameterName), and, if that fails, for the private namespace (~/pParameterName). If that fails as well, a runtime_error is thrown.

Parameters

pParameterName	Name of the parameter to fetch.
pParameter	Where to write the fetched value.

Definition at line 130 of file ShapeTermLearner.cpp.

void ProbabilisticSceneRecognition::ShapeTermLearner::getParameter	(	std::string	pParameterName,
		int &	pParameter
	)

private

Fetches the parameter from the ROS parameter server. First attempts to get the parameter specified for this scene (~/mSceneName/pParameterName), and, if that fails, for the private namespace (~/pParameterName). If that fails as well, a runtime_error is thrown.

Parameters

pParameterName	Name of the parameter to fetch.
pParameter	Where to write the fetched value.

Definition at line 143 of file ShapeTermLearner.cpp.

void ProbabilisticSceneRecognition::ShapeTermLearner::learn ( boost::shared_ptr< OcmModel > pModel )

virtual

Learns the term parameters.

Parameters

pModel The OCM model that provides raw data and containers for the parameters to learn.

Implements ProbabilisticSceneRecognition::TermLearner.

Definition at line 33 of file ShapeTermLearner.cpp.

void ProbabilisticSceneRecognition::ShapeTermLearner::learn ( boost::shared_ptr< OcmTree > pNode )

private

Learns the term parameters.

Parameters

pNode OCM parent node that provides raw data and containers for the parameters to learn.

Definition at line 46 of file ShapeTermLearner.cpp.

void ProbabilisticSceneRecognition::ShapeTermLearner::learnNodePose	(	boost::shared_ptr< OcmTree >	pParent,
		boost::shared_ptr< OcmTree >	pChild
	)

private

Learns the shape term parameters for a parent/child pair.

Parameters

pParent	The parent node the pose should be learned relative to.
pChild	The child node to assign the learned pose to.

Definition at line 59 of file ShapeTermLearner.cpp.

Member Data Documentation

int ProbabilisticSceneRecognition::ShapeTermLearner::mAttemptsPerRun

private

The number of attempts per run to find a valid model until the learner gives up.

Definition at line 138 of file ShapeTermLearner.h.

double ProbabilisticSceneRecognition::ShapeTermLearner::mIntervalOrientation

private

Definition at line 123 of file ShapeTermLearner.h.

double ProbabilisticSceneRecognition::ShapeTermLearner::mIntervalPosition

private

The intervals (position and orientation) for the sample relaxiation.

Definition at line 123 of file ShapeTermLearner.h.

int ProbabilisticSceneRecognition::ShapeTermLearner::mNumberKernelsMax

private

Definition at line 108 of file ShapeTermLearner.h.

int ProbabilisticSceneRecognition::ShapeTermLearner::mNumberKernelsMin

private

The minmal and maximal number of kernels.

Definition at line 108 of file ShapeTermLearner.h.

int ProbabilisticSceneRecognition::ShapeTermLearner::mNumberOfSyntheticSamples

private

For every sample, n noised samples are generated to make orientation and position learning more tolerant.

Definition at line 118 of file ShapeTermLearner.h.

std::string ProbabilisticSceneRecognition::ShapeTermLearner::mPathOrientationPlots

private

Path to the orientation plots.

Definition at line 128 of file ShapeTermLearner.h.

ros::NodeHandle ProbabilisticSceneRecognition::ShapeTermLearner::mPrivateNamespaceHandle

private

Interface to the private namespace of the ros node.

Definition at line 133 of file ShapeTermLearner.h.

int ProbabilisticSceneRecognition::ShapeTermLearner::mRunsPerKernel

private

The number of runs per kernel.

Definition at line 113 of file ShapeTermLearner.h.

std::string ProbabilisticSceneRecognition::ShapeTermLearner::mSceneName

private

The name of the scene.

Definition at line 143 of file ShapeTermLearner.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation