Fast Laser Interesting Region Transform (FLIRT)
Generated by Doxygen 1.6.1
Mon Apr 19 16:57:44 2010
Contents
1 FLIRTLib - Fast Laser Interest Region Transform Library 1
1.1 What’s FLIRTLib? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
1.1.1 Detectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
1.1.2 Descriptors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
1.2 Download . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
1.3 Install . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
1.4 Usage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
1.4.1 Binaries . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
1.4.2 Using the library . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
1.5 References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
1.6 License . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
2 Directory Hierarchy 5
2.1 Directories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
3 Class Index 7
3.1 Class Hierarchy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
4 Class Index 9
4.1 Class List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
5 File Index 11
5.1 File List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
6 Directory Documentation 13
6.1 /home/tipaldi/src/flirt-release/src/feature/ Directory Reference . . . . . . . . . . . . . . . 13
6.2 /home/tipaldi/src/flirt-release/src/geometry/ Directory Reference . . . . . . . . . . . . . . 15
6.3 /home/tipaldi/src/flirt-release/src/sensors/ Directory Reference . . . . . . . . . . . . . . . 16
6.4 /home/tipaldi/src/flirt-release/src/sensorstream/ Directory Reference . . . . . . . . . . . . 17
6.5 /home/tipaldi/src/flirt-release/src/ Directory Reference . . . . . . . . . . . . . . . . . . . 18
ii CONTENTS
6.6 /home/tipaldi/src/flirt-release/src/utils/ Directory Reference . . . . . . . . . . . . . . . . . 19
7 Class Documentation 21
7.1 AbstractFeatureSetMatcher Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . 21
7.1.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
7.1.2 Constructor & Destructor Documentation . . . . . . . . . . . . . . . . . . . . . . 23
7.1.2.1 AbstractFeatureSetMatcher . . . . . . . . . . . . . . . . . . . . . . . . 23
7.1.3 Member Function Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . 24
7.1.3.1 generateHypothesis . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
7.1.3.2 getAcceptanceThreshold . . . . . . . . . . . . . . . . . . . . . . . . . 24
7.1.3.3 matchSets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
7.1.3.4 matchSets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
7.1.3.5 setAcceptanceThreshold . . . . . . . . . . . . . . . . . . . . . . . . . . 25
7.1.3.6 verifyHypothesis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
7.1.4 Member Data Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
7.1.4.1 m_acceptanceThreshold . . . . . . . . . . . . . . . . . . . . . . . . . . 25
7.2 AbstractReading Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
7.2.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
7.2.2 Constructor & Destructor Documentation . . . . . . . . . . . . . . . . . . . . . . 28
7.2.2.1 AbstractReading . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
7.2.2.2 ∼AbstractReading . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
7.2.3 Member Function Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . 29
7.2.3.1 clone . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
7.2.3.2 getName . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
7.2.3.3 getRobot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
7.2.3.4 getTime . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
7.2.4 Member Data Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
7.2.4.1 m_name . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
7.2.4.2 m_robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
7.2.4.3 m_time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
7.3 BatthacharyyaDistance Class Template Reference . . . . . . . . . . . . . . 30
7.3.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
7.3.2 Member Function Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . 31
7.3.2.1 distance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
7.3.2.2 distance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
7.4 BetaGrid Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
7.4.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
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CONTENTS iii
7.4.2 Member Function Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . 35
7.4.2.1 clone . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
7.4.2.2 distance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
7.4.2.3 getDistanceFunction . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
7.4.2.4 getHistogram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
7.4.2.5 getHistogram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
7.4.2.6 getHit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
7.4.2.7 getHit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
7.4.2.8 getMiss . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
7.4.2.9 getMiss . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
7.4.2.10 getVariance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
7.4.2.11 getVariance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
7.4.2.12 setDistanceFunction . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
7.4.3 Member Data Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
7.4.3.1 m_distanceFunction . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
7.4.3.2 m_histogram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
7.4.3.3 m_hit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
7.4.3.4 m_miss . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
7.4.3.5 m_variance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
7.5 BetaGridGenerator Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
7.5.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
7.5.2 Constructor & Destructor Documentation . . . . . . . . . . . . . . . . . . . . . . 41
7.5.2.1 BetaGridGenerator . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
7.5.2.2 BetaGridGenerator . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
7.5.3 Member Function Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . 42
7.5.3.1 describe . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
7.5.3.2 describe . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
7.5.3.3 getBinPhi . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
7.5.3.4 getBinRho . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
7.5.3.5 getDistanceFunction . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
7.5.3.6 getMaxRho . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
7.5.3.7 getMinRho . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
7.5.3.8 getPhiEdges . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
7.5.3.9 getRhoEdges . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
7.5.3.10 intersectSegment2Arc . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
7.5.3.11 intersectSegment2Segment . . . . . . . . . . . . . . . . . . . . . . . . 43
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7.5.3.12 setDistanceFunction . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
7.5.3.13 setEdges . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
7.5.3.14 setEdges . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
7.5.4 Member Data Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
7.5.4.1 m_distanceFunction . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
7.5.4.2 m_phiEdges . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
7.5.4.3 m_rhoEdges . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
7.6 CarmenLogReader Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
7.6.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
7.6.2 Member Function Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . 47
7.6.2.1 parseFLaser . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
7.6.2.2 parseRawLaser . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
7.6.2.3 parseRobotLaser . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
7.6.2.4 readLine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
7.6.2.5 readLog . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
7.7 CarmenLogWriter Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
7.7.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
7.7.2 Member Function Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . 50
7.7.2.1 writeFLaser . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
7.7.2.2 writeLine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
7.7.2.3 writeLog . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
7.7.2.4 writeRawLaser . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
7.7.2.5 writeRobotLaser . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
7.8 Chi2Distance Class Template Reference . . . . . . . . . . . . . . . . . . . . 51
7.8.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
7.8.2 Member Function Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . 52
7.8.2.1 distance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
7.9 CurvatureDetector Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
7.9.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
7.9.2 Constructor & Destructor Documentation . . . . . . . . . . . . . . . . . . . . . . 57
7.9.2.1 CurvatureDetector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
7.9.3 Member Function Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . 57
7.9.3.1 computeGraph . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
7.9.3.2 computeInterestPoints . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
7.9.3.3 computeScaleBank . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
7.9.3.4 detect . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
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7.9.3.5 detect . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
7.9.3.6 detect . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
7.9.3.7 detect . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
7.9.3.8 getBaseSigma . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
7.9.3.9 getDmst . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
7.9.3.10 getPeakFinder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
7.9.3.11 getScaleNumber . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
7.9.3.12 getScales . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
7.9.3.13 getSigmaStep . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
7.9.3.14 getUseMaxRange . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
7.9.3.15 setBaseSigma . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
7.9.3.16 setDmst . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
7.9.3.17 setPeakFinder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
7.9.3.18 setScaleNumber . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
7.9.3.19 setSigmaStep . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
7.9.3.20 setUseMaxRange . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
7.9.4 Member Data Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
7.9.4.1 m_baseSigma . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
7.9.4.2 m_dmst . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
7.9.4.3 m_peakFinder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
7.9.4.4 m_scaleNumber . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
7.9.4.5 m_scales . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
7.9.4.6 m_sigmaStep . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
7.9.4.7 m_useMaxRange . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
7.10 Descriptor Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
7.10.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
7.10.2 Member Function Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . 63
7.10.2.1 clone . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
7.10.2.2 distance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
7.11 DescriptorGenerator Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
7.11.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
7.11.2 Member Function Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . 65
7.11.2.1 describe . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
7.11.2.2 describe . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
7.12 Detector Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
7.12.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
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7.12.2 Member Function Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . 68
7.12.2.1 detect . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
7.12.2.2 detect . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
7.13 EuclideanDistance Class Template Reference . . . . . . . . . . . . . . . . . 70
7.13.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
7.13.2 Member Function Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . 71
7.13.2.1 distance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
7.13.2.2 distance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
7.14 HistogramDistance Class Template Reference . . . . . . . . . . . . . . . . 72
7.14.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
7.14.2 Member Function Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . 72
7.14.2.1 distance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
7.14.2.2 distance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
7.15 InterestPoint Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
7.15.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
7.15.2 Constructor & Destructor Documentation . . . . . . . . . . . . . . . . . . . . . . 76
7.15.2.1 InterestPoint . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
7.15.2.2 InterestPoint . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
7.15.2.3 ∼InterestPoint . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
7.15.3 Member Function Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . 76
7.15.3.1 getDescriptor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
7.15.3.2 getPosition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
7.15.3.3 getScale . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
7.15.3.4 getScaleLevel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
7.15.3.5 getSupport . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
7.15.3.6 operator= . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
7.15.3.7 setDescriptor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
7.15.3.8 setPosition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
7.15.3.9 setScale . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
7.15.3.10 setScaleLevel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
7.15.3.11 setSupport . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
7.15.4 Member Data Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
7.15.4.1 m_descriptor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
7.15.4.2 m_position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
7.15.4.3 m_scale . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
7.15.4.4 m_scaleLevel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
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7.15.4.5 m_supportPoints . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
7.16 JensenShannonDistance Class Template Reference . . . . . . . . . . . . . . 79
7.16.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
7.16.2 Member Function Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . 80
7.16.2.1 distance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
7.17 KullbackLeiblerDistance Class Template Reference . . . . . . . . . . . . . 81
7.17.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
7.17.2 Member Function Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . 82
7.17.2.1 distance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
7.18 LaserReading Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
7.18.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
7.18.2 Constructor & Destructor Documentation . . . . . . . . . . . . . . . . . . . . . . 86
7.18.2.1 LaserReading . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
7.18.2.2 ∼LaserReading . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
7.18.3 Member Function Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . 87
7.18.3.1 clone . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
7.18.3.2 computeLocalCartesian . . . . . . . . . . . . . . . . . . . . . . . . . . 87
7.18.3.3 computeWorldCartesian . . . . . . . . . . . . . . . . . . . . . . . . . . 87
7.18.3.4 getCartesian . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
7.18.3.5 getLaserPose . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
7.18.3.6 getMaxRange . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
7.18.3.7 getPhi . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
7.18.3.8 getPolar . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
7.18.3.9 getRemission . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
7.18.3.10 getRho . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
7.18.3.11 getWorldCartesian . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
7.18.3.12 setLaserPose . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
7.18.3.13 setMaxRange . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
7.18.3.14 setRemission . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
7.18.4 Member Data Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
7.18.4.1 m_cartesian . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
7.18.4.2 m_laserPose . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
7.18.4.3 m_maxRange . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
7.18.4.4 m_phi . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
7.18.4.5 m_remission . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
7.18.4.6 m_rho . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
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7.18.4.7 m_worldCartesian . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
7.19 LineParameters Struct Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
7.19.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
7.19.2 Member Data Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
7.19.2.1 alpha . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
7.19.2.2 rho . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
7.20 LogReader Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
7.20.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
7.20.2 Member Function Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . 93
7.20.2.1 readLog . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
7.21 LogSensorStream Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
7.21.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
7.21.2 Constructor & Destructor Documentation . . . . . . . . . . . . . . . . . . . . . . 97
7.21.2.1 LogSensorStream . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
7.21.2.2 LogSensorStream . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
7.21.2.3 ∼LogSensorStream . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98
7.21.3 Member Function Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . 98
7.21.3.1 current . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98
7.21.3.2 end . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98
7.21.3.3 getLog . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98
7.21.3.4 getReader . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98
7.21.3.5 getWriter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98
7.21.3.6 isSeekable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98
7.21.3.7 load . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98
7.21.3.8 load . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
7.21.3.9 next . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
7.21.3.10 operator= . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
7.21.3.11 save . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
7.21.3.12 save . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
7.21.3.13 seek . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
7.21.3.14 tell . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
7.21.4 Member Data Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
7.21.4.1 m_index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
7.21.4.2 m_log . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
7.21.4.3 m_logReader . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
7.21.4.4 m_logWriter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
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7.22 LogWriter Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
7.22.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
7.22.2 Member Function Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . 102
7.22.2.1 writeLog . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102
7.23 MultiScaleDetector Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103
7.23.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108
7.23.2 Constructor & Destructor Documentation . . . . . . . . . . . . . . . . . . . . . . 108
7.23.2.1 MultiScaleDetector . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108
7.23.3 Member Function Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . 108
7.23.3.1 computeDifferentialBank . . . . . . . . . . . . . . . . . . . . . . . . . 108
7.23.3.2 computeFilterBank . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108
7.23.3.3 computeInterestPoints . . . . . . . . . . . . . . . . . . . . . . . . . . . 109
7.23.3.4 computeSignal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109
7.23.3.5 detect . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109
7.23.3.6 detect . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109
7.23.3.7 detect . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110
7.23.3.8 getBaseSigma . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110
7.23.3.9 getFilterType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110
7.23.3.10 getPeakFinder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110
7.23.3.11 getScaleNumber . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110
7.23.3.12 getScales . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111
7.23.3.13 getSigmaStep . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111
7.23.3.14 getUseMaxRange . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111
7.23.3.15 setBaseSigma . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111
7.23.3.16 setFilterType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111
7.23.3.17 setPeakFinder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111
7.23.3.18 setScaleNumber . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111
7.23.3.19 setSigmaStep . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111
7.23.3.20 setUseMaxRange . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111
7.23.4 Member Data Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112
7.23.4.1 m_baseSigma . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112
7.23.4.2 m_differentialBank . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112
7.23.4.3 m_filterBank . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112
7.23.4.4 m_filterType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112
7.23.4.5 m_peakFinder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112
7.23.4.6 m_scaleNumber . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112
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7.23.4.7 m_scales . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112
7.23.4.8 m_sigmaStep . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112
7.23.4.9 m_useMaxRange . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113
7.24 NormalBlobDetector Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114
7.24.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116
7.24.2 Constructor & Destructor Documentation . . . . . . . . . . . . . . . . . . . . . . 116
7.24.2.1 NormalBlobDetector . . . . . . . . . . . . . . . . . . . . . . . . . . . 116
7.24.3 Member Function Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . 116
7.24.3.1 computeDifferentialBank . . . . . . . . . . . . . . . . . . . . . . . . . 116
7.25 NormalDetector Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118
7.25.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120
7.25.2 Constructor & Destructor Documentation . . . . . . . . . . . . . . . . . . . . . . 121
7.25.2.1 NormalDetector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121
7.25.3 Member Function Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . 121
7.25.3.1 computeDifferentialBank . . . . . . . . . . . . . . . . . . . . . . . . . 121
7.25.3.2 computeInterestPoints . . . . . . . . . . . . . . . . . . . . . . . . . . . 121
7.25.3.3 computeSignal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121
7.25.3.4 getWindowSize . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122
7.25.3.5 setWindowSize . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122
7.25.4 Member Data Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122
7.25.4.1 m_windowSize . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122
7.26 NormalEdgeDetector Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123
7.26.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125
7.26.2 Constructor & Destructor Documentation . . . . . . . . . . . . . . . . . . . . . . 125
7.26.2.1 NormalEdgeDetector . . . . . . . . . . . . . . . . . . . . . . . . . . . 125
7.26.3 Member Function Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . 125
7.26.3.1 computeDifferentialBank . . . . . . . . . . . . . . . . . . . . . . . . . 125
7.27 OrientedPoint2D Struct Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127
7.27.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129
7.27.2 Constructor & Destructor Documentation . . . . . . . . . . . . . . . . . . . . . . 129
7.27.2.1 OrientedPoint2D . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129
7.27.2.2 OrientedPoint2D . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129
7.27.3 Member Function Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . 129
7.27.3.1 ominus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129
7.27.3.2 ominus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130
7.27.3.3 ominus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130
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7.27.3.4 oplus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130
7.27.3.5 oplus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130
7.27.4 Member Data Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130
7.27.4.1 theta . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130
7.28 PeakFinder Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131
7.28.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132
7.28.2 Member Function Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . 132
7.28.2.1 findPeaks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132
7.28.2.2 findPeaks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132
7.28.2.3 isPeak . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132
7.28.2.4 isPeak . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132
7.29 Point2D Struct Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133
7.29.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 134
7.29.2 Constructor & Destructor Documentation . . . . . . . . . . . . . . . . . . . . . . 134
7.29.2.1 Point2D . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 134
7.29.2.2 Point2D . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 134
7.29.3 Member Function Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . 134
7.29.3.1 ortho . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 134
7.29.4 Member Data Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . 134
7.29.4.1 x . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 134
7.29.4.2 y . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 135
7.30 RangeDetector Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 136
7.30.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 138
7.30.2 Constructor & Destructor Documentation . . . . . . . . . . . . . . . . . . . . . . 138
7.30.2.1 RangeDetector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 138
7.30.3 Member Function Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . 139
7.30.3.1 computeDifferentialBank . . . . . . . . . . . . . . . . . . . . . . . . . 139
7.30.3.2 computeInterestPoints . . . . . . . . . . . . . . . . . . . . . . . . . . . 139
7.30.3.3 computeSignal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 139
7.31 RansacFeatureSetMatcher Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . 140
7.31.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142
7.31.2 Constructor & Destructor Documentation . . . . . . . . . . . . . . . . . . . . . . 143
7.31.2.1 RansacFeatureSetMatcher . . . . . . . . . . . . . . . . . . . . . . . . . 143
7.31.3 Member Function Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . 143
7.31.3.1 getAdaptive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143
7.31.3.2 getDistanceThreshold . . . . . . . . . . . . . . . . . . . . . . . . . . . 143
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7.31.3.3 getInlierProbability . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143
7.31.3.4 getSuccessProbability . . . . . . . . . . . . . . . . . . . . . . . . . . . 143
7.31.3.5 matchSets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144
7.31.3.6 matchSets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144
7.31.3.7 setAdaptive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144
7.31.3.8 setDistanceThreshold . . . . . . . . . . . . . . . . . . . . . . . . . . . 145
7.31.3.9 setInlierProbability . . . . . . . . . . . . . . . . . . . . . . . . . . . . 145
7.31.3.10 setSuccessProbability . . . . . . . . . . . . . . . . . . . . . . . . . . . 145
7.31.4 Member Data Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . 145
7.31.4.1 m_adaptive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 145
7.31.4.2 m_distanceThreshold . . . . . . . . . . . . . . . . . . . . . . . . . . . 145
7.31.4.3 m_inlierProbability . . . . . . . . . . . . . . . . . . . . . . . . . . . . 145
7.31.4.4 m_rigidityThreshold . . . . . . . . . . . . . . . . . . . . . . . . . . . . 145
7.31.4.5 m_successProbability . . . . . . . . . . . . . . . . . . . . . . . . . . . 145
7.32 RansacMultiFeatureSetMatcher Class Reference . . . . . . . . . . . . . . . . . . . . . . . 147
7.32.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149
7.32.2 Constructor & Destructor Documentation . . . . . . . . . . . . . . . . . . . . . . 149
7.32.2.1 RansacMultiFeatureSetMatcher . . . . . . . . . . . . . . . . . . . . . . 149
7.32.3 Member Function Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . 149
7.32.3.1 matchSets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149
7.33 SensorStream Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 151
7.33.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152
7.33.2 Member Function Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . 152
7.33.2.1 current . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152
7.33.2.2 end . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152
7.33.2.3 isSeekable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152
7.33.2.4 next . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152
7.33.2.5 seek . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 153
7.33.2.6 tell . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 153
7.34 ShapeContext Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 154
7.34.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 156
7.34.2 Member Function Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . 156
7.34.2.1 clone . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 156
7.34.2.2 distance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 156
7.34.2.3 getDistanceFunction . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157
7.34.2.4 getHistogram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157
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7.34.2.5 getHistogram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157
7.34.2.6 setDistanceFunction . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157
7.34.3 Member Data Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157
7.34.3.1 m_distanceFunction . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157
7.34.3.2 m_histogram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157
7.35 ShapeContextGenerator Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . 158
7.35.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 161
7.35.2 Constructor & Destructor Documentation . . . . . . . . . . . . . . . . . . . . . . 161
7.35.2.1 ShapeContextGenerator . . . . . . . . . . . . . . . . . . . . . . . . . . 161
7.35.2.2 ShapeContextGenerator . . . . . . . . . . . . . . . . . . . . . . . . . . 161
7.35.3 Member Function Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . 162
7.35.3.1 describe . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 162
7.35.3.2 describe . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 162
7.35.3.3 getBinPhi . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 162
7.35.3.4 getBinRho . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 162
7.35.3.5 getDistanceFunction . . . . . . . . . . . . . . . . . . . . . . . . . . . . 162
7.35.3.6 getMaxRho . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 162
7.35.3.7 getMinRho . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 163
7.35.3.8 getPhiEdges . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 163
7.35.3.9 getRhoEdges . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 163
7.35.3.10 setDistanceFunction . . . . . . . . . . . . . . . . . . . . . . . . . . . . 163
7.35.3.11 setEdges . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 163
7.35.3.12 setEdges . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 163
7.35.4 Member Data Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . 164
7.35.4.1 m_distanceFunction . . . . . . . . . . . . . . . . . . . . . . . . . . . . 164
7.35.4.2 m_phiEdges . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 164
7.35.4.3 m_rhoEdges . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 164
7.36 SimpleMinMaxPeakFinder Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . 165
7.36.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 166
7.36.2 Constructor & Destructor Documentation . . . . . . . . . . . . . . . . . . . . . . 167
7.36.2.1 SimpleMinMaxPeakFinder . . . . . . . . . . . . . . . . . . . . . . . . 167
7.36.3 Member Function Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . 167
7.36.3.1 isPeak . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 167
7.37 SimplePeakFinder Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 168
7.37.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 170
7.37.2 Constructor & Destructor Documentation . . . . . . . . . . . . . . . . . . . . . . 170
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7.37.2.1 SimplePeakFinder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 170
7.37.3 Member Function Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . 171
7.37.3.1 findPeaks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171
7.37.3.2 findPeaks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171
7.37.3.3 getMinDifference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171
7.37.3.4 getMinValue . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171
7.37.3.5 isPeak . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171
7.37.3.6 isPeak . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171
7.37.3.7 setMinDifference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 172
7.37.3.8 setMinValue . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 172
7.37.4 Member Data Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . 172
7.37.4.1 m_minDifference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 172
7.37.4.2 m_minValue . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 172
7.38 SymmetricChi2Distance Class Template Reference . . . . . . . . . . . . . . 173
7.38.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 174
7.38.2 Member Function Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . 174
7.38.2.1 distance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 174
8 File Documentation 175
8.1 /home/tipaldi/src/flirt-release/src/feature/AbstractFeatureSetMatcher.cpp File Reference . . 175
8.2 /home/tipaldi/src/flirt-release/src/feature/AbstractFeatureSetMatcher.h File Reference . . . 176
8.3 /home/tipaldi/src/flirt-release/src/feature/BetaGrid.cpp File Reference . . . . . . . . . . . 177
8.4 /home/tipaldi/src/flirt-release/src/feature/BetaGrid.h File Reference . . . . . . . . . . . . . 178
8.5 /home/tipaldi/src/flirt-release/src/feature/CurvatureDetector.cpp File Reference . . . . . . 179
8.6 /home/tipaldi/src/flirt-release/src/feature/CurvatureDetector.h File Reference . . . . . . . . 180
8.6.1 Typedef Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 181
8.6.1.1 DistanceVertexProperty . . . . . . . . . . . . . . . . . . . . . . . . . . 181
8.6.1.2 Graph . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 181
8.6.1.3 GraphEdge . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 181
8.6.1.4 MatrixGraph . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 181
8.6.1.5 WeightEdgeProperty . . . . . . . . . . . . . . . . . . . . . . . . . . . . 181
8.7 /home/tipaldi/src/flirt-release/src/feature/Descriptor.h File Reference . . . . . . . . . . . . 182
8.8 /home/tipaldi/src/flirt-release/src/feature/Detector.h File Reference . . . . . . . . . . . . . 183
8.9 /home/tipaldi/src/flirt-release/src/feature/InterestPoint.cpp File Reference . . . . . . . . . 184
8.10 /home/tipaldi/src/flirt-release/src/feature/InterestPoint.h File Reference . . . . . . . . . . . 185
8.11 /home/tipaldi/src/flirt-release/src/feature/MultiScaleDetector.cpp File Reference . . . . . . 186
8.12 /home/tipaldi/src/flirt-release/src/feature/MultiScaleDetector.h File Reference . . . . . . . 187
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8.12.1 Define Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 188
8.12.1.1 MAX_KERNEL_SIZE . . . . . . . . . . . . . . . . . . . . . . . . . . 188
8.12.1.2 MIN_KERNEL_SIZE . . . . . . . . . . . . . . . . . . . . . . . . . . . 188
8.12.2 Enumeration Type Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . 188
8.12.2.1 SmoothingFilterFamily . . . . . . . . . . . . . . . . . . . . . . . . . . 188
8.13 /home/tipaldi/src/flirt-release/src/feature/NormalBlobDetector.cpp File Reference . . . . . 189
8.14 /home/tipaldi/src/flirt-release/src/feature/NormalBlobDetector.h File Reference . . . . . . 190
8.15 /home/tipaldi/src/flirt-release/src/feature/NormalDetector.cpp File Reference . . . . . . . . 191
8.16 /home/tipaldi/src/flirt-release/src/feature/NormalDetector.h File Reference . . . . . . . . . 192
8.17 /home/tipaldi/src/flirt-release/src/feature/NormalEdgeDetector.cpp File Reference . . . . . 193
8.18 /home/tipaldi/src/flirt-release/src/feature/NormalEdgeDetector.h File Reference . . . . . . 194
8.19 /home/tipaldi/src/flirt-release/src/feature/RangeDetector.cpp File Reference . . . . . . . . 195
8.20 /home/tipaldi/src/flirt-release/src/feature/RangeDetector.h File Reference . . . . . . . . . . 196
8.21 /home/tipaldi/src/flirt-release/src/feature/RansacFeatureSetMatcher.cpp File Reference . . 197
8.22 /home/tipaldi/src/flirt-release/src/feature/RansacFeatureSetMatcher.h File Reference . . . . 198
8.23 /home/tipaldi/src/flirt-release/src/feature/RansacLoopClosureDrawMovie.cpp File Reference199
8.23.1 Function Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 200
8.23.1.1 computeBoundingBox . . . . . . . . . . . . . . . . . . . . . . . . . . . 200
8.23.1.2 computeMap . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 200
8.23.1.3 describeLog . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 200
8.23.1.4 detectLog . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 200
8.23.1.5 main . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 201
8.23.1.6 match . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 201
8.23.2 Variable Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 201
8.23.2.1 acceptanceSigma . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 201
8.23.2.2 border . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 201
8.23.2.3 cairoMap . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 201
8.23.2.4 cairoOut . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 201
8.23.2.5 corresp . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 201
8.23.2.6 m_betaGenerator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 201
8.23.2.7 m_descriptor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 201
8.23.2.8 m_detector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 201
8.23.2.9 m_detectorCurvature . . . . . . . . . . . . . . . . . . . . . . . . . . . 201
8.23.2.10 m_detectorNormalBlob . . . . . . . . . . . . . . . . . . . . . . . . . . 202
8.23.2.11 m_detectorNormalEdge . . . . . . . . . . . . . . . . . . . . . . . . . . 202
8.23.2.12 m_detectorRange . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 202
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8.23.2.13 m_pointsReference . . . . . . . . . . . . . . . . . . . . . . . . . . . . 202
8.23.2.14 m_posesReference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 202
8.23.2.15 m_ransac . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 202
8.23.2.16 m_sensorReference . . . . . . . . . . . . . . . . . . . . . . . . . . . . 202
8.23.2.17 m_shapeGenerator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 202
8.23.2.18 offsetX . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 202
8.23.2.19 offsetY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 202
8.23.2.20 scaleFactor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 202
8.23.2.21 sizeX . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 202
8.23.2.22 sizeY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 203
8.24 /home/tipaldi/src/flirt-release/src/feature/RansacLoopClosureTest.cpp File Reference . . . 204
8.24.1 Function Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 205
8.24.1.1 countLog . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 205
8.24.1.2 describeLog . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 205
8.24.1.3 detectLog . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 205
8.24.1.4 main . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 205
8.24.1.5 match . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 205
8.24.2 Variable Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 205
8.24.2.1 angErrorTh . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 205
8.24.2.2 corresp . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 206
8.24.2.3 linErrorTh . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 206
8.24.2.4 m_betaGenerator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 206
8.24.2.5 m_descriptor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 206
8.24.2.6 m_detector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 206
8.24.2.7 m_detectorCurvature . . . . . . . . . . . . . . . . . . . . . . . . . . . 206
8.24.2.8 m_detectorNormalBlob . . . . . . . . . . . . . . . . . . . . . . . . . . 206
8.24.2.9 m_detectorNormalEdge . . . . . . . . . . . . . . . . . . . . . . . . . . 206
8.24.2.10 m_detectorRange . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 206
8.24.2.11 m_error . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 206
8.24.2.12 m_errorC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 206
8.24.2.13 m_errorR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 207
8.24.2.14 m_match . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 207
8.24.2.15 m_matchC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 207
8.24.2.16 m_matchR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 207
8.24.2.17 m_pointsReference . . . . . . . . . . . . . . . . . . . . . . . . . . . . 207
8.24.2.18 m_posesReference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 207
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CONTENTS xvii
8.24.2.19 m_ransac . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 207
8.24.2.20 m_sensorReference . . . . . . . . . . . . . . . . . . . . . . . . . . . . 207
8.24.2.21 m_shapeGenerator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 207
8.24.2.22 m_valid . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 207
8.24.2.23 ransacTime . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 207
8.25 /home/tipaldi/src/flirt-release/src/feature/RansacMultiFeatureSetMatcher.cpp File Reference 208
8.26 /home/tipaldi/src/flirt-release/src/feature/RansacMultiFeatureSetMatcher.h File Reference . 209
8.27 /home/tipaldi/src/flirt-release/src/feature/ShapeContext.cpp File Reference . . . . . . . . . 210
8.28 /home/tipaldi/src/flirt-release/src/feature/ShapeContext.h File Reference . . . . . . . . . . 211
8.29 /home/tipaldi/src/flirt-release/src/geometry/point.cpp File Reference . . . . . . . . . . . . 212
8.29.1 Function Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 212
8.29.1.1 normAngle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 212
8.30 /home/tipaldi/src/flirt-release/src/geometry/point.h File Reference . . . . . . . . . . . . . 213
8.30.1 Function Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 214
8.30.1.1 deg2rad . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 214
8.30.1.2 normAngle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 214
8.30.1.3 operator∗ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 214
8.30.1.4 operator∗ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 214
8.30.1.5 operator∗ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 214
8.30.1.6 operator+ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 215
8.30.1.7 operator+ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 215
8.30.1.8 operator- . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 215
8.30.1.9 operator- . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 215
8.30.1.10 operator= 1.36 (submodules math and graph)
• Qt4 (for the gui)
• Qwt5 for Qt4 (for the gui)
• OpenGL (for the gui)
• Cairo (for drwaing the ransac results)
1.4 Usage
The library comes with some demo binaries and an API interface.
1.4.1 Binaries
The binaries are compiled out of the source and are available in
/bin/
. They consists in the following binaries
• flirtDemo. It is a simple graphical frontend for visualizing the effect of the different detector
and descriptors when changing the parameters. To visualize the descriptors simply click on the
corresponding interest points in the viewer.
• ransacLoopClosureTest. It performs scan to scan matching with ransac. It generates a file
with the number of succesful matches for the three different strategies. See the paper for more detail
about the ransac experiment.
• ransacLoopClosureDraw. It performs scan to scan matching with ransac. It generates a direc-
tory with images showing the matching results. It can used to generate animations.
1.4.2 Using the library
The library is compiled as a collection of shared objects and are available in
/lib/
(32-bit) or
/lib64/
(64-bit). The header files are located in the respective directory in the src tree. See the class list on the
doxygen documentation for a more detailed API reference.
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4 FLIRTLib - Fast Laser Interest Region Transform Library
1.5 References
• Gian Diego Tipaldi, Kai O. Arras. FLIRT -- Interest Regions for 2D Range Data. In Proceedings of
the IEEE International Conference on Robotics and Automation (ICRA). 2010.
• T. Lindeberg, Scale Space Theory in Computer Vision. Norwell, MA, USA: Kluwer Academic
Publishers, 1994.
• R. Unnikrishnan and M. Hebert, “Multi-scale interest regions from unorganized point clouds,” in
Workshop on Search in 3D, IEEE Conference on Computer Vision and Pattern Recognition, 2008.
• S. Belongie, J. Malik, and J. Puzicha, “Shape matching and object recognition using shape contexts,”
IEEE Transaction on Pattern Analysis and Machine Intelligence, vol. 24, 2002.
1.6 License
FLIRTLib Copyright (c) 2010 Gian Diego Tipaldi and Kai O. Arras
This software is licensed under the "Creative Commons License (Attribution-NonCommercial-ShareAlike
3.0)" and is copyrighted by Gian Diego Tipaldi and Kai O. Arras
Further information on this license can be found at: http://creativecommons.org/licenses/by-nc-sa/3.0/
FLIRTLib is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even
the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
Generated on Mon Apr 19 16:57:44 2010 for Fast Laser Interesting Region Transform (FLIRT) by Doxygen
Chapter 2
Directory Hierarchy
2.1 Directories
This directory hierarchy is sorted roughly, but not completely, alphabetically:
src . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
feature . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
geometry . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
sensorstream . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
utils . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
6 Directory Hierarchy
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Chapter 3
Class Index
3.1 Class Hierarchy
This inheritance list is sorted roughly, but not completely, alphabetically:
AbstractFeatureSetMatcher . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
RansacFeatureSetMatcher . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140
RansacMultiFeatureSetMatcher . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 147
AbstractReading . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
LaserReading . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
Descriptor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
BetaGrid . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
ShapeContext . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 154
DescriptorGenerator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
BetaGridGenerator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
ShapeContextGenerator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 158
Detector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
CurvatureDetector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
MultiScaleDetector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103
NormalDetector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118
NormalBlobDetector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114
NormalEdgeDetector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123
RangeDetector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 136
HistogramDistance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
BatthacharyyaDistance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
Chi2Distance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
EuclideanDistance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
JensenShannonDistance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
KullbackLeiblerDistance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
SymmetricChi2Distance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 173
InterestPoint . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
LineParameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
LogReader . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
CarmenLogReader . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
LogWriter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
CarmenLogWriter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
8 Class Index
PeakFinder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131
SimplePeakFinder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 168
SimpleMinMaxPeakFinder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 165
Point2D . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133
OrientedPoint2D . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127
SensorStream . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 151
LogSensorStream . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
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Chapter 4
Class Index
4.1 Class List
Here are the classes, structs, unions and interfaces with brief descriptions:
AbstractFeatureSetMatcher (Representation of an abstract algorithm for feature matching ) . . . 21
AbstractReading (Representation of an abstract sensor measurement ) . . . . . . . . . . . . . . 26
BatthacharyyaDistance (Representation of the Batthacharyya distance function be-
tween histograms ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
BetaGrid (Representation of the Beta grid descriptor ) . . . . . . . . . . . . . . . . . . . . . . . 32
BetaGridGenerator (Representation of the Beta grid descriptor generator ) . . . . . . . . . . . . 38
CarmenLogReader (Representation of a CARMEN log reader ) . . . . . . . . . . . . . . . . . . 45
CarmenLogWriter (Representation of a CARMEN log writer ) . . . . . . . . . . . . . . . . . . 48
Chi2Distance (Representation of the χ2 distance function between histograms ) . . 51
CurvatureDetector (Representation of the multi scale curvature detector of Unnikrishnan and
Hebert ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
Descriptor (Representation of an abstract descriptor ) . . . . . . . . . . . . . . . . . . . . . . . 62
DescriptorGenerator (Representation of an abstract descriptor generator ) . . . . . . . . . . . . 64
Detector (Representation of an abstract detector ) . . . . . . . . . . . . . . . . . . . . . . . . . 66
EuclideanDistance (Representation of the Euclidean distance function between his-
tograms ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
HistogramDistance (Representation of an abstract distance function between his-
tograms ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
InterestPoint (Representation of an interesting point ) . . . . . . . . . . . . . . . . . . . . . . . 74
JensenShannonDistance (Representation of the Jensen Shannon divergence be-
tween histograms ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
KullbackLeiblerDistance (Representation of the Kullback Leibler divergence be-
tween histograms ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
LaserReading (Representation of a laser measurement ) . . . . . . . . . . . . . . . . . . . . . . 83
LineParameters (Simple functions to perform line fitting ) . . . . . . . . . . . . . . . . . . . . . 91
LogReader (Representation of an abstract log reader ) . . . . . . . . . . . . . . . . . . . . . . . 92
LogSensorStream (Representation of log file as a stream of sensor readings ) . . . . . . . . . . . 94
LogWriter (Representation of an abstract log writer ) . . . . . . . . . . . . . . . . . . . . . . . 101
MultiScaleDetector (Representation of an abstract multi scale detector for monodimensional sig-
nals ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103
NormalBlobDetector (Representation of the normal blob detector ) . . . . . . . . . . . . . . . . 114
NormalDetector (Representation of a general detector based on the normal signal ) . . . . . . . 118
NormalEdgeDetector (Representation of the normal edge detector ) . . . . . . . . . . . . . . . . 123
10 Class Index
OrientedPoint2D (Representation of a point in SO(2) ) . . . . . . . . . . . . . . . . . . . . . . 127
PeakFinder (Representation of an abstract algorithm for peak finding ) . . . . . . . . . . . . . . 131
Point2D (Representation of a point in R2 ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133
RangeDetector (Representation of the range based detector ) . . . . . . . . . . . . . . . . . . . 136
RansacFeatureSetMatcher (Representation of the RANSAC algorithm for feature matching ) . . 140
RansacMultiFeatureSetMatcher (Representation of the RANSAC algorithm for feature matching ) 147
SensorStream (Representation of an abstract stream of sensor readings ) . . . . . . . . . . . . . 151
ShapeContext (Representation of the shape context descriptor ) . . . . . . . . . . . . . . . . . . 154
ShapeContextGenerator (Representation of the shape context descriptor generator ) . . . . . . . 158
SimpleMinMaxPeakFinder (Representation of a simple algorithm for peak finding ) . . . . . . . 165
SimplePeakFinder (Representation of a simple algorithm for peak finding ) . . . . . . . . . . . 168
SymmetricChi2Distance (Representation of the symmetric χ2 distance function
between histograms ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 173
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Chapter 5
File Index
5.1 File List
Here is a list of all files with brief descriptions:
/home/tipaldi/src/flirt-release/src/mainpage.h . . . . . . . . . . . . . . . . . . . . . . . . . . . 216
/home/tipaldi/src/flirt-release/src/feature/AbstractFeatureSetMatcher.cpp . . . . . . . . . . . . 175
/home/tipaldi/src/flirt-release/src/feature/AbstractFeatureSetMatcher.h . . . . . . . . . . . . . . 176
/home/tipaldi/src/flirt-release/src/feature/BetaGrid.cpp . . . . . . . . . . . . . . . . . . . . . . 177
/home/tipaldi/src/flirt-release/src/feature/BetaGrid.h . . . . . . . . . . . . . . . . . . . . . . . 178
/home/tipaldi/src/flirt-release/src/feature/CurvatureDetector.cpp . . . . . . . . . . . . . . . . . 179
/home/tipaldi/src/flirt-release/src/feature/CurvatureDetector.h . . . . . . . . . . . . . . . . . . . 180
/home/tipaldi/src/flirt-release/src/feature/Descriptor.h . . . . . . . . . . . . . . . . . . . . . . . 182
/home/tipaldi/src/flirt-release/src/feature/Detector.h . . . . . . . . . . . . . . . . . . . . . . . . 183
/home/tipaldi/src/flirt-release/src/feature/InterestPoint.cpp . . . . . . . . . . . . . . . . . . . . 184
/home/tipaldi/src/flirt-release/src/feature/InterestPoint.h . . . . . . . . . . . . . . . . . . . . . . 185
/home/tipaldi/src/flirt-release/src/feature/MultiScaleDetector.cpp . . . . . . . . . . . . . . . . . 186
/home/tipaldi/src/flirt-release/src/feature/MultiScaleDetector.h . . . . . . . . . . . . . . . . . . 187
/home/tipaldi/src/flirt-release/src/feature/NormalBlobDetector.cpp . . . . . . . . . . . . . . . . 189
/home/tipaldi/src/flirt-release/src/feature/NormalBlobDetector.h . . . . . . . . . . . . . . . . . 190
/home/tipaldi/src/flirt-release/src/feature/NormalDetector.cpp . . . . . . . . . . . . . . . . . . 191
/home/tipaldi/src/flirt-release/src/feature/NormalDetector.h . . . . . . . . . . . . . . . . . . . . 192
/home/tipaldi/src/flirt-release/src/feature/NormalEdgeDetector.cpp . . . . . . . . . . . . . . . . 193
/home/tipaldi/src/flirt-release/src/feature/NormalEdgeDetector.h . . . . . . . . . . . . . . . . . 194
/home/tipaldi/src/flirt-release/src/feature/RangeDetector.cpp . . . . . . . . . . . . . . . . . . . 195
/home/tipaldi/src/flirt-release/src/feature/RangeDetector.h . . . . . . . . . . . . . . . . . . . . 196
/home/tipaldi/src/flirt-release/src/feature/RansacFeatureSetMatcher.cpp . . . . . . . . . . . . . 197
/home/tipaldi/src/flirt-release/src/feature/RansacFeatureSetMatcher.h . . . . . . . . . . . . . . 198
/home/tipaldi/src/flirt-release/src/feature/RansacLoopClosureDrawMovie.cpp . . . . . . . . . . 199
/home/tipaldi/src/flirt-release/src/feature/RansacLoopClosureTest.cpp . . . . . . . . . . . . . . 204
/home/tipaldi/src/flirt-release/src/feature/RansacMultiFeatureSetMatcher.cpp . . . . . . . . . . 208
/home/tipaldi/src/flirt-release/src/feature/RansacMultiFeatureSetMatcher.h . . . . . . . . . . . 209
/home/tipaldi/src/flirt-release/src/feature/ShapeContext.cpp . . . . . . . . . . . . . . . . . . . . 210
/home/tipaldi/src/flirt-release/src/feature/ShapeContext.h . . . . . . . . . . . . . . . . . . . . . 211
/home/tipaldi/src/flirt-release/src/geometry/point.cpp . . . . . . . . . . . . . . . . . . . . . . . 212
/home/tipaldi/src/flirt-release/src/geometry/point.h . . . . . . . . . . . . . . . . . . . . . . . . 213
/home/tipaldi/src/flirt-release/src/sensors/AbstractReading.cpp . . . . . . . . . . . . . . . . . . 217
/home/tipaldi/src/flirt-release/src/sensors/AbstractReading.h . . . . . . . . . . . . . . . . . . . 218
12 File Index
/home/tipaldi/src/flirt-release/src/sensors/LaserReading.cpp . . . . . . . . . . . . . . . . . . . 219
/home/tipaldi/src/flirt-release/src/sensors/LaserReading.h . . . . . . . . . . . . . . . . . . . . . 220
/home/tipaldi/src/flirt-release/src/sensorstream/CarmenLog.cpp . . . . . . . . . . . . . . . . . 221
/home/tipaldi/src/flirt-release/src/sensorstream/CarmenLog.h . . . . . . . . . . . . . . . . . . . 222
/home/tipaldi/src/flirt-release/src/sensorstream/LogReader.h . . . . . . . . . . . . . . . . . . . 224
/home/tipaldi/src/flirt-release/src/sensorstream/LogSensorStream.cpp . . . . . . . . . . . . . . 225
/home/tipaldi/src/flirt-release/src/sensorstream/LogSensorStream.h . . . . . . . . . . . . . . . . 226
/home/tipaldi/src/flirt-release/src/sensorstream/LogWriter.h . . . . . . . . . . . . . . . . . . . . 227
/home/tipaldi/src/flirt-release/src/sensorstream/SensorStream.h . . . . . . . . . . . . . . . . . . 228
/home/tipaldi/src/flirt-release/src/utils/Convolution.h . . . . . . . . . . . . . . . . . . . . . . . 229
/home/tipaldi/src/flirt-release/src/utils/Convolution.hpp . . . . . . . . . . . . . . . . . . . . . . 232
/home/tipaldi/src/flirt-release/src/utils/HistogramDistances.h . . . . . . . . . . . . . . . . . . . 234
/home/tipaldi/src/flirt-release/src/utils/HistogramDistances.hpp . . . . . . . . . . . . . . . . . . 235
/home/tipaldi/src/flirt-release/src/utils/PeakFinder.h . . . . . . . . . . . . . . . . . . . . . . . . 236
/home/tipaldi/src/flirt-release/src/utils/PoseEstimation.cpp . . . . . . . . . . . . . . . . . . . . 237
/home/tipaldi/src/flirt-release/src/utils/PoseEstimation.h . . . . . . . . . . . . . . . . . . . . . 238
/home/tipaldi/src/flirt-release/src/utils/Regression.cpp . . . . . . . . . . . . . . . . . . . . . . . 239
/home/tipaldi/src/flirt-release/src/utils/Regression.h . . . . . . . . . . . . . . . . . . . . . . . . 240
/home/tipaldi/src/flirt-release/src/utils/SimpleMinMaxPeakFinder.cpp . . . . . . . . . . . . . . 242
/home/tipaldi/src/flirt-release/src/utils/SimpleMinMaxPeakFinder.h . . . . . . . . . . . . . . . 243
/home/tipaldi/src/flirt-release/src/utils/SimplePeakFinder.cpp . . . . . . . . . . . . . . . . . . . 244
/home/tipaldi/src/flirt-release/src/utils/SimplePeakFinder.h . . . . . . . . . . . . . . . . . . . . 245
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Chapter 6
Directory Documentation
6.1 /home/tipaldi/src/flirt-release/src/feature/ Directory Reference
src
feature
6
18
utils sensorstream
3
6
sensors
2 1 1
2
geometry
Files
• file AbstractFeatureSetMatcher.cpp
• file AbstractFeatureSetMatcher.h
• file BetaGrid.cpp
• file BetaGrid.h
• file CurvatureDetector.cpp
• file CurvatureDetector.h
• file Descriptor.h
• file Detector.h
• file InterestPoint.cpp
• file InterestPoint.h
• file MultiScaleDetector.cpp
• file MultiScaleDetector.h
• file NormalBlobDetector.cpp
• file NormalBlobDetector.h
14 Directory Documentation
• file NormalDetector.cpp
• file NormalDetector.h
• file NormalEdgeDetector.cpp
• file NormalEdgeDetector.h
• file RangeDetector.cpp
• file RangeDetector.h
• file RansacFeatureSetMatcher.cpp
• file RansacFeatureSetMatcher.h
• file RansacLoopClosureDrawMovie.cpp
• file RansacLoopClosureTest.cpp
• file RansacMultiFeatureSetMatcher.cpp
• file RansacMultiFeatureSetMatcher.h
• file ShapeContext.cpp
• file ShapeContext.h
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6.2 /home/tipaldi/src/flirt-release/src/geometry/ Directory Reference 15
6.2 /home/tipaldi/src/flirt-release/src/geometry/ Directory Reference
src
geometry
Files
• file point.cpp
• file point.h
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16 Directory Documentation
6.3 /home/tipaldi/src/flirt-release/src/sensors/ Directory Reference
src
sensors
1
geometry
Files
• file AbstractReading.cpp
• file AbstractReading.h
• file LaserReading.cpp
• file LaserReading.h
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6.4 /home/tipaldi/src/flirt-release/src/sensorstream/ Directory Reference 17
6.4 /home/tipaldi/src/flirt-release/src/sensorstream/ Directory Ref-
erence
src
sensorstream
6
sensors
1 1
geometry
Files
• file CarmenLog.cpp
• file CarmenLog.h
• file LogReader.h
• file LogSensorStream.cpp
• file LogSensorStream.h
• file LogWriter.h
• file SensorStream.h
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18 Directory Documentation
6.5 /home/tipaldi/src/flirt-release/src/ Directory Reference
feature src
6
sensorstream
3 18
6
sensors utils
2 1 1
2
geometry
Directories
• directory feature
• directory geometry
• directory sensors
• directory sensorstream
• directory utils
Files
• file mainpage.h
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6.6 /home/tipaldi/src/flirt-release/src/utils/ Directory Reference 19
6.6 /home/tipaldi/src/flirt-release/src/utils/ Directory Reference
src
utils
2
geometry
Files
• file Convolution.h
• file Convolution.hpp
• file HistogramDistances.h
• file HistogramDistances.hpp
• file PeakFinder.h
• file PoseEstimation.cpp
• file PoseEstimation.h
• file Regression.cpp
• file Regression.h
• file SimpleMinMaxPeakFinder.cpp
• file SimpleMinMaxPeakFinder.h
• file SimplePeakFinder.cpp
• file SimplePeakFinder.h
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20 Directory Documentation
Generated on Mon Apr 19 16:57:44 2010 for Fast Laser Interesting Region Transform (FLIRT) by Doxygen
Chapter 7
Class Documentation
7.1 AbstractFeatureSetMatcher Class Reference
Representation of an abstract algorithm for feature matching.
22 Class Documentation
#include Inheritance diagram for AbstractFeatureSet-
Matcher:
AbstractFeatureSetMatcher
# m_acceptanceThreshold
+ AbstractFeatureSetMatcher()
+ matchSets()
+ matchSets()
+ setAcceptanceThreshold()
+ getAcceptanceThreshold()
+ generateHypothesis()
+ verifyHypothesis()
RansacFeatureSetMatcher
# m_successProbability
# m_inlierProbability
# m_distanceThreshold
# m_rigidityThreshold
# m_adaptive
+ RansacFeatureSetMatcher()
+ matchSets()
+ matchSets()
+ getAdaptive()
+ getSuccessProbability()
+ getInlierProbability()
+ getDistanceThreshold()
+ setAdaptive()
+ setSuccessProbability()
+ setInlierProbability()
+ setDistanceThreshold()
RansacMultiFeatureSetMatcher
+ RansacMultiFeatureSetMatcher()
+ matchSets()
Public Member Functions
• AbstractFeatureSetMatcher (double acceptanceThreshold)
Constructor.
• virtual double matchSets (const std::vector &reference, const std::vector &data, OrientedPoint2D &transformation) const =0
Matches two features sets, returning the matching error and the transformation.
• virtual double matchSets (const std::vector &reference, const std::vector &data, OrientedPoint2D &transformation, std::vector > &correspondences) const =0
Matches two features sets, returning the matching error and the transformation.
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7.1 AbstractFeatureSetMatcher Class Reference 23
• void setAcceptanceThreshold (double acceptanceThreshold)
Sets the maximum distance (in meters) for a point to be considered in the inlier set.
• double getAcceptanceThreshold ()
Gets the maximum distance (in meters) for a point to be considered in the inlier set.
• virtual OrientedPoint2D generateHypothesis (const std::pair, std::pair > &correspondences) const
Computes the Euclidean transformation given two point correspondences.
• virtual double verifyHypothesis (const std::vector &reference, const std::vector &data, const OrientedPoint2D &transformation, std::vector > &inlierSet) const
Verifies a transformation hypothesis.
Protected Attributes
• double m_acceptanceThreshold
The maximum distance (in meters) for a point to be considered in the inlier set.
7.1.1 Detailed Description
Representation of an abstract algorithm for feature matching. The class represents an abstract algorithm
for matching two different feature sets. The matching result is an Euclidean transformation (rotation +
translation) encoded as a point in SO(2).
Author:
Gian Diego Tipaldi
Definition at line 19 of file AbstractFeatureSetMatcher.h.
7.1.2 Constructor & Destructor Documentation
7.1.2.1 AbstractFeatureSetMatcher::AbstractFeatureSetMatcher (double acceptanceThreshold)
Constructor. This is an abstract class, so the constructor only creates the shared part of any specialized
class.
Parameters:
acceptanceThreshold The maximum distance (in meters) for a point to be considered in the inlier set.
Definition at line 3 of file AbstractFeatureSetMatcher.cpp.
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24 Class Documentation
7.1.3 Member Function Documentation
7.1.3.1 OrientedPoint2D AbstractFeatureSetMatcher::generateHypothesis (const std::pair, std::pair
> & correspondences) const [virtual]
Computes the Euclidean transformation given two point correspondences. This is the minimum set of
correspondence to obtain a solution in Cartesian space.
Parameters:
correspondences The two correspondences. The individual correspondence is in the format (refer-
ence, data).
Definition at line 9 of file AbstractFeatureSetMatcher.cpp.
7.1.3.2 double AbstractFeatureSetMatcher::getAcceptanceThreshold () [inline]
Gets the maximum distance (in meters) for a point to be considered in the inlier set.
Definition at line 57 of file AbstractFeatureSetMatcher.h.
7.1.3.3 virtual double AbstractFeatureSetMatcher::matchSets (const std::vector & reference, const std::vector & data, OrientedPoint2D
& transformation, std::vector > &
correspondences) const [pure virtual]
Matches two features sets, returning the matching error and the transformation. It also returns the set of
corresponding inlier points.
Returns:
The matching error.
Parameters:
reference The reference feature set. It is used as reference frame for the transformation.
data The feature set to match.
transformation The restulting transformation. It is used to register the points in data to the points in
reference.
correspondences The set of corresponding inlier points. Each individual correspondence is in the
format (reference, data).
Implemented in RansacFeatureSetMatcher, and RansacMultiFeatureSetMatcher.
7.1.3.4 virtual double AbstractFeatureSetMatcher::matchSets (const std::vector & reference, const std::vector & data, OrientedPoint2D &
transformation) const [pure virtual]
Matches two features sets, returning the matching error and the transformation.
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7.1 AbstractFeatureSetMatcher Class Reference 25
Returns:
The matching error.
Parameters:
reference The reference feature set. It is used as reference frame for the transformation.
data The feature set to match.
transformation The restulting transformation. It is used to register the points in data to the points in
reference.
Implemented in RansacFeatureSetMatcher.
7.1.3.5 void AbstractFeatureSetMatcher::setAcceptanceThreshold (double acceptanceThreshold)
[inline]
Sets the maximum distance (in meters) for a point to be considered in the inlier set.
Definition at line 53 of file AbstractFeatureSetMatcher.h.
7.1.3.6 double AbstractFeatureSetMatcher::verifyHypothesis (const std::vector & reference, const std::vector & data, const OrientedPoint2D &
transformation, std::vector > & inlierSet)
const [virtual]
Verifies a transformation hypothesis. It returns the matching error and the set of corresponding inlier points.
Parameters:
reference The reference feature set. It is used as reference frame for the transformation.
data The feature set to match.
transformation The transformation hypothesis.
inlierSet The set of corresponding inlier points. Each individual correspondence is in the format
(reference, data).
Definition at line 23 of file AbstractFeatureSetMatcher.cpp.
7.1.4 Member Data Documentation
7.1.4.1 double AbstractFeatureSetMatcher::m_acceptanceThreshold [protected]
The maximum distance (in meters) for a point to be considered in the inlier set.
Definition at line 79 of file AbstractFeatureSetMatcher.h.
The documentation for this class was generated from the following files:
• /home/tipaldi/src/flirt-release/src/feature/AbstractFeatureSetMatcher.h
• /home/tipaldi/src/flirt-release/src/feature/AbstractFeatureSetMatcher.cpp
Generated on Mon Apr 19 16:57:44 2010 for Fast Laser Interesting Region Transform (FLIRT) by Doxygen
26 Class Documentation
7.2 AbstractReading Class Reference
Representation of an abstract sensor measurement.
#include Inheritance diagram for AbstractReading:
AbstractReading
# m_time
# m_name
# m_robot
+ AbstractReading()
+ ~AbstractReading()
+ clone()
+ getTime()
+ getName()
+ getRobot()
LaserReading
# m_maxRange
# m_laserPose
# m_phi
# m_rho
# m_worldCartesian
# m_cartesian
# m_remission
+ LaserReading()
+ ~LaserReading()
+ clone()
+ getPhi()
+ getRho()
+ getPolar()
+ getCartesian()
+ getWorldCartesian()
+ getRemission()
+ getMaxRange()
+ getLaserPose()
+ setRemission()
+ setMaxRange()
+ setLaserPose()
# computeWorldCartesian()
# computeLocalCartesian()
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7.2 AbstractReading Class Reference 27
Collaboration diagram for AbstractReading:
std::basic_string
std::string
m_robot
m_name
AbstractReading
# m_time
# m_name
# m_robot
+ AbstractReading()
+ ~AbstractReading()
+ clone()
+ getTime()
+ getName()
+ getRobot()
Public Member Functions
• AbstractReading (double _time, const std::string &_name, const std::string &_robot)
Constructor.
• virtual ∼AbstractReading ()
Destructor.
• virtual AbstractReading ∗ clone () const =0
Clone function for prototyping.
• double getTime () const
Get the timestamp of the reading.
• const std::string & getName () const
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28 Class Documentation
Get the sensor name.
• const std::string & getRobot () const
Get the robot name.
Protected Attributes
• double m_time
The timestamp of the reading (in seconds).
• std::string m_name
The name of the sensor.
• std::string m_robot
The name of the robot (hostname of the machine).
7.2.1 Detailed Description
Representation of an abstract sensor measurement. This class represent a general sensor reading in terms
of timestamp, sensor name and robot name. Other sensor modality should inherit from this base class.
Author:
Gian Diego Tipaldi
Definition at line 13 of file AbstractReading.h.
7.2.2 Constructor & Destructor Documentation
7.2.2.1 AbstractReading::AbstractReading (double _time, const std::string & _name, const
std::string & _robot)
Constructor. This is an abstract class, so the constructor only creates the shared part of any specialized
class.
Parameters:
_time The timestamp of the reading.
_name The name of the sensor.
_robot The name of the robot.
Definition at line 3 of file AbstractReading.cpp.
7.2.2.2 virtual AbstractReading::∼AbstractReading () [inline, virtual]
Destructor.
Definition at line 23 of file AbstractReading.h.
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7.2 AbstractReading Class Reference 29
7.2.3 Member Function Documentation
7.2.3.1 virtual AbstractReading∗ AbstractReading::clone () const [pure virtual]
Clone function for prototyping. It implements the Prototype pattern.
Implemented in LaserReading.
7.2.3.2 const std::string& AbstractReading::getName () const [inline]
Get the sensor name.
Definition at line 31 of file AbstractReading.h.
7.2.3.3 const std::string& AbstractReading::getRobot () const [inline]
Get the robot name.
Definition at line 33 of file AbstractReading.h.
7.2.3.4 double AbstractReading::getTime () const [inline]
Get the timestamp of the reading.
Definition at line 29 of file AbstractReading.h.
7.2.4 Member Data Documentation
7.2.4.1 std::string AbstractReading::m_name [protected]
The name of the sensor.
Definition at line 40 of file AbstractReading.h.
7.2.4.2 std::string AbstractReading::m_robot [protected]
The name of the robot (hostname of the machine).
Definition at line 42 of file AbstractReading.h.
7.2.4.3 double AbstractReading::m_time [protected]
The timestamp of the reading (in seconds).
Definition at line 38 of file AbstractReading.h.
The documentation for this class was generated from the following files:
• /home/tipaldi/src/flirt-release/src/sensors/AbstractReading.h
• /home/tipaldi/src/flirt-release/src/sensors/AbstractReading.cpp
Generated on Mon Apr 19 16:57:44 2010 for Fast Laser Interesting Region Transform (FLIRT) by Doxygen
30 Class Documentation
7.3 BatthacharyyaDistance Class Template Reference
Representation of the Batthacharyya distance function between histograms.
#include Inheritance diagram for BatthacharyyaDistance:
HistogramDistance
+ distance()
+ distance()
BatthacharyyaDistance
+ distance()
+ distance()
Collaboration diagram for BatthacharyyaDistance:
HistogramDistance
+ distance()
+ distance()
BatthacharyyaDistance
+ distance()
+ distance()
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7.3 BatthacharyyaDistance Class Template Reference 31
Public Member Functions
• virtual double distance (const std::vector &first, const std::vector &last)
const
Computes the distance between the first and last histogram (1D).
• virtual double distance (const std::vector > &first, const std::vector > &last) const
Batthacharyya.
7.3.1 Detailed Description
template class BatthacharyyaDistance
Representation of the Batthacharyya distance function between histograms. This class represents the func-
tion to compute the Batthacharyya distance between histograms.
Definition at line 69 of file HistogramDistances.h.
7.3.2 Member Function Documentation
7.3.2.1 template double BatthacharyyaDistance::distance (const
std::vector > & first, const std::vector > & last) const [inline, virtual]
Batthacharyya.
Reimplemented from HistogramDistance.
Definition at line 64 of file HistogramDistances.hpp.
7.3.2.2 template double BatthacharyyaDistance::distance (const
std::vector & first, const std::vector & last) const [inline,
virtual]
Computes the distance between the first and last histogram (1D).
Implements HistogramDistance.
Definition at line 75 of file HistogramDistances.hpp.
The documentation for this class was generated from the following files:
• /home/tipaldi/src/flirt-release/src/utils/HistogramDistances.h
• /home/tipaldi/src/flirt-release/src/utils/HistogramDistances.hpp
Generated on Mon Apr 19 16:57:44 2010 for Fast Laser Interesting Region Transform (FLIRT) by Doxygen
32 Class Documentation
7.4 BetaGrid Class Reference
Representation of the Beta grid descriptor.
#include Inheritance diagram for BetaGrid:
Descriptor
+ clone()
+ distance()
BetaGrid
# m_distanceFunction
# m_histogram
# m_variance
# m_hit
# m_miss
+ clone()
+ distance()
+ getHistogram()
+ getHistogram()
+ getVariance()
+ getVariance()
+ getHit()
+ getHit()
+ getMiss()
+ getMiss()
+ getDistanceFunction()
+ setDistanceFunction()
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7.4 BetaGrid Class Reference 33
Collaboration diagram for BetaGrid:
T
elements
std::vector
- elements
HistogramDistance
std::vector
> - elements
+ distance()
+ distance()
elements
Descriptor HistogramDistance
std::vector >
- elements
+ clone() + distance()
+ distance() + distance()
m_histogram
m_variance
m_distanceFunction
m_hit
m_miss
BetaGrid
# m_distanceFunction
# m_histogram
# m_variance
# m_hit
# m_miss
+ clone()
+ distance()
+ getHistogram()
+ getHistogram()
+ getVariance()
+ getVariance()
+ getHit()
+ getHit()
+ getMiss()
+ getMiss()
+ getDistanceFunction()
+ setDistanceFunction()
Generated on Mon Apr 19 16:57:44 2010 for Fast Laser Interesting Region Transform (FLIRT) by Doxygen
34 Class Documentation
Public Member Functions
• virtual Descriptor ∗ clone () const
Clone function for prototyping.
• virtual double distance (const Descriptor ∗descriptor) const
Implements the distance function between two shape context descriptors.
• const std::vector > & getHistogram () const
Returns the β-Grid in the form of a bidimensional histogram.
• std::vector > & getHistogram ()
Returns the β-Grid in the form of a bidimensional histogram.
• const std::vector > & getVariance () const
Returns the β-Grid variance in the form of a bidimensional histogram.
• std::vector > & getVariance ()
Returns the β-Grid variance in the form of a bidimensional histogram.
• const std::vector > & getHit () const
Returns the histogram of occupied cells computed to obtain the β-Grid descriptor.
• std::vector > & getHit ()
Returns the histogram of occupied cells computed to obtain the β-Grid descriptor.
• const std::vector > & getMiss () const
Returns the histogram of free cells computed to obtain the β-Grid descriptor.
• std::vector > & getMiss ()
Returns the histogram of free cells computed to obtain the β-Grid descriptor.
• const HistogramDistance ∗ getDistanceFunction () const
Returns the distance function used to compeare two β-Grids.
• void setDistanceFunction (const HistogramDistance ∗distanceFunction)
Sets the distance function used to compeare two β-Grids.
Protected Attributes
• const HistogramDistance ∗ m_distanceFunction
The distance function used to compeare two β-Grids.
• std::vector > m_histogram
The histogram representing the β-Grid.
• std::vector > m_variance
The histogram representing the variance of the β-Grid.
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7.4 BetaGrid Class Reference 35
• std::vector > m_hit
• std::vector > m_miss
The histogram of occupied cells.
7.4.1 Detailed Description
Representation of the Beta grid descriptor. The class represents the Beta grid descriptor presented in the
paper. It provides the interface to compare different descriptors, as well as to inspect the internal histogram
representation.
Author:
Gian Diego Tipaldi
Definition at line 20 of file BetaGrid.h.
7.4.2 Member Function Documentation
7.4.2.1 Descriptor ∗ BetaGrid::clone () const [virtual]
Clone function for prototyping. It implements the Prototype pattern.
Implements Descriptor.
Definition at line 158 of file BetaGrid.cpp.
7.4.2.2 double BetaGrid::distance (const Descriptor ∗ descriptor) const [virtual]
Implements the distance function between two shape context descriptors. The actual distance is computed
using the histogram distance defined in m_distanceFunction .
Definition at line 162 of file BetaGrid.cpp.
7.4.2.3 const HistogramDistance∗ BetaGrid::getDistanceFunction () const [inline]
Returns the distance function used to compeare two β-Grids.
Definition at line 64 of file BetaGrid.h.
7.4.2.4 std::vector >& BetaGrid::getHistogram () [inline]
Returns the β-Grid in the form of a bidimensional histogram. The first dimension represents the angle and
the second dimension the distance.
Definition at line 36 of file BetaGrid.h.
7.4.2.5 const std::vector >& BetaGrid::getHistogram () const
[inline]
Returns the β-Grid in the form of a bidimensional histogram. The first dimension represents the angle and
the second dimension the distance.
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36 Class Documentation
Definition at line 32 of file BetaGrid.h.
7.4.2.6 std::vector >& BetaGrid::getHit () [inline]
Returns the histogram of occupied cells computed to obtain the β-Grid descriptor. The first dimension
represents the angle and the second dimension the distance.
Definition at line 52 of file BetaGrid.h.
7.4.2.7 const std::vector >& BetaGrid::getHit () const [inline]
Returns the histogram of occupied cells computed to obtain the β-Grid descriptor. The first dimension
represents the angle and the second dimension the distance.
Definition at line 48 of file BetaGrid.h.
7.4.2.8 std::vector >& BetaGrid::getMiss () [inline]
Returns the histogram of free cells computed to obtain the β-Grid descriptor. The first dimension represents
the angle and the second dimension the distance.
Definition at line 60 of file BetaGrid.h.
7.4.2.9 const std::vector >& BetaGrid::getMiss () const [inline]
Returns the histogram of free cells computed to obtain the β-Grid descriptor. The first dimension represents
the angle and the second dimension the distance.
Definition at line 56 of file BetaGrid.h.
7.4.2.10 std::vector >& BetaGrid::getVariance () [inline]
Returns the β-Grid variance in the form of a bidimensional histogram. The first dimension represents the
angle and the second dimension the distance.
Definition at line 44 of file BetaGrid.h.
7.4.2.11 const std::vector >& BetaGrid::getVariance () const
[inline]
Returns the β-Grid variance in the form of a bidimensional histogram. The first dimension represents the
angle and the second dimension the distance.
Definition at line 40 of file BetaGrid.h.
7.4.2.12 void BetaGrid::setDistanceFunction (const HistogramDistance ∗
distanceFunction) [inline]
Sets the distance function used to compeare two β-Grids.
Definition at line 68 of file BetaGrid.h.
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7.4 BetaGrid Class Reference 37
7.4.3 Member Data Documentation
7.4.3.1 const HistogramDistance∗ BetaGrid::m_distanceFunction [protected]
The distance function used to compeare two β-Grids.
Definition at line 72 of file BetaGrid.h.
7.4.3.2 std::vector > BetaGrid::m_histogram [protected]
The histogram representing the β-Grid.
Definition at line 73 of file BetaGrid.h.
7.4.3.3 std::vector > BetaGrid::m_hit [protected]
Definition at line 75 of file BetaGrid.h.
7.4.3.4 std::vector > BetaGrid::m_miss [protected]
The histogram of occupied cells.
Definition at line 76 of file BetaGrid.h.
7.4.3.5 std::vector > BetaGrid::m_variance [protected]
The histogram representing the variance of the β-Grid.
Definition at line 74 of file BetaGrid.h.
The documentation for this class was generated from the following files:
• /home/tipaldi/src/flirt-release/src/feature/BetaGrid.h
• /home/tipaldi/src/flirt-release/src/feature/BetaGrid.cpp
Generated on Mon Apr 19 16:57:44 2010 for Fast Laser Interesting Region Transform (FLIRT) by Doxygen
38 Class Documentation
7.5 BetaGridGenerator Class Reference
Representation of the Beta grid descriptor generator.
#include Inheritance diagram for BetaGridGenerator:
DescriptorGenerator
+ describe()
+ describe()
BetaGridGenerator
# m_rhoEdges
# m_phiEdges
# m_distanceFunction
+ BetaGridGenerator()
+ BetaGridGenerator()
+ describe()
+ describe()
+ setEdges()
+ getMinRho()
+ getMaxRho()
+ getBinRho()
+ getBinPhi()
+ getRhoEdges()
+ getPhiEdges()
+ setEdges()
+ getDistanceFunction()
+ setDistanceFunction()
# intersectSegment2Segment()
# intersectSegment2Arc()
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7.5 BetaGridGenerator Class Reference 39
Collaboration diagram for BetaGridGenerator:
T
elements
HistogramDistance
std::vector
- elements
+ distance()
+ distance()
DescriptorGenerator HistogramDistance
std::vector
- elements
+ describe() + distance()
+ describe() + distance()
m_phiEdges
m_distanceFunction
m_rhoEdges
BetaGridGenerator
# m_rhoEdges
# m_phiEdges
# m_distanceFunction
+ BetaGridGenerator()
+ BetaGridGenerator()
+ describe()
+ describe()
+ setEdges()
+ getMinRho()
+ getMaxRho()
+ getBinRho()
+ getBinPhi()
+ getRhoEdges()
+ getPhiEdges()
+ setEdges()
+ getDistanceFunction()
Generated on Mon Apr 19 16:57:44 2010 for Fast Laser Interesting Region Transform (FLIRT) by Doxygen
+ setDistanceFunction()
# intersectSegment2Segment()
# intersectSegment2Arc()
40 Class Documentation
Public Member Functions
• BetaGridGenerator (double minRho, double maxRho, unsigned int binRho, unsigned int binPhi)
Constructor.
• BetaGridGenerator (const std::vector &rhoEdges, const std::vector
&phiEdges)
Constructor.
• virtual Descriptor ∗ describe (const InterestPoint &point, const LaserReading &reading)
Abstract interface for generating a descriptors given an interest point and a laser reading.
• virtual Descriptor ∗ describe (const OrientedPoint2D &point, const LaserReading &reading)
Abstract interface for generating a descriptors given a general point in SO(2) and a laser reading.
• void setEdges (double minRho, double maxRho, unsigned int binRho, unsigned int binPhi)
Sets the radial and angular edges of the descriptor.
• double getMinRho () const
Gets the minimum distance for a point to be included in the descriptor.
• double getMaxRho () const
Gets the maximum distance for a point to be included in the descriptor.
• unsigned int getBinRho () const
Gets the number of bins in the radial coordinate of the descriptor.
• unsigned int getBinPhi () const
Gets the number of bins in the angular coordinate of the descriptor.
• const std::vector & getRhoEdges () const
Gets the vector containing the edges of the radial coordinate of the desciptor.
• const std::vector & getPhiEdges () const
Gets the vector containing the edges of the angular coordinate of the desciptor.
• void setEdges (const std::vector &rhoEdges, const std::vector &phiEdges)
Sets the radial and angular edges of the descriptor.
• const HistogramDistance ∗ getDistanceFunction () const
Gets the distance function used to compare two descriptors.
• void setDistanceFunction (const HistogramDistance ∗distanceFunction)
Sets the distance function used to compare two descriptors.
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7.5 BetaGridGenerator Class Reference 41
Protected Member Functions
• bool intersectSegment2Segment (const Point2D &segment1Start, const Point2D &segment1End,
const Point2D &segment2Start, const Point2D &segment2End)
Checks if two segments intersect each other.
• int intersectSegment2Arc (const Point2D &segmentStart, const Point2D &segmentEnd, const
Point2D &arcStart, const Point2D &arcEnd, const Point2D &arcCenter)
Checks if a segment intersect an arc.
Protected Attributes
• std::vector m_rhoEdges
The vector containing the edges of the radial coordinate of the desciptor.
• std::vector m_phiEdges
The vector containing the edges of the angular coordinate of the desciptor.
• const HistogramDistance ∗ m_distanceFunction
The distance function used to compare two descriptors.
7.5.1 Detailed Description
Representation of the Beta grid descriptor generator. The class generates the Beta grid descriptor presented
in the paper. It provides the interface to generate the descriptor from a laser reading and set the descriptor
size.
Author:
Gian Diego Tipaldi
Definition at line 89 of file BetaGrid.h.
7.5.2 Constructor & Destructor Documentation
7.5.2.1 BetaGridGenerator::BetaGridGenerator (double minRho, double maxRho, unsigned int
binRho, unsigned int binPhi)
Constructor. It sets the size of the generated β-Grid and the number of bins.
Parameters:
minRho The minimum distance for a point to be included in the descriptor.
maxRho The maximum distance for a point to be included in the descriptor.
binRho The number of bins in the radial coordinate of the descriptor.
binPhi The number of bins in the angular coordinate of the descriptor.
Definition at line 9 of file BetaGrid.cpp.
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42 Class Documentation
7.5.2.2 BetaGridGenerator::BetaGridGenerator (const std::vector & rhoEdges, const
std::vector & phiEdges)
Constructor. It sets the size of the generated β-Grid and the number of bins.
Parameters:
rhoEdges Vector containing the edges of the radial coordinate of the desciptor.
phiEdges Vector containing the edges of the angular coordinate of the desciptor.
Note:
A point is in the bin i,j if its radial distance is between rhoEdges[i] and rhoEdges[i + 1] and its angular
distance between phiEdges[j] and phiEdges[j + 1]
Definition at line 14 of file BetaGrid.cpp.
7.5.3 Member Function Documentation
7.5.3.1 Descriptor ∗ BetaGridGenerator::describe (const OrientedPoint2D & _point, const
LaserReading & reading) [virtual]
Abstract interface for generating a descriptors given a general point in SO(2) and a laser reading.
Implements DescriptorGenerator.
Definition at line 38 of file BetaGrid.cpp.
7.5.3.2 Descriptor ∗ BetaGridGenerator::describe (const InterestPoint & _point, const
LaserReading & reading) [virtual]
Abstract interface for generating a descriptors given an interest point and a laser reading.
Implements DescriptorGenerator.
Definition at line 34 of file BetaGrid.cpp.
7.5.3.3 unsigned int BetaGridGenerator::getBinPhi () const [inline]
Gets the number of bins in the angular coordinate of the descriptor.
Definition at line 136 of file BetaGrid.h.
7.5.3.4 unsigned int BetaGridGenerator::getBinRho () const [inline]
Gets the number of bins in the radial coordinate of the descriptor.
Definition at line 132 of file BetaGrid.h.
7.5.3.5 const HistogramDistance∗ BetaGridGenerator::getDistanceFunction () const
[inline]
Gets the distance function used to compare two descriptors.
Definition at line 159 of file BetaGrid.h.
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7.5 BetaGridGenerator Class Reference 43
7.5.3.6 double BetaGridGenerator::getMaxRho () const [inline]
Gets the maximum distance for a point to be included in the descriptor.
Definition at line 128 of file BetaGrid.h.
7.5.3.7 double BetaGridGenerator::getMinRho () const [inline]
Gets the minimum distance for a point to be included in the descriptor.
Definition at line 124 of file BetaGrid.h.
7.5.3.8 const std::vector& BetaGridGenerator::getPhiEdges () const [inline]
Gets the vector containing the edges of the angular coordinate of the desciptor.
Definition at line 144 of file BetaGrid.h.
7.5.3.9 const std::vector& BetaGridGenerator::getRhoEdges () const [inline]
Gets the vector containing the edges of the radial coordinate of the desciptor.
Definition at line 140 of file BetaGrid.h.
7.5.3.10 int BetaGridGenerator::intersectSegment2Arc (const Point2D & segmentStart, const
Point2D & segmentEnd, const Point2D & arcStart, const Point2D & arcEnd, const
Point2D & arcCenter) [protected]
Checks if a segment intersect an arc. It is used to perform ray-tracing in the polar grid.
Definition at line 133 of file BetaGrid.cpp.
7.5.3.11 bool BetaGridGenerator::intersectSegment2Segment (const Point2D & segment1Start,
const Point2D & segment1End, const Point2D & segment2Start, const Point2D &
segment2End) [protected]
Checks if two segments intersect each other. It is used to perform ray-tracing in the polar grid.
Definition at line 114 of file BetaGrid.cpp.
7.5.3.12 void BetaGridGenerator::setDistanceFunction (const HistogramDistance ∗
distanceFunction) [inline]
Sets the distance function used to compare two descriptors.
Definition at line 163 of file BetaGrid.h.
7.5.3.13 void BetaGridGenerator::setEdges (const std::vector & rhoEdges, const
std::vector & phiEdges) [inline]
Sets the radial and angular edges of the descriptor.
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44 Class Documentation
Parameters:
rhoEdges Vector containing the edges of the radial coordinate of the desciptor.
phiEdges Vector containing the edges of the angular coordinate of the desciptor.
Note:
A point is in the bin i,j if its radial distance is between rhoEdges[i] and rhoEdges[i + 1] and its angular
distance between phiEdges[j] and phiEdges[j + 1]
Definition at line 155 of file BetaGrid.h.
7.5.3.14 void BetaGridGenerator::setEdges (double minRho, double maxRho, unsigned int
binRho, unsigned int binPhi)
Sets the radial and angular edges of the descriptor.
Parameters:
minRho The minimum distance for a point to be included in the descriptor.
maxRho The maximum distance for a point to be included in the descriptor.
binRho The number of bins in the radial coordinate of the descriptor.
binPhi The number of bins in the angular coordinate of the descriptor.
Definition at line 21 of file BetaGrid.cpp.
7.5.4 Member Data Documentation
7.5.4.1 const HistogramDistance∗ BetaGridGenerator::m_distanceFunction
[protected]
The distance function used to compare two descriptors.
Definition at line 175 of file BetaGrid.h.
7.5.4.2 std::vector BetaGridGenerator::m_phiEdges [protected]
The vector containing the edges of the angular coordinate of the desciptor.
Definition at line 174 of file BetaGrid.h.
7.5.4.3 std::vector BetaGridGenerator::m_rhoEdges [protected]
The vector containing the edges of the radial coordinate of the desciptor.
Definition at line 173 of file BetaGrid.h.
The documentation for this class was generated from the following files:
• /home/tipaldi/src/flirt-release/src/feature/BetaGrid.h
• /home/tipaldi/src/flirt-release/src/feature/BetaGrid.cpp
Generated on Mon Apr 19 16:57:44 2010 for Fast Laser Interesting Region Transform (FLIRT) by Doxygen
7.6 CarmenLogReader Class Reference 45
7.6 CarmenLogReader Class Reference
Representation of a CARMEN log reader.
#include Inheritance diagram for CarmenLogReader:
LogReader
+ readLog()
CarmenLogReader
+ readLog()
# readLine()
# parseFLaser()
# parseRobotLaser()
# parseRawLaser()
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46 Class Documentation
Collaboration diagram for CarmenLogReader:
LogReader
+ readLog()
CarmenLogReader
+ readLog()
# readLine()
# parseFLaser()
# parseRobotLaser()
# parseRawLaser()
Public Member Functions
• virtual void readLog (std::istream &_stream, std::vector &_log) const
Read a log from an inputstream.
Protected Member Functions
• AbstractReading ∗ readLine (std::istream &_stream) const
Read a single line from the stream.
• LaserReading ∗ parseFLaser (std::istream &_stream) const
Parse the old laser structure (FLASER).
• LaserReading ∗ parseRobotLaser (std::istream &_stream) const
Parse the new laser structure (ROBOTLASERX).
• LaserReading ∗ parseRawLaser (std::istream &_stream) const
Parse the raw laser structure (RAWLASERX).
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7.6 CarmenLogReader Class Reference 47
7.6.1 Detailed Description
Representation of a CARMEN log reader. It implements the LogReader class for the CARMEN log file
format.
Author:
Gian Diego Tipaldi
Definition at line 24 of file CarmenLog.h.
7.6.2 Member Function Documentation
7.6.2.1 LaserReading ∗ CarmenLogReader::parseFLaser (std::istream & _stream) const
[protected]
Parse the old laser structure (FLASER).
Definition at line 113 of file CarmenLog.cpp.
7.6.2.2 LaserReading ∗ CarmenLogReader::parseRawLaser (std::istream & _stream) const
[protected]
Parse the raw laser structure (RAWLASERX).
Definition at line 76 of file CarmenLog.cpp.
7.6.2.3 LaserReading ∗ CarmenLogReader::parseRobotLaser (std::istream & _stream) const
[protected]
Parse the new laser structure (ROBOTLASERX).
Definition at line 33 of file CarmenLog.cpp.
7.6.2.4 AbstractReading ∗ CarmenLogReader::readLine (std::istream & _stream) const
[protected]
Read a single line from the stream.
Definition at line 18 of file CarmenLog.cpp.
7.6.2.5 void CarmenLogReader::readLog (std::istream & _stream, std::vector & _log) const [virtual]
Read a log from an inputstream.
Implements LogReader.
Definition at line 6 of file CarmenLog.cpp.
The documentation for this class was generated from the following files:
• /home/tipaldi/src/flirt-release/src/sensorstream/CarmenLog.h
• /home/tipaldi/src/flirt-release/src/sensorstream/CarmenLog.cpp
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48 Class Documentation
7.7 CarmenLogWriter Class Reference
Representation of a CARMEN log writer.
#include Inheritance diagram for CarmenLogWriter:
LogWriter
+ writeLog()
CarmenLogWriter
+ writeLog()
# writeLine()
# writeFLaser()
# writeRobotLaser()
# writeRawLaser()
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7.7 CarmenLogWriter Class Reference 49
Collaboration diagram for CarmenLogWriter:
LogWriter
+ writeLog()
CarmenLogWriter
+ writeLog()
# writeLine()
# writeFLaser()
# writeRobotLaser()
# writeRawLaser()
Public Member Functions
• virtual void writeLog (std::ostream &_stream, const std::vector &_log)
const
Write a log to an outputstream.
Protected Member Functions
• void writeLine (std::ostream &_stream, const AbstractReading ∗_reading) const
Write a single line to the stream.
• void writeFLaser (std::ostream &_stream, const LaserReading ∗_reading) const
Write the old laser structure (FLASER).
• void writeRobotLaser (std::ostream &_stream, const LaserReading ∗_reading) const
Write the new laser structure (ROBOTLASERX).
• void writeRawLaser (std::ostream &_stream, const LaserReading ∗_reading) const
Write the raw laser structure (RAWLASERX).
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50 Class Documentation
7.7.1 Detailed Description
Representation of a CARMEN log writer. It implements the LogWriter class for the CARMEN log file
format.
Author:
Gian Diego Tipaldi
Definition at line 46 of file CarmenLog.h.
7.7.2 Member Function Documentation
7.7.2.1 void CarmenLogWriter::writeFLaser (std::ostream & _stream, const LaserReading ∗
_reading) const [protected]
Write the old laser structure (FLASER).
Definition at line 164 of file CarmenLog.cpp.
7.7.2.2 void CarmenLogWriter::writeLine (std::ostream & _stream, const AbstractReading ∗
_reading) const [protected]
Write a single line to the stream.
Definition at line 154 of file CarmenLog.cpp.
7.7.2.3 void CarmenLogWriter::writeLog (std::ostream & _stream, const std::vector & _log) const [virtual]
Write a log to an outputstream.
Implements LogWriter.
Definition at line 148 of file CarmenLog.cpp.
7.7.2.4 void CarmenLogWriter::writeRawLaser (std::ostream & _stream, const LaserReading ∗
_reading) const [protected]
Write the raw laser structure (RAWLASERX).
Definition at line 220 of file CarmenLog.cpp.
7.7.2.5 void CarmenLogWriter::writeRobotLaser (std::ostream & _stream, const LaserReading ∗
_reading) const [protected]
Write the new laser structure (ROBOTLASERX).
Definition at line 185 of file CarmenLog.cpp.
The documentation for this class was generated from the following files:
• /home/tipaldi/src/flirt-release/src/sensorstream/CarmenLog.h
• /home/tipaldi/src/flirt-release/src/sensorstream/CarmenLog.cpp
Generated on Mon Apr 19 16:57:44 2010 for Fast Laser Interesting Region Transform (FLIRT) by Doxygen
7.8 Chi2Distance Class Template Reference 51
7.8 Chi2Distance Class Template Reference
Representation of the χ2 distance function between histograms.
#include Inheritance diagram for Chi2Distance:
HistogramDistance
+ distance()
+ distance()
Chi2Distance
+ distance()
Collaboration diagram for Chi2Distance:
HistogramDistance
+ distance()
+ distance()
Chi2Distance
+ distance()
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52 Class Documentation
Public Member Functions
• virtual double distance (const std::vector &first, const std::vector &last)
const
Chi2.
7.8.1 Detailed Description
template class Chi2Distance
Representation of the χ2 distance function between histograms. This class represents the function to com-
pute the 2 distance between histograms.
Definition at line 44 of file HistogramDistances.h.
7.8.2 Member Function Documentation
7.8.2.1 template double Chi2Distance::distance (const
std::vector & first, const std::vector & last) const [inline,
virtual]
Chi2.
Implements HistogramDistance.
Definition at line 38 of file HistogramDistances.hpp.
The documentation for this class was generated from the following files:
• /home/tipaldi/src/flirt-release/src/utils/HistogramDistances.h
• /home/tipaldi/src/flirt-release/src/utils/HistogramDistances.hpp
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7.9 CurvatureDetector Class Reference 53
7.9 CurvatureDetector Class Reference
Representation of the multi scale curvature detector of Unnikrishnan and Hebert.
#include Inheritance diagram for CurvatureDetector:
Detector
+ detect()
+ detect()
CurvatureDetector
# m_peakFinder
# m_scaleNumber
# m_baseSigma
# m_sigmaStep
# m_useMaxRange
# m_dmst
# m_scales
+ CurvatureDetector()
+ detect()
+ detect()
+ detect()
+ detect()
+ setScaleNumber()
+ setDmst()
+ setBaseSigma()
+ setSigmaStep()
+ setPeakFinder()
+ setUseMaxRange()
+ getScaleNumber()
+ getDmst()
+ getScales()
+ getBaseSigma()
+ getSigmaStep()
+ getPeakFinder()
+ getUseMaxRange()
# computeGraph()
# computeInterestPoints()
# computeScaleBank()
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54 Class Documentation
Collaboration diagram for CurvatureDetector:
T
elements
std::vector
- elements
PeakFinder
Detector
std::vector
+ findPeaks() - elements
+ detect() + findPeaks()
+ detect() + isPeak()
+ isPeak()
m_peakFinder m_scales
CurvatureDetector
# m_peakFinder
# m_scaleNumber
# m_baseSigma
# m_sigmaStep
# m_useMaxRange
# m_dmst
# m_scales
+ CurvatureDetector()
+ detect()
+ detect()
+ detect()
+ detect()
+ setScaleNumber()
+ setDmst()
+ setBaseSigma()
+ setSigmaStep()
+ setPeakFinder()
+ setUseMaxRange()
+ getScaleNumber()
+ getDmst()
+ getScales()
+ getBaseSigma()
+ getSigmaStep()
+ getPeakFinder()
+ getUseMaxRange()
# computeGraph()
# computeInterestPoints()
# computeScaleBank()
Public Member Functions
• CurvatureDetector (const PeakFinder ∗peak, unsigned int scales=5, double sigma=0.2, double
step=1.4, unsigned int dmst=4)
Constructor.
• virtual unsigned int detect (const LaserReading &reading, std::vector &point)
const
Detects the interesting points given the laser reading.
• virtual unsigned int detect (const LaserReading &reading, std::vector &points,
Graph &graph, std::vector > &operatorA, std::vector > &signalDiff, std::vector > &indexes) const
Detects the interesting points given the laser reading.
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7.9 CurvatureDetector Class Reference 55
• virtual unsigned int detect (const LaserReading &reading, std::vector &point,
std::vector &signal, std::vector > &signalSmooth, std::vector > &signalDiff, std::vector > &indexes) const
Detects the interesting points given the laser reading.
• virtual void detect (const Graph &graph, const std::vector &graphPoints, std::vector > &operatorA, std::vector > &signalDiff,
std::vector > &indexes) const
Detects the interesting points given the graph.
• void setScaleNumber (unsigned int scales)
Sets the number of scales.
• void setDmst (unsigned int dmst)
Sets the number of minimum spanning tree.
• void setBaseSigma (double sigma)
Sets the standard deviation of the initial scale.
• void setSigmaStep (double step)
Sets the scale increment at each new scale.
• void setPeakFinder (const PeakFinder ∗peak)
Sets the peak finder.
• void setUseMaxRange (bool use)
Sets the "use max range" flag.
• unsigned int getScaleNumber () const
Gets the number of scales.
• unsigned int getDmst () const
Gets the number of minimum spanning trees.
• const std::vector & getScales () const
Gets the actual scales.
• double getBaseSigma () const
Gets the standard deviation of the initial scale.
• double getSigmaStep () const
Gets the sigma increment step.
• const PeakFinder ∗ getPeakFinder () const
Gets the actual peak finder.
• bool getUseMaxRange ()
Gets the "use the max range" flag.
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56 Class Documentation
Protected Member Functions
• virtual void computeGraph (const LaserReading &reading, std::vector &graphPoints,
Graph &graph, std::vector &maxRangeMapping) const
Computes the graph approximation of the geodesic coordinate.
• virtual unsigned int computeInterestPoints (const LaserReading &reading, const std::vector > &operatorA, std::vector &point, const std::vector > &indexes, std::vector &maxRangeMapping) const
Computes the interest points given the laser reading and the smoothed operator.
• void computeScaleBank ()
Computes the scale bank for the smoothing operators.
Protected Attributes
• const PeakFinder ∗ m_peakFinder
The peak finder used to detect maxima in the signal.
• unsigned int m_scaleNumber
The numebr of scales.
• double m_baseSigma
The standard deviation of the smoothing kernel for the initial scale (t0 in the paper).
• double m_sigmaStep
The scale increment at every new scale (ti in the paper).
• bool m_useMaxRange
The "use max range" flag.
• unsigned int m_dmst
The number of minimum spanning tree to approximate the geodesic coordinate (see the paper for more
details).
• std::vector m_scales
The precomputed scales for the smoothing operators.
7.9.1 Detailed Description
Representation of the multi scale curvature detector of Unnikrishnan and Hebert. The class represents the
curvature based detector of Unnikrishnan and Hebert. It provides the interface to set the parameters of the
detector and to detect interest points in laser readings.
Author:
Gian Diego Tipaldi
Definition at line 33 of file CurvatureDetector.h.
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7.9 CurvatureDetector Class Reference 57
7.9.2 Constructor & Destructor Documentation
7.9.2.1 CurvatureDetector::CurvatureDetector (const PeakFinder ∗ peak, unsigned int scales = 5,
double sigma = 0.2, double step = 1.4, unsigned int dmst = 4)
Constructor. Constructs and initialize the curvature based detector.
Parameters:
peak The peak finder used to detect maxima in the signal.
scales The number of different scales to consider.
sigma The standard deviation of the smoothing kernel for the initial scale (t0 in the paper).
step The scale increment at every new scale (ti in the paper). The standard deviation of the kernel at
scale s is t0 · (ti )s
dmst The number of minimum spanning tree to approximate the geodesic coordinate (see the paper
for more details).
Definition at line 3 of file CurvatureDetector.cpp.
7.9.3 Member Function Documentation
7.9.3.1 void CurvatureDetector::computeGraph (const LaserReading & reading, std::vector & graphPoints, Graph & graph, std::vector &
maxRangeMapping) const [protected, virtual]
Computes the graph approximation of the geodesic coordinate.
Definition at line 62 of file CurvatureDetector.cpp.
7.9.3.2 unsigned int CurvatureDetector::computeInterestPoints (const LaserReading & reading,
const std::vector > & operatorA, std::vector & point, const std::vector > & indexes, std::vector & maxRangeMapping) const [protected, virtual]
Computes the interest points given the laser reading and the smoothed operator. It should not be used
directly. Use the public functions instead.
Definition at line 153 of file CurvatureDetector.cpp.
7.9.3.3 void CurvatureDetector::computeScaleBank () [protected]
Computes the scale bank for the smoothing operators. It is provided for efficiency issues.
Definition at line 217 of file CurvatureDetector.cpp.
7.9.3.4 void CurvatureDetector::detect (const Graph & graph, const std::vector
& graphPoints, std::vector > & operatorA, std::vector > & signalDiff, std::vector > &
indexes) const [virtual]
Detects the interesting points given the graph. It also returns the signals used for the computation.
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58 Class Documentation
Returns:
The number of interest points detected.
Parameters:
graph The graph approximation for the geodesic coordinate.
graphPoints The point cloud in Cartesian coordinates.
operatorA The result of the smoothing operator on the geodesic coordinate at the different scales..
signalDiff The exponential dump applied to the smoothing operator at the different scales.
indexes The indexes of the differential operator maxima at the different scales.
Definition at line 104 of file CurvatureDetector.cpp.
7.9.3.5 unsigned int CurvatureDetector::detect (const LaserReading & reading, std::vector & points, std::vector & signal, std::vector > & signalSmooth, std::vector > & signalDiff,
std::vector > & indexes) const [virtual]
Detects the interesting points given the laser reading. It also returns the signals used for the computation.
Returns:
The number of interest points detected.
Parameters:
reading The laser reading.
points The detected interest points.
signal The signal used for computing the interest points.
signalSmooth The smoothed signal at the different scales.
signalDiff The differential operator applied to the signal at the different scales.
indexes The indexes of the differential operator maxima at the different scales.
Implements Detector.
Definition at line 37 of file CurvatureDetector.cpp.
7.9.3.6 unsigned int CurvatureDetector::detect (const LaserReading & reading, std::vector & points, Graph & graph, std::vector > &
operatorA, std::vector > & signalDiff, std::vector > & indexes) const [virtual]
Detects the interesting points given the laser reading. It also returns the signals used for the computation.
Returns:
The number of interest points detected.
Parameters:
reading The laser reading.
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7.9 CurvatureDetector Class Reference 59
points The detected interest points.
graph The graph approximation for the geodesic coordinate.
operatorA The result of the smoothing operator on the geodesic coordinate at the different scales..
signalDiff The exponential dump applied to the smoothing operator at the different scales.
indexes The indexes of the differential operator maxima at the different scales.
Definition at line 24 of file CurvatureDetector.cpp.
7.9.3.7 unsigned int CurvatureDetector::detect (const LaserReading & reading, std::vector & points) const [virtual]
Detects the interesting points given the laser reading.
Returns:
The number of interest points detected.
Parameters:
reading The laser reading.
points The detected interest points.
Implements Detector.
Definition at line 15 of file CurvatureDetector.cpp.
7.9.3.8 double CurvatureDetector::getBaseSigma () const [inline]
Gets the standard deviation of the initial scale.
Definition at line 123 of file CurvatureDetector.h.
7.9.3.9 unsigned int CurvatureDetector::getDmst () const [inline]
Gets the number of minimum spanning trees.
Definition at line 115 of file CurvatureDetector.h.
7.9.3.10 const PeakFinder∗ CurvatureDetector::getPeakFinder () const [inline]
Gets the actual peak finder.
Definition at line 131 of file CurvatureDetector.h.
7.9.3.11 unsigned int CurvatureDetector::getScaleNumber () const [inline]
Gets the number of scales.
Definition at line 111 of file CurvatureDetector.h.
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60 Class Documentation
7.9.3.12 const std::vector& CurvatureDetector::getScales () const [inline]
Gets the actual scales.
Definition at line 119 of file CurvatureDetector.h.
7.9.3.13 double CurvatureDetector::getSigmaStep () const [inline]
Gets the sigma increment step.
Definition at line 127 of file CurvatureDetector.h.
7.9.3.14 bool CurvatureDetector::getUseMaxRange () [inline]
Gets the "use the max range" flag.
Definition at line 135 of file CurvatureDetector.h.
7.9.3.15 void CurvatureDetector::setBaseSigma (double sigma) [inline]
Sets the standard deviation of the initial scale.
Definition at line 95 of file CurvatureDetector.h.
7.9.3.16 void CurvatureDetector::setDmst (unsigned int dmst) [inline]
Sets the number of minimum spanning tree.
Definition at line 91 of file CurvatureDetector.h.
7.9.3.17 void CurvatureDetector::setPeakFinder (const PeakFinder ∗ peak) [inline]
Sets the peak finder.
Definition at line 103 of file CurvatureDetector.h.
7.9.3.18 void CurvatureDetector::setScaleNumber (unsigned int scales) [inline]
Sets the number of scales.
Definition at line 87 of file CurvatureDetector.h.
7.9.3.19 void CurvatureDetector::setSigmaStep (double step) [inline]
Sets the scale increment at each new scale.
Definition at line 99 of file CurvatureDetector.h.
7.9.3.20 void CurvatureDetector::setUseMaxRange (bool use) [inline]
Sets the "use max range" flag. The flag enable or disable the use of max range readings.
Definition at line 107 of file CurvatureDetector.h.
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7.9 CurvatureDetector Class Reference 61
7.9.4 Member Data Documentation
7.9.4.1 double CurvatureDetector::m_baseSigma [protected]
The standard deviation of the smoothing kernel for the initial scale (t0 in the paper).
Definition at line 151 of file CurvatureDetector.h.
7.9.4.2 unsigned int CurvatureDetector::m_dmst [protected]
The number of minimum spanning tree to approximate the geodesic coordinate (see the paper for more
details).
Definition at line 154 of file CurvatureDetector.h.
7.9.4.3 const PeakFinder∗ CurvatureDetector::m_peakFinder [protected]
The peak finder used to detect maxima in the signal.
Definition at line 149 of file CurvatureDetector.h.
7.9.4.4 unsigned int CurvatureDetector::m_scaleNumber [protected]
The numebr of scales.
Definition at line 150 of file CurvatureDetector.h.
7.9.4.5 std::vector CurvatureDetector::m_scales [protected]
The precomputed scales for the smoothing operators. It is provided for efficiency issues.
Definition at line 155 of file CurvatureDetector.h.
7.9.4.6 double CurvatureDetector::m_sigmaStep [protected]
The scale increment at every new scale (ti in the paper). The standard deviation of the kernel at scale s is
t0 · (ti )s
Definition at line 152 of file CurvatureDetector.h.
7.9.4.7 bool CurvatureDetector::m_useMaxRange [protected]
The "use max range" flag. The flag enable or disable the use of max range readings.
Definition at line 153 of file CurvatureDetector.h.
The documentation for this class was generated from the following files:
• /home/tipaldi/src/flirt-release/src/feature/CurvatureDetector.h
• /home/tipaldi/src/flirt-release/src/feature/CurvatureDetector.cpp
Generated on Mon Apr 19 16:57:44 2010 for Fast Laser Interesting Region Transform (FLIRT) by Doxygen
62 Class Documentation
7.10 Descriptor Class Reference
Representation of an abstract descriptor.
#include Inheritance diagram for Descriptor:
Descriptor
+ clone()
+ distance()
BetaGrid
# m_distanceFunction
# m_histogram
# m_variance
# m_hit ShapeContext
# m_miss
# m_distanceFunction
+ clone() # m_histogram
+ distance()
+ clone()
+ getHistogram()
+ distance()
+ getHistogram()
+ getHistogram()
+ getVariance()
+ getHistogram()
+ getVariance()
+ getDistanceFunction()
+ getHit()
+ setDistanceFunction()
+ getHit()
+ getMiss()
+ getMiss()
+ getDistanceFunction()
+ setDistanceFunction()
Public Member Functions
• virtual Descriptor ∗ clone () const =0
Clone function for prototyping.
• virtual double distance (const Descriptor ∗descriptor) const =0
Abstract interface for computing the distance between two descriptors.
Generated on Mon Apr 19 16:57:44 2010 for Fast Laser Interesting Region Transform (FLIRT) by Doxygen
7.10 Descriptor Class Reference 63
7.10.1 Detailed Description
Representation of an abstract descriptor. The class represents an abstract descriptor, defining the interface
for comparing two descriptors.
Author:
Gian Diego Tipaldi
Definition at line 15 of file Descriptor.h.
7.10.2 Member Function Documentation
7.10.2.1 virtual Descriptor∗ Descriptor::clone () const [pure virtual]
Clone function for prototyping. It implements the Prototype pattern.
Implemented in BetaGrid, and ShapeContext.
7.10.2.2 virtual double Descriptor::distance (const Descriptor ∗ descriptor) const [pure
virtual]
Abstract interface for computing the distance between two descriptors. The implementation of the actual
distance is left to the inherited classes.
The documentation for this class was generated from the following file:
• /home/tipaldi/src/flirt-release/src/feature/Descriptor.h
Generated on Mon Apr 19 16:57:44 2010 for Fast Laser Interesting Region Transform (FLIRT) by Doxygen
64 Class Documentation
7.11 DescriptorGenerator Class Reference
Representation of an abstract descriptor generator.
#include Inheritance diagram for DescriptorGenerator:
DescriptorGenerator
+ describe()
+ describe()
BetaGridGenerator
ShapeContextGenerator
# m_rhoEdges
# m_phiEdges # m_rhoEdges
# m_distanceFunction # m_phiEdges
# m_distanceFunction
+ BetaGridGenerator()
+ BetaGridGenerator() + ShapeContextGenerator()
+ describe() + ShapeContextGenerator()
+ describe() + describe()
+ setEdges() + describe()
+ getMinRho() + setEdges()
+ getMaxRho() + getMinRho()
+ getBinRho() + getMaxRho()
+ getBinPhi() + getBinRho()
+ getRhoEdges() + getBinPhi()
+ getPhiEdges() + getRhoEdges()
+ setEdges() + getPhiEdges()
+ getDistanceFunction() + setEdges()
+ setDistanceFunction() + getDistanceFunction()
# intersectSegment2Segment() + setDistanceFunction()
# intersectSegment2Arc()
Public Member Functions
• virtual Descriptor ∗ describe (const InterestPoint &_point, const LaserReading &reading)=0
Abstract interface for generating a descriptors given an interest point and a laser reading.
• virtual Descriptor ∗ describe (const OrientedPoint2D &_point, const LaserReading &reading)=0
Abstract interface for generating a descriptors given a general point in SO(2) and a laser reading.
Generated on Mon Apr 19 16:57:44 2010 for Fast Laser Interesting Region Transform (FLIRT) by Doxygen
7.11 DescriptorGenerator Class Reference 65
7.11.1 Detailed Description
Representation of an abstract descriptor generator. The class represents an abstract descriptor generator,
defining the interface for generating the description of an interest point.
Author:
Gian Diego Tipaldi
Definition at line 31 of file Descriptor.h.
7.11.2 Member Function Documentation
7.11.2.1 virtual Descriptor∗ DescriptorGenerator::describe (const OrientedPoint2D & _point,
const LaserReading & reading) [pure virtual]
Abstract interface for generating a descriptors given a general point in SO(2) and a laser reading.
Implemented in BetaGridGenerator, and ShapeContextGenerator.
7.11.2.2 virtual Descriptor∗ DescriptorGenerator::describe (const InterestPoint & _point, const
LaserReading & reading) [pure virtual]
Abstract interface for generating a descriptors given an interest point and a laser reading.
Implemented in BetaGridGenerator, and ShapeContextGenerator.
The documentation for this class was generated from the following file:
• /home/tipaldi/src/flirt-release/src/feature/Descriptor.h
Generated on Mon Apr 19 16:57:44 2010 for Fast Laser Interesting Region Transform (FLIRT) by Doxygen
66 Class Documentation
7.12 Detector Class Reference
Representation of an abstract detector.
Generated on Mon Apr 19 16:57:44 2010 for Fast Laser Interesting Region Transform (FLIRT) by Doxygen
7.12 Detector Class Reference 67
#include Inheritance diagram for Detector:
Detector
+ detect()
+ detect()
MultiScaleDetector
CurvatureDetector
# m_peakFinder
# m_peakFinder # m_scaleNumber
# m_scaleNumber # m_baseSigma
# m_baseSigma # m_sigmaStep
# m_sigmaStep # m_useMaxRange
# m_useMaxRange # m_filterType
# m_dmst # m_filterBank
# m_scales # m_differentialBank
# m_scales
+ CurvatureDetector()
+ detect() + MultiScaleDetector()
+ detect() + detect()
+ detect() + detect()
+ detect() + detect()
+ setScaleNumber() + setFilterType()
+ setDmst() + setScaleNumber()
+ setBaseSigma() + setBaseSigma()
+ setSigmaStep() + setSigmaStep()
+ setPeakFinder() + setPeakFinder()
+ setUseMaxRange() + setUseMaxRange()
+ getScaleNumber() + getFilterType()
+ getDmst() + getScaleNumber()
+ getScales() + getScales()
+ getBaseSigma() + getBaseSigma()
+ getSigmaStep() + getSigmaStep()
+ getPeakFinder() + getPeakFinder()
+ getUseMaxRange() + getUseMaxRange()
# computeGraph() # computeFilterBank()
# computeInterestPoints() # computeDifferentialBank()
# computeScaleBank() # computeSignal()
# computeInterestPoints()
Generated on Mon Apr 19 16:57:44 2010 for Fast Laser Interesting Region Transform (FLIRT) by Doxygen
NormalDetector
RangeDetector
# m_windowSize
+ NormalDetector()
68 Class Documentation
Public Member Functions
• virtual unsigned int detect (const LaserReading &reading, std::vector &points)
const =0
Detects the interesting points given the laser reading.
• virtual unsigned int detect (const LaserReading &reading, std::vector &points,
std::vector &signal, std::vector > &signalSmooth, std::vector > &signalDiff, std::vector > &indexes) const
=0
Detects the interesting points given the laser reading.
7.12.1 Detailed Description
Representation of an abstract detector. This class represents an abstract detector, defining the interface for
detecting interest points in laser readings.
Author:
Gian Diego Tipaldi
Definition at line 15 of file Detector.h.
7.12.2 Member Function Documentation
7.12.2.1 virtual unsigned int Detector::detect (const LaserReading & reading, std::vector & points, std::vector & signal, std::vector > & signalSmooth, std::vector > & signalDiff,
std::vector > & indexes) const [pure virtual]
Detects the interesting points given the laser reading. It also returns the signals used for the computation.
Returns:
The number of interest points detected.
Parameters:
reading The laser reading.
points The detected interest points.
signal The signal used for computing the interest points.
signalSmooth The smoothed signal at the different scales.
signalDiff The differential operator applied to the signal at the different scales.
indexes The indexes of the differential operator maxima at the different scales.
Implemented in CurvatureDetector, and MultiScaleDetector.
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7.12 Detector Class Reference 69
7.12.2.2 virtual unsigned int Detector::detect (const LaserReading & reading, std::vector & points) const [pure virtual]
Detects the interesting points given the laser reading.
Returns:
The number of interest points detected.
Parameters:
reading The laser reading.
points The detected interest points.
Implemented in CurvatureDetector, and MultiScaleDetector.
The documentation for this class was generated from the following file:
• /home/tipaldi/src/flirt-release/src/feature/Detector.h
Generated on Mon Apr 19 16:57:44 2010 for Fast Laser Interesting Region Transform (FLIRT) by Doxygen
70 Class Documentation
7.13 EuclideanDistance Class Template Reference
Representation of the Euclidean distance function between histograms.
#include Inheritance diagram for EuclideanDistance:
HistogramDistance
+ distance()
+ distance()
EuclideanDistance
+ distance()
+ distance()
Collaboration diagram for EuclideanDistance:
HistogramDistance
+ distance()
+ distance()
EuclideanDistance
+ distance()
+ distance()
Generated on Mon Apr 19 16:57:44 2010 for Fast Laser Interesting Region Transform (FLIRT) by Doxygen
7.13 EuclideanDistance Class Template Reference 71
Public Member Functions
• virtual double distance (const std::vector &first, const std::vector &last)
const
Computes the distance between the first and last histogram (1D).
• virtual double distance (const std::vector > &first, const std::vector > &last) const
Euclidean.
7.13.1 Detailed Description
template class EuclideanDistance
Representation of the Euclidean distance function between histograms. This class represents the function
to compute the Euclidean distance between histograms. The result is normalized to be in the range [0,1].
Definition at line 31 of file HistogramDistances.h.
7.13.2 Member Function Documentation
7.13.2.1 template double EuclideanDistance::distance (const
std::vector > & first, const std::vector > & last) const [inline, virtual]
Euclidean.
Reimplemented from HistogramDistance.
Definition at line 17 of file HistogramDistances.hpp.
7.13.2.2 template double EuclideanDistance::distance (const
std::vector & first, const std::vector & last) const [inline,
virtual]
Computes the distance between the first and last histogram (1D).
Implements HistogramDistance.
Definition at line 27 of file HistogramDistances.hpp.
The documentation for this class was generated from the following files:
• /home/tipaldi/src/flirt-release/src/utils/HistogramDistances.h
• /home/tipaldi/src/flirt-release/src/utils/HistogramDistances.hpp
Generated on Mon Apr 19 16:57:44 2010 for Fast Laser Interesting Region Transform (FLIRT) by Doxygen
72 Class Documentation
7.14 HistogramDistance Class Template Reference
Representation of an abstract distance function between histograms.
#include Inheritance diagram for HistogramDistance:
HistogramDistance
+ distance()
+ distance()
BatthacharyyaDistance EuclideanDistance HistogramDistance
Chi2Distance JensenShannonDistance KullbackLeiblerDistance SymmetricChi2Distance
+ distance() + distance() + distance()
+ distance() + distance() + distance() + distance()
+ distance() + distance() + distance()
Public Member Functions
• virtual double distance (const std::vector &first, const std::vector &last)
const =0
Computes the distance between the first and last histogram (1D).
• virtual double distance (const std::vector > &first, const std::vector > &last) const
Computes the distance between the first and last histogram (2D).
7.14.1 Detailed Description
template class HistogramDistance
Representation of an abstract distance function between histograms. This class represents an abstract
function to compute the distance between histograms.
Definition at line 14 of file HistogramDistances.h.
7.14.2 Member Function Documentation
7.14.2.1 template double HistogramDistance::distance (const
std::vector > & first, const std::vector > & last) const [inline, virtual]
Computes the distance between the first and last histogram (2D).
Reimplemented in EuclideanDistance, and BatthacharyyaDistance.
Definition at line 6 of file HistogramDistances.hpp.
7.14.2.2 template virtual double HistogramDistance::distance
(const std::vector & first, const std::vector & last) const
[pure virtual]
Computes the distance between the first and last histogram (1D).
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7.14 HistogramDistance Class Template Reference 73
Implemented in EuclideanDistance, Chi2Distance, SymmetricChi2Distance, BatthacharyyaDistance, KullbackLeiblerDistance, and
JensenShannonDistance.
The documentation for this class was generated from the following files:
• /home/tipaldi/src/flirt-release/src/utils/HistogramDistances.h
• /home/tipaldi/src/flirt-release/src/utils/HistogramDistances.hpp
Generated on Mon Apr 19 16:57:44 2010 for Fast Laser Interesting Region Transform (FLIRT) by Doxygen
74 Class Documentation
7.15 InterestPoint Class Reference
Representation of an interesting point.
#include Collaboration diagram for InterestPoint:
T
elements
Point2D
+x std::vector
+y
- elements
+ Point2D()
+ Point2D()
+ ortho()
elements
OrientedPoint2D
+ theta
Descriptor
+ OrientedPoint2D() std::vector
+ OrientedPoint2D()
- elements
+ ominus()
+ clone()
+ ominus()
+ distance()
+ ominus()
+ oplus()
+ oplus()
m_descriptor m_position m_supportPoints
InterestPoint
# m_position
# m_supportPoints
# m_scale
# m_scaleLevel
# m_descriptor
+ InterestPoint()
+ InterestPoint()
+ operator=()
+ ~InterestPoint()
+ getPosition()
+ getScale()
+ getScaleLevel()
+ getDescriptor()
+ getSupport()
+ setPosition()
+ setScale()
+ setScaleLevel()
+ setDescriptor()
+ setSupport()
Public Member Functions
• InterestPoint (const OrientedPoint2D &position, double scale, const Descriptor ∗descriptor=0)
Constructor.
• InterestPoint (const InterestPoint &point)
Copy Constructor.
• InterestPoint & operator= (const InterestPoint &_point)
Assignament operator.
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7.15 InterestPoint Class Reference 75
• virtual ∼InterestPoint ()
Destructor.
• const OrientedPoint2D & getPosition () const
Gets the position and orientation of the interest point.
• double getScale () const
Gets the scale at which the interest point was detected.
• double getScaleLevel () const
Gets the index of the scale at which the interest point is detected.
• const Descriptor ∗ getDescriptor () const
Gets the descriptor of the interest point.
• const std::vector & getSupport () const
Gets the points in the support region of the interest point.
• void setPosition (const OrientedPoint2D &_position)
Sets the position and orientation of the interest point.
• void setScale (double _scale)
Sets the scale at which the interest point was detected.
• void setScaleLevel (unsigned int _scale)
Sets the index of the scale at which the interest point is detected.
• void setDescriptor (const Descriptor ∗_descriptor)
Sets the descriptor of the interest point.
• void setSupport (const std::vector &points)
Sets the points in the support region of the interest point.
Protected Attributes
• OrientedPoint2D m_position
The position of the interest point as a point in SO(2).
• std::vector m_supportPoints
The points in the support region of the interest point.
• double m_scale
The scale at which the interest point was detected.
• unsigned int m_scaleLevel
The index of the scale at which the interest point is detected.
• const Descriptor ∗ m_descriptor
The descriptor of the interest point.
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76 Class Documentation
7.15.1 Detailed Description
Representation of an interesting point. The class represents an interesting point. It defines the interface for
obtaining the position of the interest point and its descriptor.
Author:
Gian Diego Tipaldi
Definition at line 16 of file InterestPoint.h.
7.15.2 Constructor & Destructor Documentation
7.15.2.1 InterestPoint::InterestPoint (const OrientedPoint2D & position, double scale, const
Descriptor ∗ descriptor = 0)
Constructor. It creates the interest point providing the position, scale and descriptor.
Parameters:
position The position of the interest point as a point in SO(2).
scale The scale at which the interest point was detected.
descriptor The descriptor of the interest point.
Definition at line 3 of file InterestPoint.cpp.
7.15.2.2 InterestPoint::InterestPoint (const InterestPoint & point)
Copy Constructor.
Definition at line 12 of file InterestPoint.cpp.
7.15.2.3 InterestPoint::∼InterestPoint () [virtual]
Destructor.
Definition at line 32 of file InterestPoint.cpp.
7.15.3 Member Function Documentation
7.15.3.1 const Descriptor∗ InterestPoint::getDescriptor () const [inline]
Gets the descriptor of the interest point.
Definition at line 49 of file InterestPoint.h.
7.15.3.2 const OrientedPoint2D& InterestPoint::getPosition () const [inline]
Gets the position and orientation of the interest point.
Definition at line 37 of file InterestPoint.h.
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7.15 InterestPoint Class Reference 77
7.15.3.3 double InterestPoint::getScale () const [inline]
Gets the scale at which the interest point was detected.
Definition at line 41 of file InterestPoint.h.
7.15.3.4 double InterestPoint::getScaleLevel () const [inline]
Gets the index of the scale at which the interest point is detected. It is used for plotting purposes.
Definition at line 45 of file InterestPoint.h.
7.15.3.5 const std::vector& InterestPoint::getSupport () const [inline]
Gets the points in the support region of the interest point. See the paper for more details.
Definition at line 53 of file InterestPoint.h.
7.15.3.6 InterestPoint & InterestPoint::operator= (const InterestPoint & _point)
Assignament operator.
Definition at line 23 of file InterestPoint.cpp.
7.15.3.7 void InterestPoint::setDescriptor (const Descriptor ∗ _descriptor) [inline]
Sets the descriptor of the interest point.
Definition at line 69 of file InterestPoint.h.
7.15.3.8 void InterestPoint::setPosition (const OrientedPoint2D & _position) [inline]
Sets the position and orientation of the interest point.
Definition at line 57 of file InterestPoint.h.
7.15.3.9 void InterestPoint::setScale (double _scale) [inline]
Sets the scale at which the interest point was detected.
Definition at line 61 of file InterestPoint.h.
7.15.3.10 void InterestPoint::setScaleLevel (unsigned int _scale) [inline]
Sets the index of the scale at which the interest point is detected. It is used for plotting purposes.
Definition at line 65 of file InterestPoint.h.
7.15.3.11 void InterestPoint::setSupport (const std::vector & points) [inline]
Sets the points in the support region of the interest point. See the paper for more details.
Definition at line 73 of file InterestPoint.h.
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78 Class Documentation
7.15.4 Member Data Documentation
7.15.4.1 const Descriptor∗ InterestPoint::m_descriptor [protected]
The descriptor of the interest point.
Definition at line 81 of file InterestPoint.h.
7.15.4.2 OrientedPoint2D InterestPoint::m_position [protected]
The position of the interest point as a point in SO(2).
Definition at line 77 of file InterestPoint.h.
7.15.4.3 double InterestPoint::m_scale [protected]
The scale at which the interest point was detected.
Definition at line 79 of file InterestPoint.h.
7.15.4.4 unsigned int InterestPoint::m_scaleLevel [protected]
The index of the scale at which the interest point is detected. It is used for plotting purposes.
Definition at line 80 of file InterestPoint.h.
7.15.4.5 std::vector InterestPoint::m_supportPoints [protected]
The points in the support region of the interest point. See the paper for more details.
Definition at line 78 of file InterestPoint.h.
The documentation for this class was generated from the following files:
• /home/tipaldi/src/flirt-release/src/feature/InterestPoint.h
• /home/tipaldi/src/flirt-release/src/feature/InterestPoint.cpp
Generated on Mon Apr 19 16:57:44 2010 for Fast Laser Interesting Region Transform (FLIRT) by Doxygen
7.16 JensenShannonDistance Class Template Reference 79
7.16 JensenShannonDistance Class Template Refer-
ence
Representation of the Jensen Shannon divergence between histograms.
#include Inheritance diagram for JensenShannonDistance:
HistogramDistance
+ distance()
+ distance()
JensenShannonDistance
+ distance()
Collaboration diagram for JensenShannonDistance:
HistogramDistance
+ distance()
+ distance()
JensenShannonDistance
+ distance()
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80 Class Documentation
Public Member Functions
• virtual double distance (const std::vector &first, const std::vector &last)
const
JensenShannon.
7.16.1 Detailed Description
template class JensenShannonDistance
Representation of the Jensen Shannon divergence between histograms. This class represents the function
to compute the Jensen Shannon divergence between histograms. The result is normalized to be in the range
[0,1].
Definition at line 95 of file HistogramDistances.h.
7.16.2 Member Function Documentation
7.16.2.1 template double JensenShannonDistance::distance (const
std::vector & first, const std::vector & last) const [inline,
virtual]
JensenShannon.
Implements HistogramDistance.
Definition at line 101 of file HistogramDistances.hpp.
The documentation for this class was generated from the following files:
• /home/tipaldi/src/flirt-release/src/utils/HistogramDistances.h
• /home/tipaldi/src/flirt-release/src/utils/HistogramDistances.hpp
Generated on Mon Apr 19 16:57:44 2010 for Fast Laser Interesting Region Transform (FLIRT) by Doxygen
7.17 KullbackLeiblerDistance Class Template Reference 81
7.17 KullbackLeiblerDistance Class Template Refer-
ence
Representation of the Kullback Leibler divergence between histograms.
#include Inheritance diagram for KullbackLeiblerDistance:
HistogramDistance
+ distance()
+ distance()
KullbackLeiblerDistance
+ distance()
Collaboration diagram for KullbackLeiblerDistance:
HistogramDistance
+ distance()
+ distance()
KullbackLeiblerDistance
+ distance()
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82 Class Documentation
Public Member Functions
• virtual double distance (const std::vector &first, const std::vector &last)
const
KullbackLeibler.
7.17.1 Detailed Description
template class KullbackLeiblerDistance
Representation of the Kullback Leibler divergence between histograms. This class represents the function
to compute the Kullback Leibler divergence between histograms.
Definition at line 82 of file HistogramDistances.h.
7.17.2 Member Function Documentation
7.17.2.1 template double KullbackLeiblerDistance::distance
(const std::vector & first, const std::vector & last) const
[inline, virtual]
KullbackLeibler.
Implements HistogramDistance.
Definition at line 88 of file HistogramDistances.hpp.
The documentation for this class was generated from the following files:
• /home/tipaldi/src/flirt-release/src/utils/HistogramDistances.h
• /home/tipaldi/src/flirt-release/src/utils/HistogramDistances.hpp
Generated on Mon Apr 19 16:57:44 2010 for Fast Laser Interesting Region Transform (FLIRT) by Doxygen
7.18 LaserReading Class Reference 83
7.18 LaserReading Class Reference
Representation of a laser measurement.
#include Inheritance diagram for LaserReading:
AbstractReading
# m_time
# m_name
# m_robot
+ AbstractReading()
+ ~AbstractReading()
+ clone()
+ getTime()
+ getName()
+ getRobot()
LaserReading
# m_maxRange
# m_laserPose
# m_phi
# m_rho
# m_worldCartesian
# m_cartesian
# m_remission
+ LaserReading()
+ ~LaserReading()
+ clone()
+ getPhi()
+ getRho()
+ getPolar()
+ getCartesian()
+ getWorldCartesian()
+ getRemission()
+ getMaxRange()
+ getLaserPose()
+ setRemission()
+ setMaxRange()
+ setLaserPose()
# computeWorldCartesian()
# computeLocalCartesian()
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84 Class Documentation
Collaboration diagram for LaserReading:
std::basic_string T
elements
Point2D
std::string +x std::vector
+y
- elements
+ Point2D()
+ Point2D()
+ ortho()
m_robot
elements
m_name
AbstractReading
OrientedPoint2D
# m_time
+ theta
# m_name
# m_robot + OrientedPoint2D() std::vector std::vector
+ OrientedPoint2D()
+ AbstractReading() - elements - elements
+ ominus()
+ ~AbstractReading()
+ ominus()
+ clone()
+ ominus()
+ getTime()
+ oplus()
+ getName()
+ oplus()
+ getRobot()
m_remission
m_cartesian
m_laserPose m_phi
m_worldCartesian
m_rho
LaserReading
# m_maxRange
# m_laserPose
# m_phi
# m_rho
# m_worldCartesian
# m_cartesian
# m_remission
+ LaserReading()
+ ~LaserReading()
+ clone()
+ getPhi()
+ getRho()
+ getPolar()
+ getCartesian()
+ getWorldCartesian()
+ getRemission()
+ getMaxRange()
+ 19 16:57:44 2010
Generated on Mon Apr getLaserPose()for Fast Laser Interesting Region Transform (FLIRT) by Doxygen
+ setRemission()
+ setMaxRange()
+ setLaserPose()
# computeWorldCartesian()
# computeLocalCartesian()
7.18 LaserReading Class Reference 85
Public Member Functions
• LaserReading (const std::vector &_phi, const std::vector &_rho, double _-
time=0.0, const std::string &_name="ROBOTLASER1", const std::string &_robot="")
Constructor.
• virtual ∼LaserReading ()
Destructor.
• virtual AbstractReading ∗ clone () const
Clone function for prototyping.
• const std::vector & getPhi () const
Get the angles.
• const std::vector & getRho () const
Get the distances.
• unsigned int getPolar (const std::vector ∗&_phi, const std::vector ∗&_rho)
const
Get angles and distances.
• const std::vector & getCartesian () const
Get local Cartesian coordinates.
• const std::vector & getWorldCartesian () const
Get global Cartesian coordinates.
• const std::vector & getRemission () const
Get remission values.
• double getMaxRange () const
Get maximum range.
• const OrientedPoint2D & getLaserPose () const
Get laser pose.
• void setRemission (const std::vector &_remi)
Set reminiscence values.
• void setMaxRange (double _max)
Set maximum range.
• void setLaserPose (const OrientedPoint2D &_pose)
Set laser pose.
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86 Class Documentation
Protected Member Functions
• void computeWorldCartesian ()
Compute world points.
• void computeLocalCartesian ()
Compute world points.
Protected Attributes
• double m_maxRange
The maximum range of the sensor.
• OrientedPoint2D m_laserPose
The pose of the laser.
• std::vector m_phi
The angles of the reading.
• std::vector m_rho
The distances measured.
• std::vector m_worldCartesian
The points in the world reference frame.
• std::vector m_cartesian
The points in the sensor reference frame.
• std::vector m_remission
The reminiscence measured.
7.18.1 Detailed Description
Representation of a laser measurement. This class represent a general laser reading in terms of both polar
and Cartesian coordinates.
Author:
Gian Diego Tipaldi
Definition at line 17 of file LaserReading.h.
7.18.2 Constructor & Destructor Documentation
7.18.2.1 LaserReading::LaserReading (const std::vector & _phi, const std::vector & _rho, double _time = 0.0, const std::string & _name = "ROBOTLASER1",
const std::string & _robot = "")
Constructor. It creates the object by giving the reading in polar coordinates (_phi, _rho).
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7.18 LaserReading Class Reference 87
Parameters:
_phi The angles where the reading is taken.
_rho The distances measured by the laser.
_time The timestamp of the reading.
_name The name of the sensor.
_robot The name of the robot.
Definition at line 6 of file LaserReading.cpp.
7.18.2.2 LaserReading::∼LaserReading () [virtual]
Destructor. It destructs the object.
Definition at line 20 of file LaserReading.cpp.
7.18.3 Member Function Documentation
7.18.3.1 AbstractReading ∗ LaserReading::clone () const [virtual]
Clone function for prototyping. It implements the Prototype pattern.
Implements AbstractReading.
Definition at line 62 of file LaserReading.cpp.
7.18.3.2 void LaserReading::computeLocalCartesian () [protected]
Compute world points. It transforms the polar reading into a cartesian one, considering the sensor being in
(0,0,0).
Definition at line 49 of file LaserReading.cpp.
7.18.3.3 void LaserReading::computeWorldCartesian () [protected]
Compute world points. It transforms the polar reading into a cartesian one, considering the pose of the
laser.
Definition at line 34 of file LaserReading.cpp.
7.18.3.4 const std::vector& LaserReading::getCartesian () const [inline]
Get local Cartesian coordinates. It returns the points measured by the laser in Cartesian coordinates. The
points are considered in the sensor reference frame.
Definition at line 51 of file LaserReading.h.
7.18.3.5 const OrientedPoint2D& LaserReading::getLaserPose () const [inline]
Get laser pose. It returns the pose of the laser in the world.
Definition at line 66 of file LaserReading.h.
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88 Class Documentation
7.18.3.6 double LaserReading::getMaxRange () const [inline]
Get maximum range. It returns the maximum range of the sensor.
Definition at line 63 of file LaserReading.h.
7.18.3.7 const std::vector& LaserReading::getPhi () const [inline]
Get the angles. It returns the angles where the reading is taken.
Definition at line 39 of file LaserReading.h.
7.18.3.8 unsigned int LaserReading::getPolar (const std::vector ∗& _phi, const
std::vector ∗& _rho) const [inline]
Get angles and distances. It returns both angles, _phi, and distances, _rho, of the reading.
Definition at line 45 of file LaserReading.h.
7.18.3.9 const std::vector& LaserReading::getRemission () const [inline]
Get remission values. It returns the remission values of the reading, if present.
Definition at line 60 of file LaserReading.h.
7.18.3.10 const std::vector& LaserReading::getRho () const [inline]
Get the distances. It returns the distances measured by the laser
Definition at line 42 of file LaserReading.h.
7.18.3.11 const std::vector& LaserReading::getWorldCartesian () const [inline]
Get global Cartesian coordinates. It returns the points measured by the laser in Cartesian coordinates. The
points are transormed in the world reference frame by using m_laserPose.
Definition at line 57 of file LaserReading.h.
7.18.3.12 void LaserReading::setLaserPose (const OrientedPoint2D & _pose)
Set laser pose. It sets the pose of the laser in the world.
Definition at line 29 of file LaserReading.cpp.
7.18.3.13 void LaserReading::setMaxRange (double _max) [inline]
Set maximum range. It sets the maximum range of the sensor.
Definition at line 77 of file LaserReading.h.
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7.18 LaserReading Class Reference 89
7.18.3.14 void LaserReading::setRemission (const std::vector & _remi)
Set reminiscence values. It sets the reminiscence values of the reading. It fails if the size of _remi is
different than the size of m_phi .
Definition at line 24 of file LaserReading.cpp.
7.18.4 Member Data Documentation
7.18.4.1 std::vector LaserReading::m_cartesian [protected]
The points in the sensor reference frame.
Definition at line 101 of file LaserReading.h.
7.18.4.2 OrientedPoint2D LaserReading::m_laserPose [protected]
The pose of the laser.
Definition at line 93 of file LaserReading.h.
7.18.4.3 double LaserReading::m_maxRange [protected]
The maximum range of the sensor.
Definition at line 91 of file LaserReading.h.
7.18.4.4 std::vector LaserReading::m_phi [protected]
The angles of the reading.
Definition at line 95 of file LaserReading.h.
7.18.4.5 std::vector LaserReading::m_remission [protected]
The reminiscence measured.
Definition at line 103 of file LaserReading.h.
7.18.4.6 std::vector LaserReading::m_rho [protected]
The distances measured.
Definition at line 97 of file LaserReading.h.
7.18.4.7 std::vector LaserReading::m_worldCartesian [protected]
The points in the world reference frame.
Definition at line 99 of file LaserReading.h.
The documentation for this class was generated from the following files:
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90 Class Documentation
• /home/tipaldi/src/flirt-release/src/sensors/LaserReading.h
• /home/tipaldi/src/flirt-release/src/sensors/LaserReading.cpp
Generated on Mon Apr 19 16:57:44 2010 for Fast Laser Interesting Region Transform (FLIRT) by Doxygen
7.19 LineParameters Struct Reference 91
7.19 LineParameters Struct Reference
Simple functions to perform line fitting.
#include
Public Attributes
• double rho
The distance of the line from the origin of the axis.
• double alpha
The angle of the normal vector of the line.
7.19.1 Detailed Description
Simple functions to perform line fitting.
Author:
Gian Diego Tipaldi Struct defining the parameters of a line;
Gian Diego Tipaldi
Definition at line 21 of file Regression.h.
7.19.2 Member Data Documentation
7.19.2.1 double LineParameters::alpha
The angle of the normal vector of the line.
Definition at line 23 of file Regression.h.
7.19.2.2 double LineParameters::rho
The distance of the line from the origin of the axis.
Definition at line 22 of file Regression.h.
The documentation for this struct was generated from the following file:
• /home/tipaldi/src/flirt-release/src/utils/Regression.h
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92 Class Documentation
7.20 LogReader Class Reference
Representation of an abstract log reader.
#include Inheritance diagram for LogReader:
LogReader
+ readLog()
CarmenLogReader
+ readLog()
# readLine()
# parseFLaser()
# parseRobotLaser()
# parseRawLaser()
Public Member Functions
• virtual void readLog (std::istream &_stream, std::vector &_log) const =0
Read a log from an inputstream.
7.20.1 Detailed Description
Representation of an abstract log reader. It defines the interface for reading a log file from a stream.
Author:
Gian Diego Tipaldi
Definition at line 15 of file LogReader.h.
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7.20 LogReader Class Reference 93
7.20.2 Member Function Documentation
7.20.2.1 virtual void LogReader::readLog (std::istream & _stream, std::vector & _log) const [pure virtual]
Read a log from an inputstream.
Implemented in CarmenLogReader.
The documentation for this class was generated from the following file:
• /home/tipaldi/src/flirt-release/src/sensorstream/LogReader.h
Generated on Mon Apr 19 16:57:44 2010 for Fast Laser Interesting Region Transform (FLIRT) by Doxygen
94 Class Documentation
7.21 LogSensorStream Class Reference
Representation of log file as a stream of sensor readings.
#include Inheritance diagram for LogSensorStream:
SensorStream
+ next()
+ current()
+ seek()
+ tell()
+ isSeekable()
+ end()
LogSensorStream
# m_log
# m_index
# m_logReader
# m_logWriter
+ LogSensorStream()
+ LogSensorStream()
+ operator=()
+ ~LogSensorStream()
+ next()
+ current()
+ seek()
+ tell()
+ isSeekable()
+ end()
+ getLog()
+ getReader()
+ getWriter()
+ load()
+ save()
+ load()
+ save()
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7.21 LogSensorStream Class Reference 95
Collaboration diagram for LogSensorStream:
std::basic_string
std::string T
m_robot
elements
m_name
AbstractReading
# m_time
# m_name
# m_robot std::vector
+ AbstractReading() - elements
+ ~AbstractReading()
+ clone()
+ getTime()
+ getName()
+ getRobot()
elements
SensorStream
LogWriter std::vector LogReader
+ next()
+ current() - elements
+ seek()
+ writeLog() + readLog()
+ tell()
+ isSeekable()
+ end()
m_logWriter m_log m_logReader
LogSensorStream
# m_log
# m_index
# m_logReader
Generated on Mon Apr 19 16:57:44 2010 for Fast Laser Interesting Region Transform (FLIRT) by Doxygen
# m_logWriter
+ LogSensorStream()
+ LogSensorStream()
+ operator=()
96 Class Documentation
Public Member Functions
• LogSensorStream (const LogReader ∗_reader, const LogWriter ∗_writer)
Constructor.
• LogSensorStream (const LogSensorStream &_stream)
Copy Constructor.
• LogSensorStream & operator= (const LogSensorStream &_stream)
Assignament operator.
• virtual ∼LogSensorStream ()
Destructor.
• virtual const AbstractReading ∗ next () const
Get the next reading and advance the stream (const reading).
• virtual const AbstractReading ∗ current () const
Get the current reading without advancing the stream (const reading).
• virtual bool seek (const unsigned int _position=0, SensorStreamOffset _offset=BEGIN)
Seek the stream to a given sensor position.
• virtual unsigned int tell () const
Get the current sensor position of the stream.
• virtual bool isSeekable () const
Check if the stream is seekable.
• virtual bool end () const
Check if the stream is finished.
• const std::vector & getLog () const
Get the full log vector.
• const LogReader ∗ getReader () const
Get the log reader.
• const LogWriter ∗ getWriter () const
Get the log writer.
• void load (const std::string &_filename)
Load a log from a file.
• void save (const std::string &_filename)
Save a log to a file.
• void load (std::istream &_stream)
Load a log from a stream.
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7.21 LogSensorStream Class Reference 97
• void save (std::ostream &_stream)
Save a log to a stream.
Protected Attributes
• std::vector m_log
The log, represented as a vector of reading.
• unsigned int m_index
The index of the current reading.
• const LogReader ∗ m_logReader
The log reader.
• const LogWriter ∗ m_logWriter
The log writer.
7.21.1 Detailed Description
Representation of log file as a stream of sensor readings. It implements the SensorStream class to stream
from log files.
See CarmenLogTest.cpp for an example of its use.
Author:
Gian Diego Tipaldi
Definition at line 27 of file LogSensorStream.h.
7.21.2 Constructor & Destructor Documentation
7.21.2.1 LogSensorStream::LogSensorStream (const LogReader ∗ _reader, const LogWriter ∗
_writer)
Constructor. It creates the stream by giving the _reader and the _writer.
Parameters:
_reader The LogReader object for a particular log format.
_writer The LogWriter object for a particular log format.
Definition at line 3 of file LogSensorStream.cpp.
7.21.2.2 LogSensorStream::LogSensorStream (const LogSensorStream & _stream)
Copy Constructor. It copies the object of the class by cloning the readings.
Definition at line 11 of file LogSensorStream.cpp.
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98 Class Documentation
7.21.2.3 LogSensorStream::∼LogSensorStream () [virtual]
Destructor.
Definition at line 40 of file LogSensorStream.cpp.
7.21.3 Member Function Documentation
7.21.3.1 const AbstractReading ∗ LogSensorStream::current () const [virtual]
Get the current reading without advancing the stream (const reading).
Implements SensorStream.
Definition at line 51 of file LogSensorStream.cpp.
7.21.3.2 bool LogSensorStream::end () const [virtual]
Check if the stream is finished.
Implements SensorStream.
Definition at line 62 of file LogSensorStream.cpp.
7.21.3.3 const std::vector& LogSensorStream::getLog () const [inline]
Get the full log vector.
Definition at line 59 of file LogSensorStream.h.
7.21.3.4 const LogReader∗ LogSensorStream::getReader () const [inline]
Get the log reader.
Definition at line 62 of file LogSensorStream.h.
7.21.3.5 const LogWriter∗ LogSensorStream::getWriter () const [inline]
Get the log writer.
Definition at line 65 of file LogSensorStream.h.
7.21.3.6 virtual bool LogSensorStream::isSeekable () const [inline, virtual]
Check if the stream is seekable.
Reimplemented from SensorStream.
Definition at line 54 of file LogSensorStream.h.
7.21.3.7 void LogSensorStream::load (std::istream & _stream)
Load a log from a stream.
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7.21 LogSensorStream Class Reference 99
Definition at line 81 of file LogSensorStream.cpp.
7.21.3.8 void LogSensorStream::load (const std::string & _filename)
Load a log from a file.
Definition at line 67 of file LogSensorStream.cpp.
7.21.3.9 const AbstractReading ∗ LogSensorStream::next () const [virtual]
Get the next reading and advance the stream (const reading).
Implements SensorStream.
Definition at line 46 of file LogSensorStream.cpp.
7.21.3.10 LogSensorStream & LogSensorStream::operator= (const LogSensorStream & _stream)
Assignament operator. It assigns _stream to this object. The previous reading are deleted and the _stream
one cloned.
Definition at line 23 of file LogSensorStream.cpp.
7.21.3.11 void LogSensorStream::save (std::ostream & _stream)
Save a log to a stream.
Definition at line 85 of file LogSensorStream.cpp.
7.21.3.12 void LogSensorStream::save (const std::string & _filename)
Save a log to a file.
Definition at line 74 of file LogSensorStream.cpp.
7.21.3.13 bool LogSensorStream::seek (const unsigned int _position = 0, SensorStreamOffset
_offset = BEGIN) [virtual]
Seek the stream to a given sensor position. Return false if is not possible.
Implements SensorStream.
Definition at line 55 of file LogSensorStream.cpp.
7.21.3.14 virtual unsigned int LogSensorStream::tell () const [inline, virtual]
Get the current sensor position of the stream. Return 0 if it is not seekable
Implements SensorStream.
Definition at line 52 of file LogSensorStream.h.
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100 Class Documentation
7.21.4 Member Data Documentation
7.21.4.1 unsigned int LogSensorStream::m_index [mutable, protected]
The index of the current reading.
Definition at line 80 of file LogSensorStream.h.
7.21.4.2 std::vector LogSensorStream::m_log [protected]
The log, represented as a vector of reading.
Definition at line 79 of file LogSensorStream.h.
7.21.4.3 const LogReader∗ LogSensorStream::m_logReader [protected]
The log reader.
Definition at line 81 of file LogSensorStream.h.
7.21.4.4 const LogWriter∗ LogSensorStream::m_logWriter [protected]
The log writer.
Definition at line 82 of file LogSensorStream.h.
The documentation for this class was generated from the following files:
• /home/tipaldi/src/flirt-release/src/sensorstream/LogSensorStream.h
• /home/tipaldi/src/flirt-release/src/sensorstream/LogSensorStream.cpp
Generated on Mon Apr 19 16:57:44 2010 for Fast Laser Interesting Region Transform (FLIRT) by Doxygen
7.22 LogWriter Class Reference 101
7.22 LogWriter Class Reference
Representation of an abstract log writer.
#include Inheritance diagram for LogWriter:
LogWriter
+ writeLog()
CarmenLogWriter
+ writeLog()
# writeLine()
# writeFLaser()
# writeRobotLaser()
# writeRawLaser()
Public Member Functions
• virtual void writeLog (std::ostream &_stream, const std::vector &_log) const
=0
Write a log to an outputstream.
7.22.1 Detailed Description
Representation of an abstract log writer. It defines the interface for writing a log file to a stream.
Author:
Gian Diego Tipaldi
Definition at line 16 of file LogWriter.h.
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102 Class Documentation
7.22.2 Member Function Documentation
7.22.2.1 virtual void LogWriter::writeLog (std::ostream & _stream, const std::vector & _log) const [pure virtual]
Write a log to an outputstream.
Implemented in CarmenLogWriter.
The documentation for this class was generated from the following file:
• /home/tipaldi/src/flirt-release/src/sensorstream/LogWriter.h
Generated on Mon Apr 19 16:57:44 2010 for Fast Laser Interesting Region Transform (FLIRT) by Doxygen
7.23 MultiScaleDetector Class Reference 103
7.23 MultiScaleDetector Class Reference
Representation of an abstract multi scale detector for monodimensional signals.
Generated on Mon Apr 19 16:57:44 2010 for Fast Laser Interesting Region Transform (FLIRT) by Doxygen
104 Class Documentation
#include Inheritance diagram for MultiScaleDetector:
Detector
+ detect()
+ detect()
MultiScaleDetector
# m_peakFinder
# m_scaleNumber
# m_baseSigma
# m_sigmaStep
# m_useMaxRange
# m_filterType
# m_filterBank
# m_differentialBank
# m_scales
+ MultiScaleDetector()
+ detect()
+ detect()
+ detect()
+ setFilterType()
+ setScaleNumber()
+ setBaseSigma()
+ setSigmaStep()
+ setPeakFinder()
+ setUseMaxRange()
+ getFilterType()
+ getScaleNumber()
+ getScales()
+ getBaseSigma()
+ getSigmaStep()
+ getPeakFinder()
+ getUseMaxRange()
# computeFilterBank()
# computeDifferentialBank()
# computeSignal()
# computeInterestPoints()
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NormalDetector
RangeDetector
# m_windowSize
+ NormalDetector()
7.23 MultiScaleDetector Class Reference 105
Collaboration diagram for MultiScaleDetector:
T
elements
std::vector
- elements
std::vector
> - elements
elements
PeakFinder
Detector
std::vector >
+ findPeaks() - elements m_scales
+ detect() + findPeaks()
+ detect() + isPeak()
+ isPeak()
m_differentialBank
m_peakFinder
m_filterBank
MultiScaleDetector
# m_peakFinder
# m_scaleNumber
# m_baseSigma
# m_sigmaStep
# m_useMaxRange
# m_filterType
# m_filterBank
# m_differentialBank
# m_scales
+ MultiScaleDetector()
+ detect()
Generated on Mon Apr 19 16:57:44 2010 for Fast Laser Interesting Region Transform (FLIRT) by Doxygen
+ detect()
+ detect()
+ setFilterType()
+ setScaleNumber()
+ setBaseSigma()
+ setSigmaStep()
106 Class Documentation
Public Member Functions
• MultiScaleDetector (const PeakFinder ∗peak, unsigned int scales=5, double sigma=1.6, double
step=1.4, SmoothingFilterFamily filterType=BESSEL)
Constructor.
• virtual unsigned int detect (const LaserReading &reading, std::vector &point)
const
Detects the interesting points given the laser reading.
• virtual unsigned int detect (const LaserReading &reading, std::vector &point,
std::vector &signal, std::vector > &signalSmooth, std::vector > &signalDiff, std::vector > &indexes) const
Detects the interesting points given the laser reading.
• virtual void detect (const std::vector &signal, std::vector >
&signalSmooth, std::vector > &signalDiff, std::vector > &indexes) const
Detects the interesting points given the laser reading.
• void setFilterType (SmoothingFilterFamily filterType)
Sets the type of smoothing kernel.
• void setScaleNumber (unsigned int scales)
Sets the number of scales.
• void setBaseSigma (double sigma)
Sets the standard deviation of the initial scale.
• void setSigmaStep (double step)
Sets the scale increment at each new scale.
• void setPeakFinder (const PeakFinder ∗peak)
Sets the peak finder.
• void setUseMaxRange (bool use)
Sets the "use max range" flag.
• SmoothingFilterFamily getFilterType () const
Gets the type of smoothing kernel.
• unsigned int getScaleNumber () const
Gets the number of scales.
• const std::vector & getScales () const
Gets the actual scales.
• double getBaseSigma () const
Gets the standard deviation of the initial scale.
• double getSigmaStep () const
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7.23 MultiScaleDetector Class Reference 107
Gets the sigma increment step.
• const PeakFinder ∗ getPeakFinder () const
Gets the actual peak finder.
• bool getUseMaxRange ()
Gets the "use the max range" flag.
Protected Member Functions
• virtual void computeFilterBank ()
Precomputes the bank of smoothing operators.
• virtual void computeDifferentialBank ()=0
Precomputes the bank of differential operators.
• virtual void computeSignal (const LaserReading &reading, std::vector &signal,
std::vector &maxRangeMapping) const =0
Computes the monodimensional signal from which extracts the features.
• virtual unsigned int computeInterestPoints (const LaserReading &reading, const std::vector &signal, std::vector &point, std::vector >
&indexes, std::vector &maxRangeMapping) const =0
Computes the interst point locations and (when possible) orientation.
Protected Attributes
• const PeakFinder ∗ m_peakFinder
The peak finder used to detect maxima in the signal.
• unsigned int m_scaleNumber
The numebr of scales.
• double m_baseSigma
The standard deviation of the smoothing kernel for the initial scale (t0 in the paper).
• double m_sigmaStep
The scale increment at every new scale (ti in the paper).
• bool m_useMaxRange
The "use max range" flag.
• SmoothingFilterFamily m_filterType
• std::vector > m_filterBank
The precomputed bank of smoothing operators.
• std::vector > m_differentialBank
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108 Class Documentation
The precomputed bank of differential operators.
• std::vector m_scales
The precomputed scales for the smoothing operators.
7.23.1 Detailed Description
Representation of an abstract multi scale detector for monodimensional signals. The class represents an
abstract multi scale detector for monodimensional signals. It provides the interface to set the parameters of
the detector and to detect interest points in laser readings.
Author:
Gian Diego Tipaldi
Definition at line 33 of file MultiScaleDetector.h.
7.23.2 Constructor & Destructor Documentation
7.23.2.1 MultiScaleDetector::MultiScaleDetector (const PeakFinder ∗ peak, unsigned int scales =
5, double sigma = 1.6, double step = 1.4, SmoothingFilterFamily filterType = BESSEL)
Constructor. Constructs and initialize the shared part of a general multi scale detector for monodimensional
signals.
Parameters:
peak The peak finder used to detect maxima in the signal.
scales The number of different scales to consider.
sigma The standard deviation of the smoothing kernel for the initial scale (t0 in the paper).
step The scale increment at every new scale (ti in the paper). The standard deviation of the kernel at
scale s is t0 · (ti )s
filterType The smoothing kernel used in the detector.
Definition at line 4 of file MultiScaleDetector.cpp.
7.23.3 Member Function Documentation
7.23.3.1 virtual void MultiScaleDetector::computeDifferentialBank () [protected, pure
virtual]
Precomputes the bank of differential operators. It defines which family of interest point detector to use
(blob, edge, ridge, ...).
Implemented in NormalBlobDetector, NormalDetector, NormalEdgeDetector, and RangeDetector.
7.23.3.2 void MultiScaleDetector::computeFilterBank () [protected, virtual]
Precomputes the bank of smoothing operators. It is provided for efficiency issues.
Definition at line 55 of file MultiScaleDetector.cpp.
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7.23 MultiScaleDetector Class Reference 109
7.23.3.3 virtual unsigned int MultiScaleDetector::computeInterestPoints (const LaserReading &
reading, const std::vector & signal, std::vector & point,
std::vector > & indexes, std::vector &
maxRangeMapping) const [protected, pure virtual]
Computes the interst point locations and (when possible) orientation. The points are extracted from the
laser reading according to the indexes.
Implemented in NormalDetector, and RangeDetector.
7.23.3.4 virtual void MultiScaleDetector::computeSignal (const LaserReading & reading,
std::vector & signal, std::vector & maxRangeMapping)
const [protected, pure virtual]
Computes the monodimensional signal from which extracts the features.
Implemented in NormalDetector, and RangeDetector.
7.23.3.5 void MultiScaleDetector::detect (const std::vector & signal, std::vector > & signalSmooth, std::vector > &
signalDiff, std::vector > & indexes) const [virtual]
Detects the interesting points given the laser reading. It also returns the signals used for the computation.
Returns:
The number of interest points detected.
Parameters:
signal The signal used for computing the interest points.
signalSmooth The smoothed signal at the different scales.
signalDiff The differential operator applied to the signal at the different scales.
indexes The indexes of the differential operator maxima at the different scales.
Definition at line 35 of file MultiScaleDetector.cpp.
7.23.3.6 unsigned int MultiScaleDetector::detect (const LaserReading & reading, std::vector & points, std::vector & signal, std::vector > & signalSmooth, std::vector > & signalDiff,
std::vector > & indexes) const [virtual]
Detects the interesting points given the laser reading. It also returns the signals used for the computation.
Returns:
The number of interest points detected.
Parameters:
reading The laser reading.
points The detected interest points.
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110 Class Documentation
signal The signal used for computing the interest points.
signalSmooth The smoothed signal at the different scales.
signalDiff The differential operator applied to the signal at the different scales.
indexes The indexes of the differential operator maxima at the different scales.
Implements Detector.
Definition at line 23 of file MultiScaleDetector.cpp.
7.23.3.7 unsigned int MultiScaleDetector::detect (const LaserReading & reading, std::vector & points) const [virtual]
Detects the interesting points given the laser reading.
Returns:
The number of interest points detected.
Parameters:
reading The laser reading.
points The detected interest points.
Implements Detector.
Definition at line 15 of file MultiScaleDetector.cpp.
7.23.3.8 double MultiScaleDetector::getBaseSigma () const [inline]
Gets the standard deviation of the initial scale.
Definition at line 106 of file MultiScaleDetector.h.
7.23.3.9 SmoothingFilterFamily MultiScaleDetector::getFilterType () const [inline]
Gets the type of smoothing kernel.
Definition at line 94 of file MultiScaleDetector.h.
7.23.3.10 const PeakFinder∗ MultiScaleDetector::getPeakFinder () const [inline]
Gets the actual peak finder.
Definition at line 114 of file MultiScaleDetector.h.
7.23.3.11 unsigned int MultiScaleDetector::getScaleNumber () const [inline]
Gets the number of scales.
Definition at line 98 of file MultiScaleDetector.h.
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7.23 MultiScaleDetector Class Reference 111
7.23.3.12 const std::vector& MultiScaleDetector::getScales () const [inline]
Gets the actual scales.
Definition at line 102 of file MultiScaleDetector.h.
7.23.3.13 double MultiScaleDetector::getSigmaStep () const [inline]
Gets the sigma increment step.
Definition at line 110 of file MultiScaleDetector.h.
7.23.3.14 bool MultiScaleDetector::getUseMaxRange () [inline]
Gets the "use the max range" flag.
Definition at line 118 of file MultiScaleDetector.h.
7.23.3.15 void MultiScaleDetector::setBaseSigma (double sigma) [inline]
Sets the standard deviation of the initial scale.
Definition at line 78 of file MultiScaleDetector.h.
7.23.3.16 void MultiScaleDetector::setFilterType (SmoothingFilterFamily filterType) [inline]
Sets the type of smoothing kernel.
Definition at line 70 of file MultiScaleDetector.h.
7.23.3.17 void MultiScaleDetector::setPeakFinder (const PeakFinder ∗ peak) [inline]
Sets the peak finder.
Definition at line 86 of file MultiScaleDetector.h.
7.23.3.18 void MultiScaleDetector::setScaleNumber (unsigned int scales) [inline]
Sets the number of scales.
Definition at line 74 of file MultiScaleDetector.h.
7.23.3.19 void MultiScaleDetector::setSigmaStep (double step) [inline]
Sets the scale increment at each new scale.
Definition at line 82 of file MultiScaleDetector.h.
7.23.3.20 void MultiScaleDetector::setUseMaxRange (bool use) [inline]
Sets the "use max range" flag. The flag enable or disable the use of max range readings.
Definition at line 90 of file MultiScaleDetector.h.
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112 Class Documentation
7.23.4 Member Data Documentation
7.23.4.1 double MultiScaleDetector::m_baseSigma [protected]
The standard deviation of the smoothing kernel for the initial scale (t0 in the paper).
Definition at line 137 of file MultiScaleDetector.h.
7.23.4.2 std::vector > MultiScaleDetector::m_differentialBank
[protected]
The precomputed bank of differential operators. It defines which family of interest point detector to use
(blob, edge, ridge, ...).
Definition at line 142 of file MultiScaleDetector.h.
7.23.4.3 std::vector > MultiScaleDetector::m_filterBank [protected]
The precomputed bank of smoothing operators. It is provided for efficiency issues.
Definition at line 141 of file MultiScaleDetector.h.
7.23.4.4 SmoothingFilterFamily MultiScaleDetector::m_filterType [protected]
Definition at line 140 of file MultiScaleDetector.h.
7.23.4.5 const PeakFinder∗ MultiScaleDetector::m_peakFinder [protected]
The peak finder used to detect maxima in the signal.
Definition at line 135 of file MultiScaleDetector.h.
7.23.4.6 unsigned int MultiScaleDetector::m_scaleNumber [protected]
The numebr of scales.
Definition at line 136 of file MultiScaleDetector.h.
7.23.4.7 std::vector MultiScaleDetector::m_scales [protected]
The precomputed scales for the smoothing operators. It is provided for efficiency issues.
Definition at line 143 of file MultiScaleDetector.h.
7.23.4.8 double MultiScaleDetector::m_sigmaStep [protected]
The scale increment at every new scale (ti in the paper). The standard deviation of the kernel at scale s is
t0 · (ti )s
Definition at line 138 of file MultiScaleDetector.h.
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7.23 MultiScaleDetector Class Reference 113
7.23.4.9 bool MultiScaleDetector::m_useMaxRange [protected]
The "use max range" flag. The flag enable or disable the use of max range readings.
Definition at line 139 of file MultiScaleDetector.h.
The documentation for this class was generated from the following files:
• /home/tipaldi/src/flirt-release/src/feature/MultiScaleDetector.h
• /home/tipaldi/src/flirt-release/src/feature/MultiScaleDetector.cpp
Generated on Mon Apr 19 16:57:44 2010 for Fast Laser Interesting Region Transform (FLIRT) by Doxygen
114 Class Documentation
7.24 NormalBlobDetector Class Reference
Representation of the normal blob detector.
#include Inheritance diagram for NormalBlobDetector:
Detector
+ detect()
+ detect()
MultiScaleDetector
# m_peakFinder
# m_scaleNumber
# m_baseSigma
# m_sigmaStep
# m_useMaxRange
# m_filterType
# m_filterBank
# m_differentialBank
# m_scales
+ MultiScaleDetector()
+ detect()
+ detect()
+ detect()
+ setFilterType()
+ setScaleNumber()
+ setBaseSigma()
+ setSigmaStep()
+ setPeakFinder()
+ setUseMaxRange()
+ getFilterType()
+ getScaleNumber()
+ getScales()
+ getBaseSigma()
+ getSigmaStep()
+ getPeakFinder()
+ getUseMaxRange()
# computeFilterBank()
# computeDifferentialBank()
# computeSignal()
# computeInterestPoints()
NormalDetector
# m_windowSize
+ NormalDetector()
+ setWindowSize()
+ getWindowSize()
# computeDifferentialBank()
# computeSignal()
# computeInterestPoints()
NormalBlobDetector
+ NormalBlobDetector()
# computeDifferentialBank()
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7.24 NormalBlobDetector Class Reference 115
Collaboration diagram for NormalBlobDetector:
T
elements
std::vector
- elements
std::vector
> - elements
elements
PeakFinder
Detector
std::vector >
+ findPeaks() - elements m_scales
+ detect() + findPeaks()
+ detect() + isPeak()
+ isPeak()
m_differentialBank
m_peakFinder
m_filterBank
MultiScaleDetector
# m_peakFinder
# m_scaleNumber
# m_baseSigma
# m_sigmaStep
# m_useMaxRange
# m_filterType
# m_filterBank
# m_differentialBank
# m_scales
+ MultiScaleDetector()
+ detect()
Generated on Mon Apr 19 16:57:44 2010 for Fast Laser Interesting Region Transform (FLIRT) by Doxygen
+ detect()
+ detect()
+ setFilterType()
+ setScaleNumber()
+ setBaseSigma()
+ setSigmaStep()
116 Class Documentation
Public Member Functions
• NormalBlobDetector (const PeakFinder ∗peak, unsigned int scales=5, double sigma=1.6, double
step=1.4, unsigned int window=3, SmoothingFilterFamily filterType=BESSEL)
Constructor.
Protected Member Functions
• virtual void computeDifferentialBank ()
Computes the bank for the second derivative at different scales.
7.24.1 Detailed Description
Representation of the normal blob detector. The class represents the normal blob detector defined in the
paper. It extracts blobs (extrema of the second derivative) on the normal signal.
Author:
Gian Diego Tipaldi
Definition at line 13 of file NormalBlobDetector.h.
7.24.2 Constructor & Destructor Documentation
7.24.2.1 NormalBlobDetector::NormalBlobDetector (const PeakFinder ∗ peak, unsigned
int scales = 5, double sigma = 1.6, double step = 1.4, unsigned int window = 3,
SmoothingFilterFamily filterType = BESSEL)
Constructor. Constructs and initialize the normal blob detector.
Parameters:
peak The peak finder used to detect maxima in the signal.
scales The number of different scales to consider.
sigma The standard deviation of the smoothing kernel for the initial scale (t0 in the paper).
step The scale increment at every new scale (ti in the paper). The standard deviation of the kernel at
scale s is t0 · (ti )s
window The window size for the local line fitting.
filterType The smoothing kernel used in the detector.
Definition at line 4 of file NormalBlobDetector.cpp.
7.24.3 Member Function Documentation
7.24.3.1 void NormalBlobDetector::computeDifferentialBank () [protected, virtual]
Computes the bank for the second derivative at different scales.
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7.24 NormalBlobDetector Class Reference 117
Implements NormalDetector.
Definition at line 10 of file NormalBlobDetector.cpp.
The documentation for this class was generated from the following files:
• /home/tipaldi/src/flirt-release/src/feature/NormalBlobDetector.h
• /home/tipaldi/src/flirt-release/src/feature/NormalBlobDetector.cpp
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118 Class Documentation
7.25 NormalDetector Class Reference
Representation of a general detector based on the normal signal.
#include Inheritance diagram for NormalDetector:
Detector
+ detect()
+ detect()
MultiScaleDetector
# m_peakFinder
# m_scaleNumber
# m_baseSigma
# m_sigmaStep
# m_useMaxRange
# m_filterType
# m_filterBank
# m_differentialBank
# m_scales
+ MultiScaleDetector()
+ detect()
+ detect()
+ detect()
+ setFilterType()
+ setScaleNumber()
+ setBaseSigma()
+ setSigmaStep()
+ setPeakFinder()
+ setUseMaxRange()
+ getFilterType()
+ getScaleNumber()
+ getScales()
+ getBaseSigma()
+ getSigmaStep()
+ getPeakFinder()
+ getUseMaxRange()
# computeFilterBank()
# computeDifferentialBank()
# computeSignal()
# computeInterestPoints()
NormalDetector
# m_windowSize
+ NormalDetector()
+ setWindowSize()
+ getWindowSize()
# computeDifferentialBank()
# computeSignal()
# computeInterestPoints()
NormalBlobDetector NormalEdgeDetector
+ NormalBlobDetector() + NormalEdgeDetector()
# computeDifferentialBank() # computeDifferentialBank()
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7.25 NormalDetector Class Reference 119
Collaboration diagram for NormalDetector:
T
elements
std::vector
- elements
std::vector
> - elements
elements
PeakFinder
Detector
std::vector >
+ findPeaks() - elements m_scales
+ detect() + findPeaks()
+ detect() + isPeak()
+ isPeak()
m_differentialBank
m_peakFinder
m_filterBank
MultiScaleDetector
# m_peakFinder
# m_scaleNumber
# m_baseSigma
# m_sigmaStep
# m_useMaxRange
# m_filterType
# m_filterBank
# m_differentialBank
# m_scales
+ MultiScaleDetector()
+ detect()
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+ detect()
+ detect()
+ setFilterType()
+ setScaleNumber()
+ setBaseSigma()
+ setSigmaStep()
120 Class Documentation
Public Member Functions
• NormalDetector (const PeakFinder ∗peak, unsigned int scales=5, double sigma=1.6, double
step=1.4, unsigned int window=3, SmoothingFilterFamily filterType=BESSEL)
Constructor.
• void setWindowSize (unsigned int size)
Sets the window size for the local line fitting.
• unsigned int getWindowSize () const
Gets the window size for the local line fitting.
Protected Member Functions
• virtual void computeDifferentialBank ()=0
Precomputes the bank of differential operators.
• virtual void computeSignal (const LaserReading &reading, std::vector &signal,
std::vector &maxRangeMapping) const
Computes the monodimensional signal from which extracts the features.
• virtual unsigned int computeInterestPoints (const LaserReading &reading, const std::vector &signal, std::vector &point, std::vector >
&indexes, std::vector &maxRangeMapping) const
Computes the interst point locations and (when possible) orientation.
Protected Attributes
• unsigned int m_windowSize
The window size for the local line fitting.
7.25.1 Detailed Description
Representation of a general detector based on the normal signal. The class represents a general detector
based on the normal signal. It computes the normal signal and define the general interface for detection.
The concrete detectors provides the precise differential invariant.
Author:
Gian Diego Tipaldi
Definition at line 21 of file NormalDetector.h.
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7.25 NormalDetector Class Reference 121
7.25.2 Constructor & Destructor Documentation
7.25.2.1 NormalDetector::NormalDetector (const PeakFinder ∗ peak, unsigned int
scales = 5, double sigma = 1.6, double step = 1.4, unsigned int window = 3,
SmoothingFilterFamily filterType = BESSEL)
Constructor. Constructs and initialize a general detector based on a normal signal.
Parameters:
peak The peak finder used to detect maxima in the signal.
scales The number of different scales to consider.
sigma The standard deviation of the smoothing kernel for the initial scale (t0 in the paper).
step The scale increment at every new scale (ti in the paper). The standard deviation of the kernel at
scale s is t0 · (ti )s
window The window size for the local line fitting.
filterType The smoothing kernel used in the detector.
Definition at line 6 of file NormalDetector.cpp.
7.25.3 Member Function Documentation
7.25.3.1 virtual void NormalDetector::computeDifferentialBank () [protected, pure
virtual]
Precomputes the bank of differential operators. It defines which family of interest point detector to use
(blob, edge, ridge, ...).
Implements MultiScaleDetector.
Implemented in NormalBlobDetector, and NormalEdgeDetector.
7.25.3.2 unsigned int NormalDetector::computeInterestPoints (const LaserReading & reading,
const std::vector & signal, std::vector & point,
std::vector > & indexes, std::vector &
maxRangeMapping) const [protected, virtual]
Computes the interst point locations and (when possible) orientation. The points are extracted from the
laser reading according to the indexes.
Implements MultiScaleDetector.
Definition at line 72 of file NormalDetector.cpp.
7.25.3.3 void NormalDetector::computeSignal (const LaserReading & reading, std::vector & signal, std::vector & maxRangeMapping) const
[protected, virtual]
Computes the monodimensional signal from which extracts the features.
Implements MultiScaleDetector.
Definition at line 22 of file NormalDetector.cpp.
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122 Class Documentation
7.25.3.4 unsigned int NormalDetector::getWindowSize () const [inline]
Gets the window size for the local line fitting.
Definition at line 40 of file NormalDetector.h.
7.25.3.5 void NormalDetector::setWindowSize (unsigned int size) [inline]
Sets the window size for the local line fitting.
Definition at line 36 of file NormalDetector.h.
7.25.4 Member Data Documentation
7.25.4.1 unsigned int NormalDetector::m_windowSize [protected]
The window size for the local line fitting.
Definition at line 49 of file NormalDetector.h.
The documentation for this class was generated from the following files:
• /home/tipaldi/src/flirt-release/src/feature/NormalDetector.h
• /home/tipaldi/src/flirt-release/src/feature/NormalDetector.cpp
Generated on Mon Apr 19 16:57:44 2010 for Fast Laser Interesting Region Transform (FLIRT) by Doxygen
7.26 NormalEdgeDetector Class Reference 123
7.26 NormalEdgeDetector Class Reference
Representation of the normal edge detector.
#include Inheritance diagram for NormalEdgeDetector:
Detector
+ detect()
+ detect()
MultiScaleDetector
# m_peakFinder
# m_scaleNumber
# m_baseSigma
# m_sigmaStep
# m_useMaxRange
# m_filterType
# m_filterBank
# m_differentialBank
# m_scales
+ MultiScaleDetector()
+ detect()
+ detect()
+ detect()
+ setFilterType()
+ setScaleNumber()
+ setBaseSigma()
+ setSigmaStep()
+ setPeakFinder()
+ setUseMaxRange()
+ getFilterType()
+ getScaleNumber()
+ getScales()
+ getBaseSigma()
+ getSigmaStep()
+ getPeakFinder()
+ getUseMaxRange()
# computeFilterBank()
# computeDifferentialBank()
# computeSignal()
# computeInterestPoints()
NormalDetector
# m_windowSize
+ NormalDetector()
+ setWindowSize()
+ getWindowSize()
# computeDifferentialBank()
# computeSignal()
# computeInterestPoints()
NormalEdgeDetector
+ NormalEdgeDetector()
# computeDifferentialBank()
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124 Class Documentation
Collaboration diagram for NormalEdgeDetector:
T
elements
std::vector
- elements
std::vector
> - elements
elements
PeakFinder
Detector
std::vector >
+ findPeaks() - elements m_scales
+ detect() + findPeaks()
+ detect() + isPeak()
+ isPeak()
m_differentialBank
m_peakFinder
m_filterBank
MultiScaleDetector
# m_peakFinder
# m_scaleNumber
# m_baseSigma
# m_sigmaStep
# m_useMaxRange
# m_filterType
# m_filterBank
# m_differentialBank
# m_scales
+ MultiScaleDetector()
+ detect()
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+ detect()
+ detect()
+ setFilterType()
+ setScaleNumber()
+ setBaseSigma()
+ setSigmaStep()
7.26 NormalEdgeDetector Class Reference 125
Public Member Functions
• NormalEdgeDetector (const PeakFinder ∗peak, unsigned int scales=5, double sigma=1.6, double
step=1.4, unsigned int window=3, SmoothingFilterFamily filterType=BESSEL)
Constructor.
Protected Member Functions
• virtual void computeDifferentialBank ()
Computes the bank for the first derivative at different scales.
7.26.1 Detailed Description
Representation of the normal edge detector. The class represents the normal edge detector defined in the
paper. It extracts edges (extrema of the first derivative) on the normal signal.
Author:
Gian Diego Tipaldi
Definition at line 13 of file NormalEdgeDetector.h.
7.26.2 Constructor & Destructor Documentation
7.26.2.1 NormalEdgeDetector::NormalEdgeDetector (const PeakFinder ∗ peak, unsigned
int scales = 5, double sigma = 1.6, double step = 1.4, unsigned int window = 3,
SmoothingFilterFamily filterType = BESSEL)
Constructor. Constructs and initialize the normal edge detector.
Parameters:
peak The peak finder used to detect maxima in the signal.
scales The number of different scales to consider.
sigma The standard deviation of the smoothing kernel for the initial scale (t0 in the paper).
step The scale increment at every new scale (ti in the paper). The standard deviation of the kernel at
scale s is t0 · (ti )s
window The window size for the local line fitting.
filterType The smoothing kernel used in the detector.
Definition at line 4 of file NormalEdgeDetector.cpp.
7.26.3 Member Function Documentation
7.26.3.1 void NormalEdgeDetector::computeDifferentialBank () [protected, virtual]
Computes the bank for the first derivative at different scales.
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126 Class Documentation
Implements NormalDetector.
Definition at line 10 of file NormalEdgeDetector.cpp.
The documentation for this class was generated from the following files:
• /home/tipaldi/src/flirt-release/src/feature/NormalEdgeDetector.h
• /home/tipaldi/src/flirt-release/src/feature/NormalEdgeDetector.cpp
Generated on Mon Apr 19 16:57:44 2010 for Fast Laser Interesting Region Transform (FLIRT) by Doxygen
7.27 OrientedPoint2D Struct Reference 127
7.27 OrientedPoint2D Struct Reference
Representation of a point in SO(2) .
#include Inheritance diagram for OrientedPoint2D:
Point2D
+x
+y
+ Point2D()
+ Point2D()
+ ortho()
OrientedPoint2D
+ theta
+ OrientedPoint2D()
+ OrientedPoint2D()
+ ominus()
+ ominus()
+ ominus()
+ oplus()
+ oplus()
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128 Class Documentation
Collaboration diagram for OrientedPoint2D:
Point2D
+x
+y
+ Point2D()
+ Point2D()
+ ortho()
OrientedPoint2D
+ theta
+ OrientedPoint2D()
+ OrientedPoint2D()
+ ominus()
+ ominus()
+ ominus()
+ oplus()
+ oplus()
Public Member Functions
• OrientedPoint2D ()
Default constructor.
• OrientedPoint2D (double _x, double _y, double _theta)
Constructor.
• OrientedPoint2D ominus () const
Inverse compound operator ( this).
• OrientedPoint2D ominus (const OrientedPoint2D &point) const
Inverse compound operator ( this) ⊕ point.
• Point2D ominus (const Point2D &point) const
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7.27 OrientedPoint2D Struct Reference 129
Inverse compound operator ( this) ⊕ point.
• OrientedPoint2D oplus (const OrientedPoint2D &point) const
Compound operator this ⊕ point.
• Point2D oplus (const Point2D &point) const
Compound operator this ⊕ point.
Public Attributes
• double theta
The orientation of the point.
7.27.1 Detailed Description
Representation of a point in SO(2) . The class represents points in SO(2) in terms of their position (x, y)
and their orientation theta.
Author:
Gian Diego Tipaldi
Definition at line 35 of file point.h.
7.27.2 Constructor & Destructor Documentation
7.27.2.1 OrientedPoint2D::OrientedPoint2D ()
Default constructor. It sets the point to be in the origin (0,0,0)
Definition at line 17 of file point.cpp.
7.27.2.2 OrientedPoint2D::OrientedPoint2D (double _x, double _y, double _theta)
Constructor. It sets the point to be in (_x, _y, _theta)
Definition at line 24 of file point.cpp.
7.27.3 Member Function Documentation
7.27.3.1 Point2D OrientedPoint2D::ominus (const Point2D & point) const
Inverse compound operator ( this) ⊕ point.
Definition at line 48 of file point.cpp.
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130 Class Documentation
7.27.3.2 OrientedPoint2D OrientedPoint2D::ominus (const OrientedPoint2D & point) const
Inverse compound operator ( this) ⊕ point.
Definition at line 39 of file point.cpp.
7.27.3.3 OrientedPoint2D OrientedPoint2D::ominus () const
Inverse compound operator ( this).
Definition at line 31 of file point.cpp.
7.27.3.4 Point2D OrientedPoint2D::oplus (const Point2D & point) const
Compound operator this ⊕ point.
Definition at line 64 of file point.cpp.
7.27.3.5 OrientedPoint2D OrientedPoint2D::oplus (const OrientedPoint2D & point) const
Compound operator this ⊕ point.
Definition at line 56 of file point.cpp.
7.27.4 Member Data Documentation
7.27.4.1 double OrientedPoint2D::theta
The orientation of the point.
Definition at line 56 of file point.h.
The documentation for this struct was generated from the following files:
• /home/tipaldi/src/flirt-release/src/geometry/point.h
• /home/tipaldi/src/flirt-release/src/geometry/point.cpp
Generated on Mon Apr 19 16:57:44 2010 for Fast Laser Interesting Region Transform (FLIRT) by Doxygen
7.28 PeakFinder Class Reference 131
7.28 PeakFinder Class Reference
Representation of an abstract algorithm for peak finding.
#include Inheritance diagram for PeakFinder:
PeakFinder
+ findPeaks()
+ findPeaks()
+ isPeak()
+ isPeak()
SimplePeakFinder
# m_minValue
# m_minDifference
+ SimplePeakFinder()
+ findPeaks()
+ findPeaks()
+ isPeak()
+ isPeak()
+ getMinValue()
+ getMinDifference()
+ setMinValue()
+ setMinDifference()
SimpleMinMaxPeakFinder
+ SimpleMinMaxPeakFinder()
+ isPeak()
Public Member Functions
• virtual void findPeaks (const std::vector &signal, std::vector &indexes)
const =0
Finds the indexes of the peaks in a monodimensional signal.
• virtual void findPeaks (const std::vector > &signal, std::vector > &indexes) const =0
Finds the indexes of the peaks in a bidimensional signal.
• virtual bool isPeak (const std::vector &signal, unsigned int index) const =0
Generated on Mon Apr 19 16:57:44 2010 for Fast Laser Interesting Region Transform (FLIRT) by Doxygen
132 Class Documentation
Checks if the given index represents a peak in the monodimensional signal.
• virtual bool isPeak (const std::vector > &signal, unsigned int index1, un-
signed int index2) const =0
Checks if the given indexes represent a peak in the bidimensional signal.
7.28.1 Detailed Description
Representation of an abstract algorithm for peak finding. The class represents an abstract algorithm for
finding peaks in discrete signals.
Author:
Gian Diego Tipaldi
Definition at line 13 of file PeakFinder.h.
7.28.2 Member Function Documentation
7.28.2.1 virtual void PeakFinder::findPeaks (const std::vector > & signal,
std::vector > & indexes) const [pure virtual]
Finds the indexes of the peaks in a bidimensional signal.
Implemented in SimplePeakFinder.
7.28.2.2 virtual void PeakFinder::findPeaks (const std::vector & signal, std::vector & indexes) const [pure virtual]
Finds the indexes of the peaks in a monodimensional signal.
Implemented in SimplePeakFinder.
7.28.2.3 virtual bool PeakFinder::isPeak (const std::vector > & signal,
unsigned int index1, unsigned int index2) const [pure virtual]
Checks if the given indexes represent a peak in the bidimensional signal.
Implemented in SimplePeakFinder.
7.28.2.4 virtual bool PeakFinder::isPeak (const std::vector & signal, unsigned int
index) const [pure virtual]
Checks if the given index represents a peak in the monodimensional signal.
Implemented in SimpleMinMaxPeakFinder, and SimplePeakFinder.
The documentation for this class was generated from the following file:
• /home/tipaldi/src/flirt-release/src/utils/PeakFinder.h
Generated on Mon Apr 19 16:57:44 2010 for Fast Laser Interesting Region Transform (FLIRT) by Doxygen
7.29 Point2D Struct Reference 133
7.29 Point2D Struct Reference
Representation of a point in R2 .
#include Inheritance diagram for Point2D:
Point2D
+x
+y
+ Point2D()
+ Point2D()
+ ortho()
OrientedPoint2D
+ theta
+ OrientedPoint2D()
+ OrientedPoint2D()
+ ominus()
+ ominus()
+ ominus()
+ oplus()
+ oplus()
Public Member Functions
• Point2D ()
Default constructor.
• Point2D (double _x, double _y)
Constructor.
• Point2D ortho ()
Returns the orthogonal vector (rotation of 90 deg).
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134 Class Documentation
Public Attributes
• double x
The x coordinate.
• double y
The y coordinate.
7.29.1 Detailed Description
Representation of a point in R2 . The class represents 2D points in terms of their position (x, y) in in R2 .
Author:
Gian Diego Tipaldi
Definition at line 14 of file point.h.
7.29.2 Constructor & Destructor Documentation
7.29.2.1 Point2D::Point2D ()
Default constructor. It sets the point to be in the origin (0,0)
Definition at line 3 of file point.cpp.
7.29.2.2 Point2D::Point2D (double _x, double _y)
Constructor. It sets the point to be in (_x, _y)
Definition at line 10 of file point.cpp.
7.29.3 Member Function Documentation
7.29.3.1 Point2D Point2D::ortho () [inline]
Returns the orthogonal vector (rotation of 90 deg).
Definition at line 21 of file point.h.
7.29.4 Member Data Documentation
7.29.4.1 double Point2D::x
The x coordinate.
Definition at line 24 of file point.h.
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7.29 Point2D Struct Reference 135
7.29.4.2 double Point2D::y
The y coordinate.
Definition at line 25 of file point.h.
The documentation for this struct was generated from the following files:
• /home/tipaldi/src/flirt-release/src/geometry/point.h
• /home/tipaldi/src/flirt-release/src/geometry/point.cpp
Generated on Mon Apr 19 16:57:44 2010 for Fast Laser Interesting Region Transform (FLIRT) by Doxygen
136 Class Documentation
7.30 RangeDetector Class Reference
Representation of the range based detector.
#include Inheritance diagram for RangeDetector:
Detector
+ detect()
+ detect()
MultiScaleDetector
# m_peakFinder
# m_scaleNumber
# m_baseSigma
# m_sigmaStep
# m_useMaxRange
# m_filterType
# m_filterBank
# m_differentialBank
# m_scales
+ MultiScaleDetector()
+ detect()
+ detect()
+ detect()
+ setFilterType()
+ setScaleNumber()
+ setBaseSigma()
+ setSigmaStep()
+ setPeakFinder()
+ setUseMaxRange()
+ getFilterType()
+ getScaleNumber()
+ getScales()
+ getBaseSigma()
+ getSigmaStep()
+ getPeakFinder()
+ getUseMaxRange()
# computeFilterBank()
# computeDifferentialBank()
# computeSignal()
# computeInterestPoints()
RangeDetector
+ RangeDetector()
# computeDifferentialBank()
# computeSignal()
# computeInterestPoints()
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7.30 RangeDetector Class Reference 137
Collaboration diagram for RangeDetector:
T
elements
std::vector
- elements
std::vector
> - elements
elements
PeakFinder
Detector
std::vector >
+ findPeaks() - elements m_scales
+ detect() + findPeaks()
+ detect() + isPeak()
+ isPeak()
m_differentialBank
m_peakFinder
m_filterBank
MultiScaleDetector
# m_peakFinder
# m_scaleNumber
# m_baseSigma
# m_sigmaStep
# m_useMaxRange
# m_filterType
# m_filterBank
# m_differentialBank
# m_scales
+ MultiScaleDetector()
+ detect()
Generated on Mon Apr 19 16:57:44 2010 for Fast Laser Interesting Region Transform (FLIRT) by Doxygen
+ detect()
+ detect()
+ setFilterType()
+ setScaleNumber()
+ setBaseSigma()
+ setSigmaStep()
138 Class Documentation
Public Member Functions
• RangeDetector (const PeakFinder ∗peak, unsigned int scales=5, double sigma=1.6, double step=1.4,
SmoothingFilterFamily filterType=BESSEL)
Constructor.
Protected Member Functions
• virtual void computeDifferentialBank ()
Computes the bank for the second derivative at different scales.
• virtual void computeSignal (const LaserReading &reading, std::vector &signal,
std::vector &maxRangeMapping) const
Computes the monodimensional signal from which extracts the features.
• virtual unsigned int computeInterestPoints (const LaserReading &reading, const std::vector &signal, std::vector &point, std::vector >
&indexes, std::vector &maxRangeMapping) const
Computes the interst point locations and (when possible) orientation.
7.30.1 Detailed Description
Representation of the range based detector. The class represents the range based detector defined in the
paper. It extracts blobs (extrema of the second derivative) on the range signal. This is equivalent of applying
the theory behind the SIFT detector on the monodimensional range image.
Author:
Gian Diego Tipaldi
Definition at line 20 of file RangeDetector.h.
7.30.2 Constructor & Destructor Documentation
7.30.2.1 RangeDetector::RangeDetector (const PeakFinder ∗ peak, unsigned int scales = 5,
double sigma = 1.6, double step = 1.4, SmoothingFilterFamily filterType = BESSEL)
Constructor. Constructs and initialize the range based detector.
Parameters:
peak The peak finder used to detect maxima in the signal.
scales The number of different scales to consider.
sigma The standard deviation of the smoothing kernel for the initial scale (t0 in the paper).
step The scale increment at every new scale (ti in the paper). The standard deviation of the kernel at
scale s is t0 · (ti )s
filterType The smoothing kernel used in the detector.
Definition at line 5 of file RangeDetector.cpp.
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7.30 RangeDetector Class Reference 139
7.30.3 Member Function Documentation
7.30.3.1 void RangeDetector::computeDifferentialBank () [protected, virtual]
Computes the bank for the second derivative at different scales.
Implements MultiScaleDetector.
Definition at line 11 of file RangeDetector.cpp.
7.30.3.2 unsigned int RangeDetector::computeInterestPoints (const LaserReading & reading,
const std::vector & signal, std::vector & point,
std::vector > & indexes, std::vector &
maxRangeMapping) const [protected, virtual]
Computes the interst point locations and (when possible) orientation. The points are extracted from the
laser reading according to the indexes.
Implements MultiScaleDetector.
Definition at line 34 of file RangeDetector.cpp.
7.30.3.3 void RangeDetector::computeSignal (const LaserReading & reading, std::vector & signal, std::vector & maxRangeMapping) const [protected,
virtual]
Computes the monodimensional signal from which extracts the features.
Implements MultiScaleDetector.
Definition at line 20 of file RangeDetector.cpp.
The documentation for this class was generated from the following files:
• /home/tipaldi/src/flirt-release/src/feature/RangeDetector.h
• /home/tipaldi/src/flirt-release/src/feature/RangeDetector.cpp
Generated on Mon Apr 19 16:57:44 2010 for Fast Laser Interesting Region Transform (FLIRT) by Doxygen
140 Class Documentation
7.31 RansacFeatureSetMatcher Class Reference
Representation of the RANSAC algorithm for feature matching.
#include Inheritance diagram for RansacFeatureSetMatcher:
AbstractFeatureSetMatcher
# m_acceptanceThreshold
+ AbstractFeatureSetMatcher()
+ matchSets()
+ matchSets()
+ setAcceptanceThreshold()
+ getAcceptanceThreshold()
+ generateHypothesis()
+ verifyHypothesis()
RansacFeatureSetMatcher
# m_successProbability
# m_inlierProbability
# m_distanceThreshold
# m_rigidityThreshold
# m_adaptive
+ RansacFeatureSetMatcher()
+ matchSets()
+ matchSets()
+ getAdaptive()
+ getSuccessProbability()
+ getInlierProbability()
+ getDistanceThreshold()
+ setAdaptive()
+ setSuccessProbability()
+ setInlierProbability()
+ setDistanceThreshold()
RansacMultiFeatureSetMatcher
+ RansacMultiFeatureSetMatcher()
+ matchSets()
Generated on Mon Apr 19 16:57:44 2010 for Fast Laser Interesting Region Transform (FLIRT) by Doxygen
7.31 RansacFeatureSetMatcher Class Reference 141
Collaboration diagram for RansacFeatureSetMatcher:
AbstractFeatureSetMatcher
# m_acceptanceThreshold
+ AbstractFeatureSetMatcher()
+ matchSets()
+ matchSets()
+ setAcceptanceThreshold()
+ getAcceptanceThreshold()
+ generateHypothesis()
+ verifyHypothesis()
RansacFeatureSetMatcher
# m_successProbability
# m_inlierProbability
# m_distanceThreshold
# m_rigidityThreshold
# m_adaptive
+ RansacFeatureSetMatcher()
+ matchSets()
+ matchSets()
+ getAdaptive()
+ getSuccessProbability()
+ getInlierProbability()
+ getDistanceThreshold()
+ setAdaptive()
+ setSuccessProbability()
+ setInlierProbability()
+ setDistanceThreshold()
Public Member Functions
• RansacFeatureSetMatcher (double acceptanceThreshold, double successProbability, double inlier-
Probability, double distanceThreshold, double rigidityThreshold, bool adaptive=false)
Constructor.
• virtual double matchSets (const std::vector &reference, const std::vector &data, OrientedPoint2D &transformation) const
Matches two features sets, returning the matching error and the transformation.
• virtual double matchSets (const std::vector &reference, const std::vector &data, OrientedPoint2D &transformation, std::vector > &correspondences) const
Matches two features sets, returning the matching error and the transformation.
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142 Class Documentation
• bool getAdaptive ()
Gets the flag for the adaptive RANSAC.
• double getSuccessProbability ()
Gets the probability of finding a correct match if exists.
• double getInlierProbability ()
Gets the probability of a generic correspondence to be an inlier.
• double getDistanceThreshold ()
Gets the maximum distance (dimensionless) for two descriptors to be considered as a valid match.
• void setAdaptive (bool adaptive)
Sets the flag for the adaptive RANSAC.
• void setSuccessProbability (double successProbability)
Sets the probability of finding a correct match if exists.
• void setInlierProbability (double inlierProbability)
Sets the probability of a generic correspondence to be an inlier.
• void setDistanceThreshold (double distanceThreshold)
Sets the maximum distance (dimensionless) for two descriptors to be considered as a valid match.
Protected Attributes
• double m_successProbability
The probability of finding a correct match if exists.
• double m_inlierProbability
The probability of a generic correspondence to be an inlier.
• double m_distanceThreshold
The maximum distance (dimensionless) for two descriptors to be considered as a valid match.
• double m_rigidityThreshold
The maximum value (in meters) of difference between the relative distance of two interest points.
• bool m_adaptive
The flag to set the adaptive strategy to compute the number of RANSAC iterations (EXPERIMENTAL!!!).
7.31.1 Detailed Description
Representation of the RANSAC algorithm for feature matching. The class represents the RANSAC algo-
rithm for matching two different feature sets. The matching result is an Euclidean transformation (rotation
+ translation) encoded as a point in SO(2). The algorithm uses the Nearest Neighbour strategy to obtain
the possible correspondences from the features’ descriptors.
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7.31 RansacFeatureSetMatcher Class Reference 143
Author:
Gian Diego Tipaldi
Definition at line 18 of file RansacFeatureSetMatcher.h.
7.31.2 Constructor & Destructor Documentation
7.31.2.1 RansacFeatureSetMatcher::RansacFeatureSetMatcher (double acceptanceThreshold,
double successProbability, double inlierProbability, double distanceThreshold, double
rigidityThreshold, bool adaptive = false)
Constructor. Constructs and initializes the RANSAC algorithm.
Parameters:
acceptanceThreshold The maximum distance (in meters) for a point to be considered in the inlier set.
successProbability The probability of finding a correct match if exists.
inlierProbability The probability of a generic correspondence to be an inlier.
distanceThreshold The maximum distance (dimensionless) for two descriptors to be considered as a
valid match. This threshold depends on the actual distance employed.
rigidityThreshold The maximum value (in meters) of difference between the relative distance of two
interest points. This implements a rigidity check in the RANSAC hypothesis generation.
adaptive The flag to set the adaptive strategy to compute the number of RANSAC iterations (EXPER-
IMENTAL!!!).
Definition at line 8 of file RansacFeatureSetMatcher.cpp.
7.31.3 Member Function Documentation
7.31.3.1 bool RansacFeatureSetMatcher::getAdaptive () [inline]
Gets the flag for the adaptive RANSAC.
Definition at line 38 of file RansacFeatureSetMatcher.h.
7.31.3.2 double RansacFeatureSetMatcher::getDistanceThreshold () [inline]
Gets the maximum distance (dimensionless) for two descriptors to be considered as a valid match.
Definition at line 50 of file RansacFeatureSetMatcher.h.
7.31.3.3 double RansacFeatureSetMatcher::getInlierProbability () [inline]
Gets the probability of a generic correspondence to be an inlier.
Definition at line 46 of file RansacFeatureSetMatcher.h.
7.31.3.4 double RansacFeatureSetMatcher::getSuccessProbability () [inline]
Gets the probability of finding a correct match if exists.
Definition at line 42 of file RansacFeatureSetMatcher.h.
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144 Class Documentation
7.31.3.5 double RansacFeatureSetMatcher::matchSets (const std::vector & reference, const std::vector & data, OrientedPoint2D &
transformation, std::vector > &
correspondences) const [virtual]
Matches two features sets, returning the matching error and the transformation. It also returns the set of
corresponding inlier points.
Returns:
The matching error.
Parameters:
reference The reference feature set. It is used as reference frame for the transformation.
data The feature set to match.
transformation The restulting transformation. It is used to register the points in data to the points in
reference.
correspondences The set of corresponding inlier points. Each individual correspondence is in the
format (reference, data).
Implements AbstractFeatureSetMatcher.
Reimplemented in RansacMultiFeatureSetMatcher.
Definition at line 25 of file RansacFeatureSetMatcher.cpp.
7.31.3.6 double RansacFeatureSetMatcher::matchSets (const std::vector & reference, const std::vector & data, OrientedPoint2D &
transformation) const [virtual]
Matches two features sets, returning the matching error and the transformation.
Returns:
The matching error.
Parameters:
reference The reference feature set. It is used as reference frame for the transformation.
data The feature set to match.
transformation The restulting transformation. It is used to register the points in data to the points in
reference.
Implements AbstractFeatureSetMatcher.
Definition at line 19 of file RansacFeatureSetMatcher.cpp.
7.31.3.7 void RansacFeatureSetMatcher::setAdaptive (bool adaptive) [inline]
Sets the flag for the adaptive RANSAC.
Definition at line 54 of file RansacFeatureSetMatcher.h.
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7.31 RansacFeatureSetMatcher Class Reference 145
7.31.3.8 void RansacFeatureSetMatcher::setDistanceThreshold (double distanceThreshold)
[inline]
Sets the maximum distance (dimensionless) for two descriptors to be considered as a valid match.
Definition at line 66 of file RansacFeatureSetMatcher.h.
7.31.3.9 void RansacFeatureSetMatcher::setInlierProbability (double inlierProbability)
[inline]
Sets the probability of a generic correspondence to be an inlier.
Definition at line 62 of file RansacFeatureSetMatcher.h.
7.31.3.10 void RansacFeatureSetMatcher::setSuccessProbability (double successProbability)
[inline]
Sets the probability of finding a correct match if exists.
Definition at line 58 of file RansacFeatureSetMatcher.h.
7.31.4 Member Data Documentation
7.31.4.1 bool RansacFeatureSetMatcher::m_adaptive [protected]
The flag to set the adaptive strategy to compute the number of RANSAC iterations (EXPERIMENTAL!!!).
Definition at line 74 of file RansacFeatureSetMatcher.h.
7.31.4.2 double RansacFeatureSetMatcher::m_distanceThreshold [protected]
The maximum distance (dimensionless) for two descriptors to be considered as a valid match. This thresh-
old depends on the actual distance employed.
Definition at line 72 of file RansacFeatureSetMatcher.h.
7.31.4.3 double RansacFeatureSetMatcher::m_inlierProbability [protected]
The probability of a generic correspondence to be an inlier.
Definition at line 71 of file RansacFeatureSetMatcher.h.
7.31.4.4 double RansacFeatureSetMatcher::m_rigidityThreshold [protected]
The maximum value (in meters) of difference between the relative distance of two interest points. This
implements a rigidity check in the RANSAC hypothesis generation.
Definition at line 73 of file RansacFeatureSetMatcher.h.
7.31.4.5 double RansacFeatureSetMatcher::m_successProbability [protected]
The probability of finding a correct match if exists.
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146 Class Documentation
Definition at line 70 of file RansacFeatureSetMatcher.h.
The documentation for this class was generated from the following files:
• /home/tipaldi/src/flirt-release/src/feature/RansacFeatureSetMatcher.h
• /home/tipaldi/src/flirt-release/src/feature/RansacFeatureSetMatcher.cpp
Generated on Mon Apr 19 16:57:44 2010 for Fast Laser Interesting Region Transform (FLIRT) by Doxygen
7.32 RansacMultiFeatureSetMatcher Class Reference 147
7.32 RansacMultiFeatureSetMatcher Class Reference
Representation of the RANSAC algorithm for feature matching.
#include Inheritance diagram for RansacMultiFea-
tureSetMatcher:
AbstractFeatureSetMatcher
# m_acceptanceThreshold
+ AbstractFeatureSetMatcher()
+ matchSets()
+ matchSets()
+ setAcceptanceThreshold()
+ getAcceptanceThreshold()
+ generateHypothesis()
+ verifyHypothesis()
RansacFeatureSetMatcher
# m_successProbability
# m_inlierProbability
# m_distanceThreshold
# m_rigidityThreshold
# m_adaptive
+ RansacFeatureSetMatcher()
+ matchSets()
+ matchSets()
+ getAdaptive()
+ getSuccessProbability()
+ getInlierProbability()
+ getDistanceThreshold()
+ setAdaptive()
+ setSuccessProbability()
+ setInlierProbability()
+ setDistanceThreshold()
RansacMultiFeatureSetMatcher
+ RansacMultiFeatureSetMatcher()
+ matchSets()
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148 Class Documentation
Collaboration diagram for RansacMultiFeatureSetMatcher:
AbstractFeatureSetMatcher
# m_acceptanceThreshold
+ AbstractFeatureSetMatcher()
+ matchSets()
+ matchSets()
+ setAcceptanceThreshold()
+ getAcceptanceThreshold()
+ generateHypothesis()
+ verifyHypothesis()
RansacFeatureSetMatcher
# m_successProbability
# m_inlierProbability
# m_distanceThreshold
# m_rigidityThreshold
# m_adaptive
+ RansacFeatureSetMatcher()
+ matchSets()
+ matchSets()
+ getAdaptive()
+ getSuccessProbability()
+ getInlierProbability()
+ getDistanceThreshold()
+ setAdaptive()
+ setSuccessProbability()
+ setInlierProbability()
+ setDistanceThreshold()
RansacMultiFeatureSetMatcher
+ RansacMultiFeatureSetMatcher()
+ matchSets()
Public Member Functions
• RansacMultiFeatureSetMatcher (double acceptanceThreshold, double successProbability, double in-
lierProbability, double distanceThreshold, double rigidityThreshold, bool adaptive=false)
Constructor.
• virtual double matchSets (const std::vector &reference, const std::vector &data, OrientedPoint2D &transformation, std::vector > &correspondences) const
Matches two features sets, returning the matching error and the transformation.
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7.32 RansacMultiFeatureSetMatcher Class Reference 149
7.32.1 Detailed Description
Representation of the RANSAC algorithm for feature matching. The class represents the RANSAC algo-
rithm for matching two different feature sets. The matching result is an Euclidean transformation (rotation
+ translation) encoded as a point in SO(2). The algorithm uses the Threshold strategy to obtain the pos-
sible correspondences from the features’ descriptors. The main difference with the Nearest Neighobour is
the increased complexity (reduced inlier probability) and the increased accuracy especially in environment
with very repetitive structures.
Author:
Gian Diego Tipaldi
Definition at line 20 of file RansacMultiFeatureSetMatcher.h.
7.32.2 Constructor & Destructor Documentation
7.32.2.1 RansacMultiFeatureSetMatcher::RansacMultiFeatureSetMatcher (double
acceptanceThreshold, double successProbability, double inlierProbability, double
distanceThreshold, double rigidityThreshold, bool adaptive = false)
Constructor. Constructs and initializes the RANSAC algorithm.
Parameters:
acceptanceThreshold The maximum distance (in meters) for a point to be considered in the inlier set.
successProbability The probability of finding a correct match if exists.
inlierProbability The probability of a generic correspondence to be an inlier.
distanceThreshold The maximum distance (dimensionless) for two descriptors to be considered as a
valid match. This threshold depends on the actual distance employed.
rigidityThreshold The maximum value (in meters) of difference between the relative distance of two
interest points. This implements a rigidity check in the RANSAC hypothesis generation.
adaptive The flag to set the adaptive strategy to compute the number of RANSAC iterations (EXPER-
IMENTAL!!!).
Definition at line 8 of file RansacMultiFeatureSetMatcher.cpp.
7.32.3 Member Function Documentation
7.32.3.1 double RansacMultiFeatureSetMatcher::matchSets (const std::vector & reference, const std::vector & data, OrientedPoint2D &
transformation, std::vector > &
correspondences) const [virtual]
Matches two features sets, returning the matching error and the transformation. It also returns the set of
corresponding inlier points.
Returns:
The matching error.
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150 Class Documentation
Parameters:
reference The reference feature set. It is used as reference frame for the transformation.
data The feature set to match.
transformation The restulting transformation. It is used to register the points in data to the points in
reference.
correspondences The set of corresponding inlier points. Each individual correspondence is in the
format (reference, data).
Reimplemented from RansacFeatureSetMatcher.
Definition at line 14 of file RansacMultiFeatureSetMatcher.cpp.
The documentation for this class was generated from the following files:
• /home/tipaldi/src/flirt-release/src/feature/RansacMultiFeatureSetMatcher.h
• /home/tipaldi/src/flirt-release/src/feature/RansacMultiFeatureSetMatcher.cpp
Generated on Mon Apr 19 16:57:44 2010 for Fast Laser Interesting Region Transform (FLIRT) by Doxygen
7.33 SensorStream Class Reference 151
7.33 SensorStream Class Reference
Representation of an abstract stream of sensor readings.
#include Inheritance diagram for SensorStream:
SensorStream
+ next()
+ current()
+ seek()
+ tell()
+ isSeekable()
+ end()
LogSensorStream
# m_log
# m_index
# m_logReader
# m_logWriter
+ LogSensorStream()
+ LogSensorStream()
+ operator=()
+ ~LogSensorStream()
+ next()
+ current()
+ seek()
+ tell()
+ isSeekable()
+ end()
+ getLog()
+ getReader()
+ getWriter()
+ load()
+ save()
+ load()
+ save()
Public Member Functions
• virtual const AbstractReading ∗ next () const =0
Get the next reading and advance the stream (const reading).
• virtual const AbstractReading ∗ current () const =0
Get the current reading without advancing the stream (const reading).
• virtual bool seek (const unsigned int _position=0, SensorStreamOffset _offset=BEGIN)=0
Seek the stream to a given sensor position.
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152 Class Documentation
• virtual unsigned int tell () const =0
Get the current sensor position of the stream.
• virtual bool isSeekable () const
Check if the stream is seekable.
• virtual bool end () const =0
Check if the stream is finished.
7.33.1 Detailed Description
Representation of an abstract stream of sensor readings. The class represents an abstract sensor stream,
providing the interface for obtaining sensor readings, as well as seeking within the stream and checking if
the stream is over.
Author:
Gian Diego Tipaldi
Definition at line 25 of file SensorStream.h.
7.33.2 Member Function Documentation
7.33.2.1 virtual const AbstractReading∗ SensorStream::current () const [pure virtual]
Get the current reading without advancing the stream (const reading).
Implemented in LogSensorStream.
7.33.2.2 virtual bool SensorStream::end () const [pure virtual]
Check if the stream is finished.
Implemented in LogSensorStream.
7.33.2.3 virtual bool SensorStream::isSeekable () const [inline, virtual]
Check if the stream is seekable.
Reimplemented in LogSensorStream.
Definition at line 40 of file SensorStream.h.
7.33.2.4 virtual const AbstractReading∗ SensorStream::next () const [pure virtual]
Get the next reading and advance the stream (const reading).
Implemented in LogSensorStream.
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7.33 SensorStream Class Reference 153
7.33.2.5 virtual bool SensorStream::seek (const unsigned int _position = 0, SensorStreamOffset
_offset = BEGIN) [pure virtual]
Seek the stream to a given sensor position. Return false if is not possible
Implemented in LogSensorStream.
7.33.2.6 virtual unsigned int SensorStream::tell () const [pure virtual]
Get the current sensor position of the stream. Return 0 if it is not seekable
Implemented in LogSensorStream.
The documentation for this class was generated from the following file:
• /home/tipaldi/src/flirt-release/src/sensorstream/SensorStream.h
Generated on Mon Apr 19 16:57:44 2010 for Fast Laser Interesting Region Transform (FLIRT) by Doxygen
154 Class Documentation
7.34 ShapeContext Class Reference
Representation of the shape context descriptor.
#include Inheritance diagram for ShapeContext:
Descriptor
+ clone()
+ distance()
ShapeContext
# m_distanceFunction
# m_histogram
+ clone()
+ distance()
+ getHistogram()
+ getHistogram()
+ getDistanceFunction()
+ setDistanceFunction()
Generated on Mon Apr 19 16:57:44 2010 for Fast Laser Interesting Region Transform (FLIRT) by Doxygen
7.34 ShapeContext Class Reference 155
Collaboration diagram for ShapeContext:
T
elements
std::vector
- elements
HistogramDistance
std::vector
> - elements
+ distance()
+ distance()
elements
Descriptor HistogramDistance
std::vector >
- elements
+ clone() + distance()
+ distance() + distance()
m_distanceFunction m_histogram
ShapeContext
# m_distanceFunction
# m_histogram
+ clone()
+ distance()
+ getHistogram()
+ getHistogram()
+ getDistanceFunction()
+ setDistanceFunction()
Public Member Functions
• virtual Descriptor ∗ clone () const
Clone function for prototyping.
• virtual double distance (const Descriptor ∗descriptor) const
Implements the distance function between two shape context descriptors.
• const std::vector > & getHistogram () const
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156 Class Documentation
Returns the shape context in the form of a bidimensional histogram.
• std::vector > & getHistogram ()
Returns the shape context in the form of a bidimensional histogram.
• const HistogramDistance ∗ getDistanceFunction () const
Returns the distance function used to compeare two shape contexts.
• void setDistanceFunction (const HistogramDistance ∗distanceFunction)
Sets the distance function used to compeare two shape contexts.
Protected Attributes
• const HistogramDistance ∗ m_distanceFunction
The distance function used to compeare two shape contexts.
• std::vector > m_histogram
The histogram representing the shape context.
7.34.1 Detailed Description
Representation of the shape context descriptor. The class represents the Shape Context descriptor of Be-
longie et al. It provides the interface to compare different descriptors, as well as to inspect the internal
histogram representation.
Author:
Gian Diego Tipaldi
Definition at line 19 of file ShapeContext.h.
7.34.2 Member Function Documentation
7.34.2.1 Descriptor ∗ ShapeContext::clone () const [virtual]
Clone function for prototyping. It implements the Prototype pattern.
Implements Descriptor.
Definition at line 64 of file ShapeContext.cpp.
7.34.2.2 double ShapeContext::distance (const Descriptor ∗ descriptor) const [virtual]
Implements the distance function between two shape context descriptors. The actual distance is computed
using the histogram distance defined in m_distanceFunction .
Definition at line 68 of file ShapeContext.cpp.
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7.34 ShapeContext Class Reference 157
7.34.2.3 const HistogramDistance∗ ShapeContext::getDistanceFunction () const
[inline]
Returns the distance function used to compeare two shape contexts.
Definition at line 39 of file ShapeContext.h.
7.34.2.4 std::vector >& ShapeContext::getHistogram () [inline]
Returns the shape context in the form of a bidimensional histogram. The first dimension represents the
angle and the second dimension the distance.
Definition at line 35 of file ShapeContext.h.
7.34.2.5 const std::vector >& ShapeContext::getHistogram () const
[inline]
Returns the shape context in the form of a bidimensional histogram. The first dimension represents the
angle and the second dimension the distance.
Definition at line 31 of file ShapeContext.h.
7.34.2.6 void ShapeContext::setDistanceFunction (const HistogramDistance ∗
distanceFunction) [inline]
Sets the distance function used to compeare two shape contexts.
Definition at line 43 of file ShapeContext.h.
7.34.3 Member Data Documentation
7.34.3.1 const HistogramDistance∗ ShapeContext::m_distanceFunction
[protected]
The distance function used to compeare two shape contexts.
Definition at line 47 of file ShapeContext.h.
7.34.3.2 std::vector > ShapeContext::m_histogram [protected]
The histogram representing the shape context.
Definition at line 48 of file ShapeContext.h.
The documentation for this class was generated from the following files:
• /home/tipaldi/src/flirt-release/src/feature/ShapeContext.h
• /home/tipaldi/src/flirt-release/src/feature/ShapeContext.cpp
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158 Class Documentation
7.35 ShapeContextGenerator Class Reference
Representation of the shape context descriptor generator.
#include Inheritance diagram for ShapeContextGenerator:
DescriptorGenerator
+ describe()
+ describe()
ShapeContextGenerator
# m_rhoEdges
# m_phiEdges
# m_distanceFunction
+ ShapeContextGenerator()
+ ShapeContextGenerator()
+ describe()
+ describe()
+ setEdges()
+ getMinRho()
+ getMaxRho()
+ getBinRho()
+ getBinPhi()
+ getRhoEdges()
+ getPhiEdges()
+ setEdges()
+ getDistanceFunction()
+ setDistanceFunction()
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7.35 ShapeContextGenerator Class Reference 159
Collaboration diagram for ShapeContextGenerator:
T
elements
HistogramDistance
std::vector
- elements
+ distance()
+ distance()
DescriptorGenerator HistogramDistance
std::vector
- elements
+ describe() + distance()
+ describe() + distance()
m_phiEdges
m_distanceFunction
m_rhoEdges
ShapeContextGenerator
# m_rhoEdges
# m_phiEdges
# m_distanceFunction
+ ShapeContextGenerator()
+ ShapeContextGenerator()
+ describe()
+ describe()
+ setEdges()
+ getMinRho()
+ getMaxRho()
+ getBinRho()
+ getBinPhi()
+ getRhoEdges()
+ getPhiEdges()
+ setEdges()
+ getDistanceFunction()
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+ setDistanceFunction()
160 Class Documentation
Public Member Functions
• ShapeContextGenerator (double minRho, double maxRho, unsigned int binRho, unsigned int bin-
Phi)
Constructor.
• ShapeContextGenerator (const std::vector &rhoEdges, const std::vector
&phiEdges)
Constructor.
• virtual Descriptor ∗ describe (const InterestPoint &point, const LaserReading &reading)
Abstract interface for generating a descriptors given an interest point and a laser reading.
• virtual Descriptor ∗ describe (const OrientedPoint2D &point, const LaserReading &reading)
Abstract interface for generating a descriptors given a general point in SO(2) and a laser reading.
• void setEdges (double minRho, double maxRho, unsigned int binRho, unsigned int binPhi)
Sets the radial and angular edges of the descriptor.
• double getMinRho () const
Gets the minimum distance for a point to be included in the descriptor.
• double getMaxRho () const
Gets the maximum distance for a point to be included in the descriptor.
• unsigned int getBinRho () const
Gets the number of bins in the radial coordinate of the descriptor.
• unsigned int getBinPhi () const
Gets the number of bins in the angular coordinate of the descriptor.
• const std::vector & getRhoEdges () const
Gets the vector containing the edges of the radial coordinate of the desciptor.
• const std::vector & getPhiEdges () const
Gets the vector containing the edges of the angular coordinate of the desciptor.
• void setEdges (const std::vector &rhoEdges, const std::vector &phiEdges)
Sets the radial and angular edges of the descriptor.
• const HistogramDistance ∗ getDistanceFunction () const
Gets the distance function used to compare two descriptors.
• void setDistanceFunction (const HistogramDistance ∗distanceFunction)
Sets the distance function used to compare two descriptors.
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7.35 ShapeContextGenerator Class Reference 161
Protected Attributes
• std::vector m_rhoEdges
The vector containing the edges of the radial coordinate of the desciptor.
• std::vector m_phiEdges
The vector containing the edges of the angular coordinate of the desciptor.
• const HistogramDistance ∗ m_distanceFunction
The distance function used to compare two descriptors.
7.35.1 Detailed Description
Representation of the shape context descriptor generator. The class generates the Shape Context descriptor
of Belongie et al. It provides the interface to generate the descriptor from a laser reading and set the
descriptor size.
Author:
Gian Diego Tipaldi
Definition at line 60 of file ShapeContext.h.
7.35.2 Constructor & Destructor Documentation
7.35.2.1 ShapeContextGenerator::ShapeContextGenerator (double minRho, double maxRho,
unsigned int binRho, unsigned int binPhi)
Constructor. It sets the size of the generated shape context and the number of bins.
Parameters:
minRho The minimum distance for a point to be included in the descriptor.
maxRho The maximum distance for a point to be included in the descriptor.
binRho The number of bins in the radial coordinate of the descriptor.
binPhi The number of bins in the angular coordinate of the descriptor.
Definition at line 3 of file ShapeContext.cpp.
7.35.2.2 ShapeContextGenerator::ShapeContextGenerator (const std::vector &
rhoEdges, const std::vector & phiEdges)
Constructor. It sets the size of the generated shape context and the number of bins.
Parameters:
rhoEdges Vector containing the edges of the radial coordinate of the desciptor.
phiEdges Vector containing the edges of the angular coordinate of the desciptor.
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162 Class Documentation
Note:
A point is in the bin i,j if its radial distance is between rhoEdges[i] and rhoEdges[i + 1] and its angular
distance between phiEdges[j] and phiEdges[j + 1]
Definition at line 8 of file ShapeContext.cpp.
7.35.3 Member Function Documentation
7.35.3.1 Descriptor ∗ ShapeContextGenerator::describe (const OrientedPoint2D & _point, const
LaserReading & reading) [virtual]
Abstract interface for generating a descriptors given a general point in SO(2) and a laser reading.
Implements DescriptorGenerator.
Definition at line 32 of file ShapeContext.cpp.
7.35.3.2 Descriptor ∗ ShapeContextGenerator::describe (const InterestPoint & _point, const
LaserReading & reading) [virtual]
Abstract interface for generating a descriptors given an interest point and a laser reading.
Implements DescriptorGenerator.
Definition at line 28 of file ShapeContext.cpp.
7.35.3.3 unsigned int ShapeContextGenerator::getBinPhi () const [inline]
Gets the number of bins in the angular coordinate of the descriptor.
Definition at line 107 of file ShapeContext.h.
7.35.3.4 unsigned int ShapeContextGenerator::getBinRho () const [inline]
Gets the number of bins in the radial coordinate of the descriptor.
Definition at line 103 of file ShapeContext.h.
7.35.3.5 const HistogramDistance∗ ShapeContextGenerator::getDistanceFunction ()
const [inline]
Gets the distance function used to compare two descriptors.
Definition at line 130 of file ShapeContext.h.
7.35.3.6 double ShapeContextGenerator::getMaxRho () const [inline]
Gets the maximum distance for a point to be included in the descriptor.
Definition at line 99 of file ShapeContext.h.
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7.35 ShapeContextGenerator Class Reference 163
7.35.3.7 double ShapeContextGenerator::getMinRho () const [inline]
Gets the minimum distance for a point to be included in the descriptor.
Definition at line 95 of file ShapeContext.h.
7.35.3.8 const std::vector& ShapeContextGenerator::getPhiEdges () const [inline]
Gets the vector containing the edges of the angular coordinate of the desciptor.
Definition at line 115 of file ShapeContext.h.
7.35.3.9 const std::vector& ShapeContextGenerator::getRhoEdges () const
[inline]
Gets the vector containing the edges of the radial coordinate of the desciptor.
Definition at line 111 of file ShapeContext.h.
7.35.3.10 void ShapeContextGenerator::setDistanceFunction (const HistogramDistance ∗ distanceFunction) [inline]
Sets the distance function used to compare two descriptors.
Definition at line 134 of file ShapeContext.h.
7.35.3.11 void ShapeContextGenerator::setEdges (const std::vector & rhoEdges, const
std::vector & phiEdges) [inline]
Sets the radial and angular edges of the descriptor.
Parameters:
rhoEdges Vector containing the edges of the radial coordinate of the desciptor.
phiEdges Vector containing the edges of the angular coordinate of the desciptor.
Note:
A point is in the bin i,j if its radial distance is between rhoEdges[i] and rhoEdges[i + 1] and its angular
distance between phiEdges[j] and phiEdges[j + 1]
Definition at line 126 of file ShapeContext.h.
7.35.3.12 void ShapeContextGenerator::setEdges (double minRho, double maxRho, unsigned int
binRho, unsigned int binPhi)
Sets the radial and angular edges of the descriptor.
Parameters:
minRho The minimum distance for a point to be included in the descriptor.
maxRho The maximum distance for a point to be included in the descriptor.
binRho The number of bins in the radial coordinate of the descriptor.
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164 Class Documentation
binPhi The number of bins in the angular coordinate of the descriptor.
Definition at line 15 of file ShapeContext.cpp.
7.35.4 Member Data Documentation
7.35.4.1 const HistogramDistance∗ ShapeContextGenerator::m_distanceFunction
[protected]
The distance function used to compare two descriptors.
Definition at line 140 of file ShapeContext.h.
7.35.4.2 std::vector ShapeContextGenerator::m_phiEdges [protected]
The vector containing the edges of the angular coordinate of the desciptor.
Definition at line 139 of file ShapeContext.h.
7.35.4.3 std::vector ShapeContextGenerator::m_rhoEdges [protected]
The vector containing the edges of the radial coordinate of the desciptor.
Definition at line 138 of file ShapeContext.h.
The documentation for this class was generated from the following files:
• /home/tipaldi/src/flirt-release/src/feature/ShapeContext.h
• /home/tipaldi/src/flirt-release/src/feature/ShapeContext.cpp
Generated on Mon Apr 19 16:57:44 2010 for Fast Laser Interesting Region Transform (FLIRT) by Doxygen
7.36 SimpleMinMaxPeakFinder Class Reference 165
7.36 SimpleMinMaxPeakFinder Class Reference
Representation of a simple algorithm for peak finding.
#include Inheritance diagram for SimpleMinMaxPeakFinder:
PeakFinder
+ findPeaks()
+ findPeaks()
+ isPeak()
+ isPeak()
SimplePeakFinder
# m_minValue
# m_minDifference
+ SimplePeakFinder()
+ findPeaks()
+ findPeaks()
+ isPeak()
+ isPeak()
+ getMinValue()
+ getMinDifference()
+ setMinValue()
+ setMinDifference()
SimpleMinMaxPeakFinder
+ SimpleMinMaxPeakFinder()
+ isPeak()
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166 Class Documentation
Collaboration diagram for SimpleMinMaxPeakFinder:
PeakFinder
+ findPeaks()
+ findPeaks()
+ isPeak()
+ isPeak()
SimplePeakFinder
# m_minValue
# m_minDifference
+ SimplePeakFinder()
+ findPeaks()
+ findPeaks()
+ isPeak()
+ isPeak()
+ getMinValue()
+ getMinDifference()
+ setMinValue()
+ setMinDifference()
SimpleMinMaxPeakFinder
+ SimpleMinMaxPeakFinder()
+ isPeak()
Public Member Functions
• SimpleMinMaxPeakFinder (double minValue=0.0, double minDifference=0.0)
Constructor.
• virtual bool isPeak (const std::vector &signal, unsigned int index) const
Checks if the given index represents a peak in the monodimensional signal.
7.36.1 Detailed Description
Representation of a simple algorithm for peak finding. The class represents a simple algorithm for finding
peaks in discrete signals. The algorithm finds both positive and negative peaks.
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7.36 SimpleMinMaxPeakFinder Class Reference 167
Author:
Gian Diego Tipaldi
Definition at line 15 of file SimpleMinMaxPeakFinder.h.
7.36.2 Constructor & Destructor Documentation
7.36.2.1 SimpleMinMaxPeakFinder::SimpleMinMaxPeakFinder (double minValue = 0.0, double
minDifference = 0.0)
Constructor. Creates and initializes the peak finder.
Parameters:
minValue The minimum value for a peak to be considerated valid. The negative value is used for the
negative peak.
minDifference The minimum difference a peak should have with respect to its immediate neighbours.
The negative value is used for the negative peak.
Definition at line 3 of file SimpleMinMaxPeakFinder.cpp.
7.36.3 Member Function Documentation
7.36.3.1 bool SimpleMinMaxPeakFinder::isPeak (const std::vector & signal, unsigned
int index) const [virtual]
Checks if the given index represents a peak in the monodimensional signal.
Reimplemented from SimplePeakFinder.
Definition at line 9 of file SimpleMinMaxPeakFinder.cpp.
The documentation for this class was generated from the following files:
• /home/tipaldi/src/flirt-release/src/utils/SimpleMinMaxPeakFinder.h
• /home/tipaldi/src/flirt-release/src/utils/SimpleMinMaxPeakFinder.cpp
Generated on Mon Apr 19 16:57:44 2010 for Fast Laser Interesting Region Transform (FLIRT) by Doxygen
168 Class Documentation
7.37 SimplePeakFinder Class Reference
Representation of a simple algorithm for peak finding.
#include Inheritance diagram for SimplePeakFinder:
PeakFinder
+ findPeaks()
+ findPeaks()
+ isPeak()
+ isPeak()
SimplePeakFinder
# m_minValue
# m_minDifference
+ SimplePeakFinder()
+ findPeaks()
+ findPeaks()
+ isPeak()
+ isPeak()
+ getMinValue()
+ getMinDifference()
+ setMinValue()
+ setMinDifference()
SimpleMinMaxPeakFinder
+ SimpleMinMaxPeakFinder()
+ isPeak()
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7.37 SimplePeakFinder Class Reference 169
Collaboration diagram for SimplePeakFinder:
PeakFinder
+ findPeaks()
+ findPeaks()
+ isPeak()
+ isPeak()
SimplePeakFinder
# m_minValue
# m_minDifference
+ SimplePeakFinder()
+ findPeaks()
+ findPeaks()
+ isPeak()
+ isPeak()
+ getMinValue()
+ getMinDifference()
+ setMinValue()
+ setMinDifference()
Public Member Functions
• SimplePeakFinder (double minValue=0.0, double minDifference=0.0)
Constructor.
• virtual void findPeaks (const std::vector &signal, std::vector &indexes)
const
Finds the indexes of the peaks in a monodimensional signal.
• virtual void findPeaks (const std::vector > &signal, std::vector > &indexes) const
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170 Class Documentation
Finds the indexes of the peaks in a bidimensional signal.
• virtual bool isPeak (const std::vector &signal, unsigned int index) const
Checks if the given index represents a peak in the monodimensional signal.
• virtual bool isPeak (const std::vector > &signal, unsigned int index1, un-
signed int index2) const
Checks if the given indexes represent a peak in the bidimensional signal.
• double getMinValue () const
Gets the minimum value for a peak to be considerated valid.
• double getMinDifference () const
Gets the minimum difference a peak should have with respect to its immediate neighbours.
• void setMinValue (double value)
Sets the minimum value for a peak to be considerated valid.
• void setMinDifference (double value)
Sets the minimum difference a peak should have with respect to its immediate neighbours.
Protected Attributes
• double m_minValue
The minimum value for a peak to be considerated valid.
• double m_minDifference
The minimum difference a peak should have with respect to its immediate neighbours.
7.37.1 Detailed Description
Representation of a simple algorithm for peak finding. The class represents a simple algorithm for finding
peaks in discrete signals.
Author:
Gian Diego Tipaldi
Definition at line 14 of file SimplePeakFinder.h.
7.37.2 Constructor & Destructor Documentation
7.37.2.1 SimplePeakFinder::SimplePeakFinder (double minValue = 0.0, double minDifference =
0.0)
Constructor. Creates and initializes the peak finder.
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7.37 SimplePeakFinder Class Reference 171
Parameters:
minValue The minimum value for a peak to be considerated valid.
minDifference The minimum difference a peak should have with respect to its immediate neighbours.
Definition at line 3 of file SimplePeakFinder.cpp.
7.37.3 Member Function Documentation
7.37.3.1 void SimplePeakFinder::findPeaks (const std::vector > & signal,
std::vector > & indexes) const [virtual]
Finds the indexes of the peaks in a bidimensional signal.
Implements PeakFinder.
Definition at line 26 of file SimplePeakFinder.cpp.
7.37.3.2 void SimplePeakFinder::findPeaks (const std::vector & signal, std::vector & indexes) const [virtual]
Finds the indexes of the peaks in a monodimensional signal.
Implements PeakFinder.
Definition at line 11 of file SimplePeakFinder.cpp.
7.37.3.3 double SimplePeakFinder::getMinDifference () const [inline]
Gets the minimum difference a peak should have with respect to its immediate neighbours.
Definition at line 37 of file SimplePeakFinder.h.
7.37.3.4 double SimplePeakFinder::getMinValue () const [inline]
Gets the minimum value for a peak to be considerated valid.
Definition at line 33 of file SimplePeakFinder.h.
7.37.3.5 bool SimplePeakFinder::isPeak (const std::vector > & signal,
unsigned int index1, unsigned int index2) const [virtual]
Checks if the given indexes represent a peak in the bidimensional signal.
Implements PeakFinder.
Definition at line 33 of file SimplePeakFinder.cpp.
7.37.3.6 bool SimplePeakFinder::isPeak (const std::vector & signal, unsigned int
index) const [virtual]
Checks if the given index represents a peak in the monodimensional signal.
Implements PeakFinder.
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172 Class Documentation
Reimplemented in SimpleMinMaxPeakFinder.
Definition at line 20 of file SimplePeakFinder.cpp.
7.37.3.7 void SimplePeakFinder::setMinDifference (double value) [inline]
Sets the minimum difference a peak should have with respect to its immediate neighbours.
Definition at line 45 of file SimplePeakFinder.h.
7.37.3.8 void SimplePeakFinder::setMinValue (double value) [inline]
Sets the minimum value for a peak to be considerated valid.
Definition at line 41 of file SimplePeakFinder.h.
7.37.4 Member Data Documentation
7.37.4.1 double SimplePeakFinder::m_minDifference [protected]
The minimum difference a peak should have with respect to its immediate neighbours.
Definition at line 49 of file SimplePeakFinder.h.
7.37.4.2 double SimplePeakFinder::m_minValue [protected]
The minimum value for a peak to be considerated valid.
Definition at line 48 of file SimplePeakFinder.h.
The documentation for this class was generated from the following files:
• /home/tipaldi/src/flirt-release/src/utils/SimplePeakFinder.h
• /home/tipaldi/src/flirt-release/src/utils/SimplePeakFinder.cpp
Generated on Mon Apr 19 16:57:44 2010 for Fast Laser Interesting Region Transform (FLIRT) by Doxygen
7.38 SymmetricChi2Distance Class Template Reference 173
7.38 SymmetricChi2Distance Class Template Refer-
ence
Representation of the symmetric χ2 distance function between histograms.
#include Inheritance diagram for SymmetricChi2Distance:
HistogramDistance
+ distance()
+ distance()
SymmetricChi2Distance
+ distance()
Collaboration diagram for SymmetricChi2Distance:
HistogramDistance
+ distance()
+ distance()
SymmetricChi2Distance
+ distance()
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174 Class Documentation
Public Member Functions
• virtual double distance (const std::vector &first, const std::vector &last)
const
Symmetric Chi2.
7.38.1 Detailed Description
template class SymmetricChi2Distance
Representation of the symmetric χ2 distance function between histograms. This class represents the func-
tion to compute the symmetric 2 distance between histograms. The result is normalized to be in the range
[0,1].
Definition at line 57 of file HistogramDistances.h.
7.38.2 Member Function Documentation
7.38.2.1 template double SymmetricChi2Distance::distance (const
std::vector & first, const std::vector & last) const [inline,
virtual]
Symmetric Chi2.
Implements HistogramDistance.
Definition at line 51 of file HistogramDistances.hpp.
The documentation for this class was generated from the following files:
• /home/tipaldi/src/flirt-release/src/utils/HistogramDistances.h
• /home/tipaldi/src/flirt-release/src/utils/HistogramDistances.hpp
Generated on Mon Apr 19 16:57:44 2010 for Fast Laser Interesting Region Transform (FLIRT) by Doxygen
Chapter 8
File Documentation
8.1 /home/tipaldi/src/flirt-release/src/feature/AbstractFeatureSetMatcher.cpp
File Reference
#include "AbstractFeatureSetMatcher.h"
Include dependency graph for AbstractFeatureSetMatcher.cpp:
/home/tipaldi/src/flirt-release/src/feature/AbstractFeatureSetMatcher.cpp
AbstractFeatureSetMatcher.h
feature/InterestPoint.h utility
geometry/point.h feature/Descriptor.h vector
cmath iostream
176 File Documentation
8.2 /home/tipaldi/src/flirt-release/src/feature/AbstractFeatureSetMatcher.h
File Reference
#include
#include
#include
#include
Include dependency graph for AbstractFeatureSetMatcher.h:
/home/tipaldi/src/flirt-release/src/feature/AbstractFeatureSetMatcher.h
feature/InterestPoint.h utility
geometry/point.h feature/Descriptor.h vector
cmath iostream
This graph shows which files directly or indirectly include this file:
/home/tipaldi/src/flirt-release/src/feature/AbstractFeatureSetMatcher.h
/home/tipaldi/src/flirt-release/src/feature/AbstractFeatureSetMatcher.cpp /home/tipaldi/src/flirt-release/src/feature/RansacFeatureSetMatcher.h
/home/tipaldi/src/flirt-release/src/feature/RansacFeatureSetMatcher.cpp /home/tipaldi/src/flirt-release/src/feature/RansacLoopClosureDrawMovie.cpp /home/tipaldi/src/flirt-release/src/feature/RansacLoopClosureTest.cpp /home/tipaldi/src/flirt-release/src/feature/RansacMultiFeatureSetMatcher.h
/home/tipaldi/src/flirt-release/src/feature/RansacMultiFeatureSetMatcher.cpp
Classes
• class AbstractFeatureSetMatcher
Representation of an abstract algorithm for feature matching.
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8.3 /home/tipaldi/src/flirt-release/src/feature/BetaGrid.cpp File Reference 177
8.3 /home/tipaldi/src/flirt-release/src/feature/BetaGrid.cpp File Ref-
erence
#include "BetaGrid.h"
#include
#include
#include
#include
Include dependency graph for BetaGrid.cpp:
/home/tipaldi/src/flirt-release/src/feature/BetaGrid.cpp
BetaGrid.h sstream cstdio sys/types.h sys/stat.h
utils/HistogramDistances.h feature/InterestPoint.h sensors/LaserReading.h
utils/HistogramDistances.hpp feature/Descriptor.h vector geometry/point.h sensors/AbstractReading.h
iostream cmath string
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178 File Documentation
8.4 /home/tipaldi/src/flirt-release/src/feature/BetaGrid.h File Refer-
ence
#include
#include
#include
#include
#include
Include dependency graph for BetaGrid.h:
/home/tipaldi/src/flirt-release/src/feature/BetaGrid.h
utils/HistogramDistances.h feature/InterestPoint.h sensors/LaserReading.h
utils/HistogramDistances.hpp feature/Descriptor.h vector geometry/point.h sensors/AbstractReading.h
iostream cmath string
This graph shows which files directly or indirectly include this file:
/home/tipaldi/src/flirt-release/src/feature/BetaGrid.h
/home/tipaldi/src/flirt-release/src/feature/BetaGrid.cpp /home/tipaldi/src/flirt-release/src/feature/RansacLoopClosureDrawMovie.cpp /home/tipaldi/src/flirt-release/src/feature/RansacLoopClosureTest.cpp
Classes
• class BetaGrid
Representation of the Beta grid descriptor.
• class BetaGridGenerator
Representation of the Beta grid descriptor generator.
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8.5 /home/tipaldi/src/flirt-release/src/feature/CurvatureDetector.cpp File Reference 179
8.5 /home/tipaldi/src/flirt-release/src/feature/CurvatureDetector.cpp
File Reference
#include "CurvatureDetector.h"
Include dependency graph for CurvatureDetector.cpp:
/home/tipaldi/src/flirt-release/src/feature/CurvatureDetector.cpp
CurvatureDetector.h
feature/Detector.h boost/graph/adjacency_matrix.hpp boost/graph/adjacency_list.hpp boost/graph/prim_minimum_spanning_tree.hpp boost/graph/johnson_all_pairs_shortest.hpp boost/graph/graph_utility.hpp
sensors/LaserReading.h feature/InterestPoint.h utils/PeakFinder.h utils/Convolution.h
sensors/AbstractReading.h geometry/point.h feature/Descriptor.h vector boost/math/special_functions/bessel.hpp utils/Convolution.hpp
string cmath iostream
Generated on Mon Apr 19 16:57:44 2010 for Fast Laser Interesting Region Transform (FLIRT) by Doxygen
180 File Documentation
8.6 /home/tipaldi/src/flirt-release/src/feature/CurvatureDetector.h
File Reference
#include
#include
#include
#include
#include
#include
#include
#include
#include
#include
Include dependency graph for CurvatureDetector.h:
/home/tipaldi/src/flirt-release/src/feature/CurvatureDetector.h
feature/Detector.h boost/graph/adjacency_matrix.hpp boost/graph/adjacency_list.hpp boost/graph/prim_minimum_spanning_tree.hpp boost/graph/johnson_all_pairs_shortest.hpp boost/graph/graph_utility.hpp
sensors/LaserReading.h feature/InterestPoint.h utils/PeakFinder.h utils/Convolution.h
sensors/AbstractReading.h geometry/point.h feature/Descriptor.h vector boost/math/special_functions/bessel.hpp utils/Convolution.hpp
string cmath iostream
This graph shows which files directly or indirectly include this file:
/home/tipaldi/src/flirt-release/src/feature/CurvatureDetector.h
/home/tipaldi/src/flirt-release/src/feature/CurvatureDetector.cpp /home/tipaldi/src/flirt-release/src/feature/RansacLoopClosureDrawMovie.cpp /home/tipaldi/src/flirt-release/src/feature/RansacLoopClosureTest.cpp
Classes
• class CurvatureDetector
Representation of the multi scale curvature detector of Unnikrishnan and Hebert.
Typedefs
• typedef boost::property DistanceVertexProperty
• typedef boost::property WeightEdgeProperty
• typedef boost::adjacency_list Graph
• typedef boost::adjacency_matrix MatrixGraph
• typedef std::pair GraphEdge
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8.6 /home/tipaldi/src/flirt-release/src/feature/CurvatureDetector.h File Reference 181
8.6.1 Typedef Documentation
8.6.1.1 typedef boost::property DistanceVertexProperty
Definition at line 16 of file CurvatureDetector.h.
8.6.1.2 typedef boost::adjacency_list Graph
Definition at line 19 of file CurvatureDetector.h.
8.6.1.3 typedef std::pair GraphEdge
Definition at line 21 of file CurvatureDetector.h.
8.6.1.4 typedef boost::adjacency_matrix MatrixGraph
Definition at line 20 of file CurvatureDetector.h.
8.6.1.5 typedef boost::property WeightEdgeProperty
Definition at line 17 of file CurvatureDetector.h.
Generated on Mon Apr 19 16:57:44 2010 for Fast Laser Interesting Region Transform (FLIRT) by Doxygen
182 File Documentation
8.7 /home/tipaldi/src/flirt-release/src/feature/Descriptor.h File Ref-
erence
This graph shows which files directly or indirectly include this file:
/home/tipaldi/src/flirt-release/src/feature/Descriptor.h
/home/tipaldi/src/flirt-release/src/feature/InterestPoint.h
/home/tipaldi/src/flirt-release/src/feature/BetaGrid.h /home/tipaldi/src/flirt-release/src/feature/Detector.h /home/tipaldi/src/flirt-release/src/feature/InterestPoint.cpp /home/tipaldi/src/flirt-release/src/feature/ShapeContext.h
/home/tipaldi/src/flirt-release/src/feature/BetaGrid.cpp /home/tipaldi/src/flirt-release/src/feature/MultiScaleDetector.h /home/tipaldi/src/flirt-release/src/feature/CurvatureDetector.h /home/tipaldi/src/flirt-release/src/feature/ShapeContext.cpp
/home/tipaldi/src/flirt-release/src/feature/NormalDetector.h /home/tipaldi/src/flirt-release/src/feature/MultiScaleDetector.cpp /home/tipaldi/src/flirt-release/src/feature/RangeDetector.h /home/tipaldi/src/flirt-release/src/feature/CurvatureDetector.cpp /home/tipaldi/src/flirt-release/src/feature/AbstractFeatureSetMatcher.h
/home/tipaldi/src/flirt-release/src/feature/NormalBlobDetector.h /home/tipaldi/src/flirt-release/src/feature/NormalEdgeDetector.h /home/tipaldi/src/flirt-release/src/feature/NormalDetector.cpp /home/tipaldi/src/flirt-release/src/feature/RangeDetector.cpp /home/tipaldi/src/flirt-release/src/feature/AbstractFeatureSetMatcher.cpp /home/tipaldi/src/flirt-release/src/feature/RansacFeatureSetMatcher.h
/home/tipaldi/src/flirt-release/src/feature/NormalBlobDetector.cpp /home/tipaldi/src/flirt-release/src/feature/NormalEdgeDetector.cpp /home/tipaldi/src/flirt-release/src/feature/RansacLoopClosureDrawMovie.cpp /home/tipaldi/src/flirt-release/src/feature/RansacLoopClosureTest.cpp /home/tipaldi/src/flirt-release/src/feature/RansacFeatureSetMatcher.cpp /home/tipaldi/src/flirt-release/src/feature/RansacMultiFeatureSetMatcher.h
/home/tipaldi/src/flirt-release/src/feature/RansacMultiFeatureSetMatcher.cpp
Classes
• class Descriptor
Representation of an abstract descriptor.
• class DescriptorGenerator
Representation of an abstract descriptor generator.
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8.8 /home/tipaldi/src/flirt-release/src/feature/Detector.h File Reference 183
8.8 /home/tipaldi/src/flirt-release/src/feature/Detector.h File Refer-
ence
#include
#include
Include dependency graph for Detector.h:
/home/tipaldi/src/flirt-release/src/feature/Detector.h
sensors/LaserReading.h feature/InterestPoint.h
sensors/AbstractReading.h geometry/point.h vector feature/Descriptor.h
string cmath iostream
This graph shows which files directly or indirectly include this file:
/home/tipaldi/src/flirt-release/src/feature/Detector.h
/home/tipaldi/src/flirt-release/src/feature/MultiScaleDetector.h
/home/tipaldi/src/flirt-release/src/feature/NormalDetector.h /home/tipaldi/src/flirt-release/src/feature/MultiScaleDetector.cpp /home/tipaldi/src/flirt-release/src/feature/RangeDetector.h
/home/tipaldi/src/flirt-release/src/feature/CurvatureDetector.h /home/tipaldi/src/flirt-release/src/feature/NormalDetector.cpp /home/tipaldi/src/flirt-release/src/feature/NormalBlobDetector.h /home/tipaldi/src/flirt-release/src/feature/NormalEdgeDetector.h /home/tipaldi/src/flirt-release/src/feature/RangeDetector.cpp
/home/tipaldi/src/flirt-release/src/feature/CurvatureDetector.cpp /home/tipaldi/src/flirt-release/src/feature/RansacLoopClosureTest.cpp /home/tipaldi/src/flirt-release/src/feature/NormalBlobDetector.cpp /home/tipaldi/src/flirt-release/src/feature/NormalEdgeDetector.cpp /home/tipaldi/src/flirt-release/src/feature/RansacLoopClosureDrawMovie.cpp
Classes
• class Detector
Representation of an abstract detector.
Generated on Mon Apr 19 16:57:44 2010 for Fast Laser Interesting Region Transform (FLIRT) by Doxygen
184 File Documentation
8.9 /home/tipaldi/src/flirt-release/src/feature/InterestPoint.cpp File
Reference
#include "InterestPoint.h"
Include dependency graph for InterestPoint.cpp:
/home/tipaldi/src/flirt-release/src/feature/InterestPoint.cpp
InterestPoint.h
geometry/point.h feature/Descriptor.h vector
cmath iostream
Generated on Mon Apr 19 16:57:44 2010 for Fast Laser Interesting Region Transform (FLIRT) by Doxygen
8.10 /home/tipaldi/src/flirt-release/src/feature/InterestPoint.h File Reference 185
8.10 /home/tipaldi/src/flirt-release/src/feature/InterestPoint.h File
Reference
#include
#include
#include
Include dependency graph for InterestPoint.h:
/home/tipaldi/src/flirt-release/src/feature/InterestPoint.h
geometry/point.h feature/Descriptor.h vector
cmath iostream
This graph shows which files directly or indirectly include this file:
/home/tipaldi/src/flirt-release/src/feature/InterestPoint.h
/home/tipaldi/src/flirt-release/src/feature/Detector.h /home/tipaldi/src/flirt-release/src/feature/InterestPoint.cpp
/home/tipaldi/src/flirt-release/src/feature/CurvatureDetector.h /home/tipaldi/src/flirt-release/src/feature/MultiScaleDetector.h
/home/tipaldi/src/flirt-release/src/feature/AbstractFeatureSetMatcher.h /home/tipaldi/src/flirt-release/src/feature/CurvatureDetector.cpp /home/tipaldi/src/flirt-release/src/feature/RangeDetector.h /home/tipaldi/src/flirt-release/src/feature/MultiScaleDetector.cpp /home/tipaldi/src/flirt-release/src/feature/NormalDetector.h
/home/tipaldi/src/flirt-release/src/feature/AbstractFeatureSetMatcher.cpp /home/tipaldi/src/flirt-release/src/feature/RansacFeatureSetMatcher.h /home/tipaldi/src/flirt-release/src/feature/BetaGrid.h /home/tipaldi/src/flirt-release/src/feature/RangeDetector.cpp /home/tipaldi/src/flirt-release/src/feature/NormalEdgeDetector.h /home/tipaldi/src/flirt-release/src/feature/NormalBlobDetector.h /home/tipaldi/src/flirt-release/src/feature/NormalDetector.cpp /home/tipaldi/src/flirt-release/src/feature/ShapeContext.h
/home/tipaldi/src/flirt-release/src/feature/RansacFeatureSetMatcher.cpp /home/tipaldi/src/flirt-release/src/feature/RansacMultiFeatureSetMatcher.h /home/tipaldi/src/flirt-release/src/feature/BetaGrid.cpp /home/tipaldi/src/flirt-release/src/feature/RansacLoopClosureDrawMovie.cpp /home/tipaldi/src/flirt-release/src/feature/RansacLoopClosureTest.cpp /home/tipaldi/src/flirt-release/src/feature/NormalEdgeDetector.cpp /home/tipaldi/src/flirt-release/src/feature/NormalBlobDetector.cpp /home/tipaldi/src/flirt-release/src/feature/ShapeContext.cpp
/home/tipaldi/src/flirt-release/src/feature/RansacMultiFeatureSetMatcher.cpp
Classes
• class InterestPoint
Representation of an interesting point.
Generated on Mon Apr 19 16:57:44 2010 for Fast Laser Interesting Region Transform (FLIRT) by Doxygen
186 File Documentation
8.11 /home/tipaldi/src/flirt-release/src/feature/MultiScaleDetector.cpp
File Reference
#include "MultiScaleDetector.h"
Include dependency graph for MultiScaleDetector.cpp:
/home/tipaldi/src/flirt-release/src/feature/MultiScaleDetector.cpp
MultiScaleDetector.h
feature/Detector.h utils/PeakFinder.h
sensors/LaserReading.h feature/InterestPoint.h utils/Convolution.h
sensors/AbstractReading.h geometry/point.h feature/Descriptor.h vector boost/math/special_functions/bessel.hpp utils/Convolution.hpp
string cmath iostream
Generated on Mon Apr 19 16:57:44 2010 for Fast Laser Interesting Region Transform (FLIRT) by Doxygen
8.12 /home/tipaldi/src/flirt-release/src/feature/MultiScaleDetector.h File Reference 187
8.12 /home/tipaldi/src/flirt-release/src/feature/MultiScaleDetector.h
File Reference
#include
#include
#include
#include
#include
Include dependency graph for MultiScaleDetector.h:
/home/tipaldi/src/flirt-release/src/feature/MultiScaleDetector.h
feature/Detector.h utils/PeakFinder.h
sensors/LaserReading.h feature/InterestPoint.h utils/Convolution.h
sensors/AbstractReading.h geometry/point.h feature/Descriptor.h vector boost/math/special_functions/bessel.hpp utils/Convolution.hpp
string cmath iostream
This graph shows which files directly or indirectly include this file:
/home/tipaldi/src/flirt-release/src/feature/MultiScaleDetector.h
/home/tipaldi/src/flirt-release/src/feature/MultiScaleDetector.cpp /home/tipaldi/src/flirt-release/src/feature/NormalDetector.h
/home/tipaldi/src/flirt-release/src/feature/NormalBlobDetector.h /home/tipaldi/src/flirt-release/src/feature/NormalEdgeDetector.h /home/tipaldi/src/flirt-release/src/feature/NormalDetector.cpp /home/tipaldi/src/flirt-release/src/feature/RangeDetector.h
/home/tipaldi/src/flirt-release/src/feature/NormalBlobDetector.cpp /home/tipaldi/src/flirt-release/src/feature/RansacLoopClosureTest.cpp /home/tipaldi/src/flirt-release/src/feature/NormalEdgeDetector.cpp /home/tipaldi/src/flirt-release/src/feature/RansacLoopClosureDrawMovie.cpp /home/tipaldi/src/flirt-release/src/feature/RangeDetector.cpp
Classes
• class MultiScaleDetector
Representation of an abstract multi scale detector for monodimensional signals.
Defines
• #define MIN_KERNEL_SIZE 3
• #define MAX_KERNEL_SIZE 50
Enumerations
• enum SmoothingFilterFamily { GAUSSIAN, BESSEL }
The smoothing kernel used in the detector.
Generated on Mon Apr 19 16:57:44 2010 for Fast Laser Interesting Region Transform (FLIRT) by Doxygen
188 File Documentation
8.12.1 Define Documentation
8.12.1.1 #define MAX_KERNEL_SIZE 50
Definition at line 12 of file MultiScaleDetector.h.
8.12.1.2 #define MIN_KERNEL_SIZE 3
Definition at line 11 of file MultiScaleDetector.h.
8.12.2 Enumeration Type Documentation
8.12.2.1 enum SmoothingFilterFamily
The smoothing kernel used in the detector.
Enumerator:
GAUSSIAN The Gaussian smoothing kernel. It is the optimal kernel in the continuous case.
BESSEL The Bessel smoothing kernel. It is the optimal kernel in the discrete case.
Definition at line 19 of file MultiScaleDetector.h.
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8.13 /home/tipaldi/src/flirt-release/src/feature/NormalBlobDetector.cpp File Reference 189
8.13 /home/tipaldi/src/flirt-release/src/feature/NormalBlobDetector.cpp
File Reference
#include "NormalBlobDetector.h"
Include dependency graph for NormalBlobDetector.cpp:
/home/tipaldi/src/flirt-release/src/feature/NormalBlobDetector.cpp
NormalBlobDetector.h
feature/NormalDetector.h
feature/MultiScaleDetector.h
feature/Detector.h utils/PeakFinder.h
sensors/LaserReading.h utils/Regression.h feature/InterestPoint.h utils/Convolution.h
sensors/AbstractReading.h geometry/point.h feature/Descriptor.h vector boost/math/special_functions/bessel.hpp utils/Convolution.hpp
string cmath iostream
Generated on Mon Apr 19 16:57:44 2010 for Fast Laser Interesting Region Transform (FLIRT) by Doxygen
190 File Documentation
8.14 /home/tipaldi/src/flirt-release/src/feature/NormalBlobDetector.h
File Reference
#include
Include dependency graph for NormalBlobDetector.h:
/home/tipaldi/src/flirt-release/src/feature/NormalBlobDetector.h
feature/NormalDetector.h
feature/MultiScaleDetector.h
feature/Detector.h utils/PeakFinder.h
sensors/LaserReading.h utils/Regression.h feature/InterestPoint.h utils/Convolution.h
sensors/AbstractReading.h geometry/point.h feature/Descriptor.h vector boost/math/special_functions/bessel.hpp utils/Convolution.hpp
string cmath iostream
This graph shows which files directly or indirectly include this file:
/home/tipaldi/src/flirt-release/src/feature/NormalBlobDetector.h
/home/tipaldi/src/flirt-release/src/feature/NormalBlobDetector.cpp /home/tipaldi/src/flirt-release/src/feature/RansacLoopClosureDrawMovie.cpp /home/tipaldi/src/flirt-release/src/feature/RansacLoopClosureTest.cpp
Classes
• class NormalBlobDetector
Representation of the normal blob detector.
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8.15 /home/tipaldi/src/flirt-release/src/feature/NormalDetector.cpp File Reference 191
8.15 /home/tipaldi/src/flirt-release/src/feature/NormalDetector.cpp
File Reference
#include "NormalDetector.h"
#include
Include dependency graph for NormalDetector.cpp:
/home/tipaldi/src/flirt-release/src/feature/NormalDetector.cpp
NormalDetector.h
feature/MultiScaleDetector.h
feature/Detector.h utils/PeakFinder.h
sensors/LaserReading.h utils/Regression.h feature/InterestPoint.h utils/Convolution.h
sensors/AbstractReading.h geometry/point.h feature/Descriptor.h vector utils/Convolution.hpp boost/math/special_functions/bessel.hpp
string cmath iostream
Generated on Mon Apr 19 16:57:44 2010 for Fast Laser Interesting Region Transform (FLIRT) by Doxygen
192 File Documentation
8.16 /home/tipaldi/src/flirt-release/src/feature/NormalDetector.h
File Reference
#include
#include
#include
#include
#include
#include
#include
Include dependency graph for NormalDetector.h:
/home/tipaldi/src/flirt-release/src/feature/NormalDetector.h
feature/MultiScaleDetector.h
feature/Detector.h utils/PeakFinder.h
sensors/LaserReading.h utils/Regression.h feature/InterestPoint.h utils/Convolution.h
sensors/AbstractReading.h geometry/point.h feature/Descriptor.h vector boost/math/special_functions/bessel.hpp utils/Convolution.hpp
string cmath iostream
This graph shows which files directly or indirectly include this file:
/home/tipaldi/src/flirt-release/src/feature/NormalDetector.h
/home/tipaldi/src/flirt-release/src/feature/NormalBlobDetector.h /home/tipaldi/src/flirt-release/src/feature/NormalEdgeDetector.h /home/tipaldi/src/flirt-release/src/feature/NormalDetector.cpp
/home/tipaldi/src/flirt-release/src/feature/NormalBlobDetector.cpp /home/tipaldi/src/flirt-release/src/feature/RansacLoopClosureDrawMovie.cpp /home/tipaldi/src/flirt-release/src/feature/RansacLoopClosureTest.cpp /home/tipaldi/src/flirt-release/src/feature/NormalEdgeDetector.cpp
Classes
• class NormalDetector
Representation of a general detector based on the normal signal.
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8.17 /home/tipaldi/src/flirt-release/src/feature/NormalEdgeDetector.cpp File Reference 193
8.17 /home/tipaldi/src/flirt-release/src/feature/NormalEdgeDetector.cpp
File Reference
#include "NormalEdgeDetector.h"
Include dependency graph for NormalEdgeDetector.cpp:
/home/tipaldi/src/flirt-release/src/feature/NormalEdgeDetector.cpp
NormalEdgeDetector.h
feature/NormalDetector.h
feature/MultiScaleDetector.h
feature/Detector.h utils/PeakFinder.h
sensors/LaserReading.h utils/Regression.h feature/InterestPoint.h utils/Convolution.h
sensors/AbstractReading.h geometry/point.h feature/Descriptor.h vector boost/math/special_functions/bessel.hpp utils/Convolution.hpp
string cmath iostream
Generated on Mon Apr 19 16:57:44 2010 for Fast Laser Interesting Region Transform (FLIRT) by Doxygen
194 File Documentation
8.18 /home/tipaldi/src/flirt-release/src/feature/NormalEdgeDetector.h
File Reference
#include
Include dependency graph for NormalEdgeDetector.h:
/home/tipaldi/src/flirt-release/src/feature/NormalEdgeDetector.h
feature/NormalDetector.h
feature/MultiScaleDetector.h
feature/Detector.h utils/PeakFinder.h
sensors/LaserReading.h utils/Regression.h feature/InterestPoint.h utils/Convolution.h
sensors/AbstractReading.h geometry/point.h feature/Descriptor.h vector boost/math/special_functions/bessel.hpp utils/Convolution.hpp
string cmath iostream
This graph shows which files directly or indirectly include this file:
/home/tipaldi/src/flirt-release/src/feature/NormalEdgeDetector.h
/home/tipaldi/src/flirt-release/src/feature/NormalEdgeDetector.cpp /home/tipaldi/src/flirt-release/src/feature/RansacLoopClosureDrawMovie.cpp /home/tipaldi/src/flirt-release/src/feature/RansacLoopClosureTest.cpp
Classes
• class NormalEdgeDetector
Representation of the normal edge detector.
Generated on Mon Apr 19 16:57:44 2010 for Fast Laser Interesting Region Transform (FLIRT) by Doxygen
8.19 /home/tipaldi/src/flirt-release/src/feature/RangeDetector.cpp File Reference 195
8.19 /home/tipaldi/src/flirt-release/src/feature/RangeDetector.cpp
File Reference
#include "RangeDetector.h"
#include
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/home/tipaldi/src/flirt-release/src/feature/RangeDetector.cpp
RangeDetector.h
feature/MultiScaleDetector.h
feature/Detector.h utils/PeakFinder.h
sensors/LaserReading.h utils/Regression.h feature/InterestPoint.h utils/Convolution.h
sensors/AbstractReading.h geometry/point.h feature/Descriptor.h vector boost/math/special_functions/bessel.hpp utils/Convolution.hpp
string cmath iostream
Generated on Mon Apr 19 16:57:44 2010 for Fast Laser Interesting Region Transform (FLIRT) by Doxygen
196 File Documentation
8.20 /home/tipaldi/src/flirt-release/src/feature/RangeDetector.h File
Reference
#include
#include
#include
#include
#include
#include
Include dependency graph for RangeDetector.h:
/home/tipaldi/src/flirt-release/src/feature/RangeDetector.h
feature/MultiScaleDetector.h
feature/Detector.h utils/PeakFinder.h
sensors/LaserReading.h feature/InterestPoint.h utils/Convolution.h
sensors/AbstractReading.h geometry/point.h feature/Descriptor.h vector utils/Convolution.hpp boost/math/special_functions/bessel.hpp
string cmath iostream
This graph shows which files directly or indirectly include this file:
/home/tipaldi/src/flirt-release/src/feature/RangeDetector.h
/home/tipaldi/src/flirt-release/src/feature/RangeDetector.cpp /home/tipaldi/src/flirt-release/src/feature/RansacLoopClosureDrawMovie.cpp /home/tipaldi/src/flirt-release/src/feature/RansacLoopClosureTest.cpp
Classes
• class RangeDetector
Representation of the range based detector.
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8.21 /home/tipaldi/src/flirt-release/src/feature/RansacFeatureSetMatcher.cpp File Reference 197
8.21 /home/tipaldi/src/flirt-release/src/feature/RansacFeatureSetMatcher.cpp
File Reference
#include "RansacFeatureSetMatcher.h"
#include
#include
#include
Include dependency graph for RansacFeatureSetMatcher.cpp:
/home/tipaldi/src/flirt-release/src/feature/RansacFeatureSetMatcher.cpp
RansacFeatureSetMatcher.h boost/random.hpp boost/random/uniform_smallint.hpp sys/time.h
utils/PoseEstimation.h feature/AbstractFeatureSetMatcher.h
utility feature/InterestPoint.h
vector geometry/point.h feature/Descriptor.h
cmath iostream
Generated on Mon Apr 19 16:57:44 2010 for Fast Laser Interesting Region Transform (FLIRT) by Doxygen
198 File Documentation
8.22 /home/tipaldi/src/flirt-release/src/feature/RansacFeatureSetMatcher.h
File Reference
#include
#include
#include
#include
Include dependency graph for RansacFeatureSetMatcher.h:
/home/tipaldi/src/flirt-release/src/feature/RansacFeatureSetMatcher.h
utils/PoseEstimation.h feature/AbstractFeatureSetMatcher.h
utility feature/InterestPoint.h
vector geometry/point.h feature/Descriptor.h
cmath iostream
This graph shows which files directly or indirectly include this file:
/home/tipaldi/src/flirt-release/src/feature/RansacFeatureSetMatcher.h
/home/tipaldi/src/flirt-release/src/feature/RansacFeatureSetMatcher.cpp /home/tipaldi/src/flirt-release/src/feature/RansacLoopClosureDrawMovie.cpp /home/tipaldi/src/flirt-release/src/feature/RansacLoopClosureTest.cpp /home/tipaldi/src/flirt-release/src/feature/RansacMultiFeatureSetMatcher.h
/home/tipaldi/src/flirt-release/src/feature/RansacMultiFeatureSetMatcher.cpp
Classes
• class RansacFeatureSetMatcher
Representation of the RANSAC algorithm for feature matching.
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1
8.23 /home/tipaldi/src/flirt-release/src/feature/RansacLoopClosureDrawMovie.cpp File Reference 99
8.23 /home/tipaldi/src/flirt-release/src/feature/RansacLoopClosureDrawMovie.cpp
File Reference
#include
#include
#include
#include
#include
#include
#include
#include
#include
#include
#include
#include
#include
#include
#include
#include
#include
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Include dependency graph for RansacLoopClosureDrawMovie.cpp:
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feature/NormalEdgeDetector.h feature/NormalBlobDetector.h cairo.h cairo-pdf.h cairo-svg.h string.h sys/stat.h sys/types.h
feature/NormalDetector.h feature/RangeDetector.h utils/SimpleMinMaxPeakFinder.h
feature/CurvatureDetector.h feature/MultiScaleDetector.h feature/RansacFeatureSetMatcher.h utils/SimplePeakFinder.h
boost/graph/adjacency_matrix.hpp boost/graph/adjacency_list.hpp boost/graph/prim_minimum_spanning_tree.hpp boost/graph/johnson_all_pairs_shortest.hpp boost/graph/graph_utility.hpp utils/Convolution.h feature/Detector.h feature/ShapeContext.h feature/BetaGrid.h utils/PeakFinder.h feature/AbstractFeatureSetMatcher.h utils/PoseEstimation.h sensorstream/CarmenLog.h sensorstream/LogSensorStream.h
utils/Regression.h boost/math/special_functions/bessel.hpp utils/Convolution.hpp feature/InterestPoint.h utils/HistogramDistances.h sensors/LaserReading.h utility sstream sensorstream/LogReader.h sensorstream/LogWriter.h fstream sensorstream/SensorStream.h
feature/Descriptor.h utils/HistogramDistances.hpp geometry/point.h vector sensors/AbstractReading.h
cmath iostream string
Functions
• void match (unsigned int position)
• void detectLog ()
• void describeLog ()
• void computeBoundingBox ()
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• void computeMap ()
• int main (int argc, char ∗∗argv)
Variables
• LogSensorStream m_sensorReference (NULL, NULL)
• CurvatureDetector ∗ m_detectorCurvature = NULL
• NormalBlobDetector ∗ m_detectorNormalBlob = NULL
• NormalEdgeDetector ∗ m_detectorNormalEdge = NULL
• RangeDetector ∗ m_detectorRange = NULL
• Detector ∗ m_detector = NULL
• BetaGridGenerator ∗ m_betaGenerator = NULL
• ShapeContextGenerator ∗ m_shapeGenerator = NULL
• DescriptorGenerator ∗ m_descriptor = NULL
• RansacFeatureSetMatcher ∗ m_ransac = NULL
• std::vector > m_pointsReference
• std::vector m_posesReference
• cairo_t ∗ cairoMap = 0
• cairo_t ∗ cairoOut = 0
• int offsetX = 0
• int offsetY = 0
• int border = 10
• double scaleFactor = 1.
• int sizeX = 1024
• int sizeY = 800
• unsigned int corresp = 9
• double acceptanceSigma = 0.1
8.23.1 Function Documentation
8.23.1.1 void computeBoundingBox ()
Definition at line 174 of file RansacLoopClosureDrawMovie.cpp.
8.23.1.2 void computeMap ()
Definition at line 224 of file RansacLoopClosureDrawMovie.cpp.
8.23.1.3 void describeLog ()
Definition at line 144 of file RansacLoopClosureDrawMovie.cpp.
8.23.1.4 void detectLog ()
Definition at line 115 of file RansacLoopClosureDrawMovie.cpp.
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8.23 /home/tipaldi/src/flirt-release/src/feature/RansacLoopClosureDrawMovie.cpp File Reference 01
8.23.1.5 int main (int argc, char ∗∗ argv)
Definition at line 264 of file RansacLoopClosureDrawMovie.cpp.
8.23.1.6 void match (unsigned int position)
Definition at line 56 of file RansacLoopClosureDrawMovie.cpp.
8.23.2 Variable Documentation
8.23.2.1 double acceptanceSigma = 0.1
Definition at line 54 of file RansacLoopClosureDrawMovie.cpp.
8.23.2.2 int border = 10
Definition at line 48 of file RansacLoopClosureDrawMovie.cpp.
8.23.2.3 cairo_t∗ cairoMap = 0
Definition at line 45 of file RansacLoopClosureDrawMovie.cpp.
8.23.2.4 cairo_t∗ cairoOut = 0
Definition at line 46 of file RansacLoopClosureDrawMovie.cpp.
8.23.2.5 unsigned int corresp = 9
Definition at line 52 of file RansacLoopClosureDrawMovie.cpp.
8.23.2.6 BetaGridGenerator∗ m_betaGenerator = NULL
Definition at line 36 of file RansacLoopClosureDrawMovie.cpp.
8.23.2.7 DescriptorGenerator∗ m_descriptor = NULL
Definition at line 38 of file RansacLoopClosureDrawMovie.cpp.
8.23.2.8 Detector∗ m_detector = NULL
Definition at line 34 of file RansacLoopClosureDrawMovie.cpp.
8.23.2.9 CurvatureDetector∗ m_detectorCurvature = NULL
Definition at line 30 of file RansacLoopClosureDrawMovie.cpp.
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8.23.2.10 NormalBlobDetector∗ m_detectorNormalBlob = NULL
Definition at line 31 of file RansacLoopClosureDrawMovie.cpp.
8.23.2.11 NormalEdgeDetector∗ m_detectorNormalEdge = NULL
Definition at line 32 of file RansacLoopClosureDrawMovie.cpp.
8.23.2.12 RangeDetector∗ m_detectorRange = NULL
Definition at line 33 of file RansacLoopClosureDrawMovie.cpp.
8.23.2.13 std::vector > m_pointsReference
Definition at line 42 of file RansacLoopClosureDrawMovie.cpp.
8.23.2.14 std::vector m_posesReference
Definition at line 43 of file RansacLoopClosureDrawMovie.cpp.
8.23.2.15 RansacFeatureSetMatcher∗ m_ransac = NULL
Definition at line 40 of file RansacLoopClosureDrawMovie.cpp.
8.23.2.16 LogSensorStream m_sensorReference(NULL, NULL)
8.23.2.17 ShapeContextGenerator∗ m_shapeGenerator = NULL
Definition at line 37 of file RansacLoopClosureDrawMovie.cpp.
8.23.2.18 int offsetX = 0
Definition at line 48 of file RansacLoopClosureDrawMovie.cpp.
8.23.2.19 int offsetY = 0
Definition at line 48 of file RansacLoopClosureDrawMovie.cpp.
8.23.2.20 double scaleFactor = 1.
Definition at line 49 of file RansacLoopClosureDrawMovie.cpp.
8.23.2.21 int sizeX = 1024
Definition at line 50 of file RansacLoopClosureDrawMovie.cpp.
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8.23 /home/tipaldi/src/flirt-release/src/feature/RansacLoopClosureDrawMovie.cpp File Reference 03
8.23.2.22 int sizeY = 800
Definition at line 50 of file RansacLoopClosureDrawMovie.cpp.
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204 File Documentation
8.24 /home/tipaldi/src/flirt-release/src/feature/RansacLoopClosureTest.cpp
File Reference
#include
#include
#include
#include
#include
#include
#include
#include
#include
#include
#include
#include
#include
#include
#include
#include
#include
#include
#include
Include dependency graph for RansacLoopClosureTest.cpp:
/home/tipaldi/src/flirt-release/src/feature/RansacLoopClosureTest.cpp
feature/NormalEdgeDetector.h feature/NormalBlobDetector.h string.h sys/time.h
feature/NormalDetector.h feature/RangeDetector.h utils/SimpleMinMaxPeakFinder.h
feature/CurvatureDetector.h feature/MultiScaleDetector.h feature/RansacFeatureSetMatcher.h utils/SimplePeakFinder.h
boost/graph/adjacency_matrix.hpp boost/graph/adjacency_list.hpp boost/graph/prim_minimum_spanning_tree.hpp boost/graph/johnson_all_pairs_shortest.hpp boost/graph/graph_utility.hpp utils/Convolution.h feature/Detector.h feature/ShapeContext.h feature/BetaGrid.h utils/PeakFinder.h feature/AbstractFeatureSetMatcher.h utils/PoseEstimation.h sensorstream/CarmenLog.h sensorstream/LogSensorStream.h
utils/Regression.h boost/math/special_functions/bessel.hpp utils/Convolution.hpp feature/InterestPoint.h utils/HistogramDistances.h sensors/LaserReading.h utility sstream sensorstream/LogReader.h sensorstream/LogWriter.h fstream sensorstream/SensorStream.h
feature/Descriptor.h utils/HistogramDistances.hpp geometry/point.h vector sensors/AbstractReading.h
cmath iostream string
Functions
• void match (unsigned int position)
• void detectLog ()
• void countLog ()
• void describeLog ()
• int main (int argc, char ∗∗argv)
Variables
• LogSensorStream m_sensorReference (NULL, NULL)
• CurvatureDetector ∗ m_detectorCurvature = NULL
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8.24 /home/tipaldi/src/flirt-release/src/feature/RansacLoopClosureTest.cpp File Reference 205
• NormalBlobDetector ∗ m_detectorNormalBlob = NULL
• NormalEdgeDetector ∗ m_detectorNormalEdge = NULL
• RangeDetector ∗ m_detectorRange = NULL
• Detector ∗ m_detector = NULL
• BetaGridGenerator ∗ m_betaGenerator = NULL
• ShapeContextGenerator ∗ m_shapeGenerator = NULL
• DescriptorGenerator ∗ m_descriptor = NULL
• RansacFeatureSetMatcher ∗ m_ransac = NULL
• double angErrorTh = 0.2
• double linErrorTh = 0.5
• std::vector > m_pointsReference
• std::vector m_posesReference
• unsigned int corresp [ ] = {0, 3, 5, 7, 9, 11, 13, 15}
• double m_error [8] = {0.}
• double m_errorC [8] = {0.}
• double m_errorR [8] = {0.}
• unsigned int m_match [8] = {0}
• unsigned int m_matchC [8] = {0}
• unsigned int m_matchR [8] = {0}
• unsigned int m_valid [8] = {0}
• struct timeval detectTime describeTime ransacTime
8.24.1 Function Documentation
8.24.1.1 void countLog ()
Definition at line 165 of file RansacLoopClosureTest.cpp.
8.24.1.2 void describeLog ()
Definition at line 187 of file RansacLoopClosureTest.cpp.
8.24.1.3 void detectLog ()
Definition at line 132 of file RansacLoopClosureTest.cpp.
8.24.1.4 int main (int argc, char ∗∗ argv)
Definition at line 221 of file RansacLoopClosureTest.cpp.
8.24.1.5 void match (unsigned int position)
Definition at line 51 of file RansacLoopClosureTest.cpp.
8.24.2 Variable Documentation
8.24.2.1 double angErrorTh = 0.2
Definition at line 37 of file RansacLoopClosureTest.cpp.
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8.24.2.2 unsigned int corresp[ ] = {0, 3, 5, 7, 9, 11, 13, 15}
Definition at line 43 of file RansacLoopClosureTest.cpp.
8.24.2.3 double linErrorTh = 0.5
Definition at line 38 of file RansacLoopClosureTest.cpp.
8.24.2.4 BetaGridGenerator∗ m_betaGenerator = NULL
Definition at line 31 of file RansacLoopClosureTest.cpp.
8.24.2.5 DescriptorGenerator∗ m_descriptor = NULL
Definition at line 33 of file RansacLoopClosureTest.cpp.
8.24.2.6 Detector∗ m_detector = NULL
Definition at line 29 of file RansacLoopClosureTest.cpp.
8.24.2.7 CurvatureDetector∗ m_detectorCurvature = NULL
Definition at line 25 of file RansacLoopClosureTest.cpp.
8.24.2.8 NormalBlobDetector∗ m_detectorNormalBlob = NULL
Definition at line 26 of file RansacLoopClosureTest.cpp.
8.24.2.9 NormalEdgeDetector∗ m_detectorNormalEdge = NULL
Definition at line 27 of file RansacLoopClosureTest.cpp.
8.24.2.10 RangeDetector∗ m_detectorRange = NULL
Definition at line 28 of file RansacLoopClosureTest.cpp.
8.24.2.11 double m_error[8] = {0.}
Definition at line 45 of file RansacLoopClosureTest.cpp.
8.24.2.12 double m_errorC[8] = {0.}
Definition at line 45 of file RansacLoopClosureTest.cpp.
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8.24.2.13 double m_errorR[8] = {0.}
Definition at line 45 of file RansacLoopClosureTest.cpp.
8.24.2.14 unsigned int m_match[8] = {0}
Definition at line 46 of file RansacLoopClosureTest.cpp.
8.24.2.15 unsigned int m_matchC[8] = {0}
Definition at line 46 of file RansacLoopClosureTest.cpp.
8.24.2.16 unsigned int m_matchR[8] = {0}
Definition at line 46 of file RansacLoopClosureTest.cpp.
8.24.2.17 std::vector > m_pointsReference
Definition at line 40 of file RansacLoopClosureTest.cpp.
8.24.2.18 std::vector m_posesReference
Definition at line 41 of file RansacLoopClosureTest.cpp.
8.24.2.19 RansacFeatureSetMatcher∗ m_ransac = NULL
Definition at line 35 of file RansacLoopClosureTest.cpp.
8.24.2.20 LogSensorStream m_sensorReference(NULL, NULL)
8.24.2.21 ShapeContextGenerator∗ m_shapeGenerator = NULL
Definition at line 32 of file RansacLoopClosureTest.cpp.
8.24.2.22 unsigned int m_valid[8] = {0}
Definition at line 47 of file RansacLoopClosureTest.cpp.
8.24.2.23 struct timeval detectTime describeTime ransacTime
Definition at line 49 of file RansacLoopClosureTest.cpp.
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208 File Documentation
8.25 /home/tipaldi/src/flirt-release/src/feature/RansacMultiFeatureSetMatcher.cpp
File Reference
#include "RansacMultiFeatureSetMatcher.h"
#include
#include
#include
Include dependency graph for RansacMultiFeatureSetMatcher.cpp:
/home/tipaldi/src/flirt-release/src/feature/RansacMultiFeatureSetMatcher.cpp
RansacMultiFeatureSetMatcher.h boost/random.hpp boost/random/uniform_smallint.hpp sys/time.h
feature/RansacFeatureSetMatcher.h
utils/PoseEstimation.h feature/AbstractFeatureSetMatcher.h
utility feature/InterestPoint.h
geometry/point.h feature/Descriptor.h vector
cmath iostream
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8.26 /home/tipaldi/src/flirt-release/src/feature/RansacMultiFeatureSetMatcher.h File Reference 209
8.26 /home/tipaldi/src/flirt-release/src/feature/RansacMultiFeatureSetMatcher.h
File Reference
#include
#include
#include
#include
Include dependency graph for RansacMultiFeatureSetMatcher.h:
/home/tipaldi/src/flirt-release/src/feature/RansacMultiFeatureSetMatcher.h
feature/RansacFeatureSetMatcher.h
utils/PoseEstimation.h feature/AbstractFeatureSetMatcher.h
utility feature/InterestPoint.h
geometry/point.h feature/Descriptor.h vector
cmath iostream
This graph shows which files directly or indirectly include this file:
/home/tipaldi/src/flirt-release/src/feature/RansacMultiFeatureSetMatcher.h
/home/tipaldi/src/flirt-release/src/feature/RansacMultiFeatureSetMatcher.cpp
Classes
• class RansacMultiFeatureSetMatcher
Representation of the RANSAC algorithm for feature matching.
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210 File Documentation
8.27 /home/tipaldi/src/flirt-release/src/feature/ShapeContext.cpp
File Reference
#include "ShapeContext.h"
Include dependency graph for ShapeContext.cpp:
/home/tipaldi/src/flirt-release/src/feature/ShapeContext.cpp
ShapeContext.h
utils/HistogramDistances.h feature/InterestPoint.h sensors/LaserReading.h
utils/HistogramDistances.hpp feature/Descriptor.h vector geometry/point.h sensors/AbstractReading.h
iostream cmath string
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8.28 /home/tipaldi/src/flirt-release/src/feature/ShapeContext.h File Reference 211
8.28 /home/tipaldi/src/flirt-release/src/feature/ShapeContext.h File
Reference
#include
#include
#include
#include
#include
Include dependency graph for ShapeContext.h:
/home/tipaldi/src/flirt-release/src/feature/ShapeContext.h
utils/HistogramDistances.h feature/InterestPoint.h sensors/LaserReading.h
utils/HistogramDistances.hpp feature/Descriptor.h vector geometry/point.h sensors/AbstractReading.h
iostream cmath string
This graph shows which files directly or indirectly include this file:
/home/tipaldi/src/flirt-release/src/feature/ShapeContext.h
/home/tipaldi/src/flirt-release/src/feature/RansacLoopClosureDrawMovie.cpp /home/tipaldi/src/flirt-release/src/feature/RansacLoopClosureTest.cpp /home/tipaldi/src/flirt-release/src/feature/ShapeContext.cpp
Classes
• class ShapeContext
Representation of the shape context descriptor.
• class ShapeContextGenerator
Representation of the shape context descriptor generator.
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212 File Documentation
8.29 /home/tipaldi/src/flirt-release/src/geometry/point.cpp File Ref-
erence
#include "point.h"
Include dependency graph for point.cpp:
/home/tipaldi/src/flirt-release/src/geometry/point.cpp
point.h
cmath iostream
Functions
• double normAngle (double angle, double base)
Simple function for normalizing the angle into the interval (base, 2π + base).
8.29.1 Function Documentation
8.29.1.1 double normAngle (double angle, double base)
Simple function for normalizing the angle into the interval (base, 2π + base).
Definition at line 72 of file point.cpp.
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8.30 /home/tipaldi/src/flirt-release/src/geometry/point.h File Reference 213
8.30 /home/tipaldi/src/flirt-release/src/geometry/point.h File Refer-
ence
#include
#include
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/home/tipaldi/src/flirt-release/src/geometry/point.h
cmath iostream
This graph shows which files directly or indirectly include this file:
/home/tipaldi/src/flirt-release/src/geometry/point.h
/home/tipaldi/src/flirt-release/src/feature/InterestPoint.h /home/tipaldi/src/flirt-release/src/sensors/LaserReading.h /home/tipaldi/src/flirt-release/src/geometry/point.cpp
/home/tipaldi/src/flirt-release/src/utils/PoseEstimation.h /home/tipaldi/src/flirt-release/src/feature/AbstractFeatureSetMatcher.h /home/tipaldi/src/flirt-release/src/feature/InterestPoint.cpp /home/tipaldi/src/flirt-release/src/feature/Detector.h /home/tipaldi/src/flirt-release/src/feature/BetaGrid.h /home/tipaldi/src/flirt-release/src/feature/ShapeContext.h /home/tipaldi/src/flirt-release/src/sensors/LaserReading.cpp /home/tipaldi/src/flirt-release/src/sensorstream/CarmenLog.h
/home/tipaldi/src/flirt-release/src/utils/PoseEstimation.cpp /home/tipaldi/src/flirt-release/src/feature/RansacFeatureSetMatcher.h /home/tipaldi/src/flirt-release/src/feature/AbstractFeatureSetMatcher.cpp /home/tipaldi/src/flirt-release/src/utils/Regression.h /home/tipaldi/src/flirt-release/src/feature/MultiScaleDetector.h /home/tipaldi/src/flirt-release/src/feature/CurvatureDetector.h /home/tipaldi/src/flirt-release/src/feature/BetaGrid.cpp /home/tipaldi/src/flirt-release/src/feature/ShapeContext.cpp /home/tipaldi/src/flirt-release/src/sensorstream/CarmenLog.cpp
/home/tipaldi/src/flirt-release/src/feature/RansacMultiFeatureSetMatcher.h /home/tipaldi/src/flirt-release/src/feature/RansacFeatureSetMatcher.cpp /home/tipaldi/src/flirt-release/src/utils/Regression.cpp /home/tipaldi/src/flirt-release/src/feature/NormalDetector.h /home/tipaldi/src/flirt-release/src/feature/MultiScaleDetector.cpp /home/tipaldi/src/flirt-release/src/feature/CurvatureDetector.cpp /home/tipaldi/src/flirt-release/src/feature/RangeDetector.h
/home/tipaldi/src/flirt-release/src/feature/RansacMultiFeatureSetMatcher.cpp /home/tipaldi/src/flirt-release/src/feature/NormalEdgeDetector.h /home/tipaldi/src/flirt-release/src/feature/NormalBlobDetector.h /home/tipaldi/src/flirt-release/src/feature/NormalDetector.cpp /home/tipaldi/src/flirt-release/src/feature/RangeDetector.cpp
/home/tipaldi/src/flirt-release/src/feature/NormalEdgeDetector.cpp /home/tipaldi/src/flirt-release/src/feature/NormalBlobDetector.cpp /home/tipaldi/src/flirt-release/src/feature/RansacLoopClosureDrawMovie.cpp /home/tipaldi/src/flirt-release/src/feature/RansacLoopClosureTest.cpp
Classes
• struct Point2D
Representation of a point in R2 .
• struct OrientedPoint2D
Representation of a point in SO(2) .
Functions
• double deg2rad (double _angle)
Simple function for convrting degrees into radians.
• double rad2deg (double _angle)
Simple function for converting radians into degrees.
• double normAngle (double angle, double base)
Simple function for normalizing the angle into the interval (base, 2π + base).
• Point2D operator- (const Point2D &first, const Point2D &last)
Compute the difference between two points.
• Point2D operator+ (const Point2D &first, const Point2D &last)
Compute the sum between two points.
• OrientedPoint2D operator- (const OrientedPoint2D &first, const OrientedPoint2D &last)
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214 File Documentation
Compute the analitical difference between two oriented points.
• OrientedPoint2D operator+ (const OrientedPoint2D &first, const OrientedPoint2D &last)
Compute the analitical sum between two oriented points.
• Point2D operator∗ (const Point2D &first, const double last)
Compute the product of a point with a scalar.
• Point2D operator∗ (const double last, const Point2D &first)
Compute the product of a point with a scalar.
• double operator∗ (const Point2D &first, const Point2D &last)
Compute the dot product of two points.
• std::ostream & operator
Include dependency graph for AbstractReading.h:
/home/tipaldi/src/flirt-release/src/sensors/AbstractReading.h
string
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/home/tipaldi/src/flirt-release/src/sensors/AbstractReading.h
/home/tipaldi/src/flirt-release/src/sensors/AbstractReading.cpp /home/tipaldi/src/flirt-release/src/sensors/LaserReading.h /home/tipaldi/src/flirt-release/src/sensorstream/LogReader.h /home/tipaldi/src/flirt-release/src/sensorstream/LogWriter.h /home/tipaldi/src/flirt-release/src/sensorstream/SensorStream.h
/home/tipaldi/src/flirt-release/src/sensors/LaserReading.cpp /home/tipaldi/src/flirt-release/src/feature/Detector.h /home/tipaldi/src/flirt-release/src/sensorstream/CarmenLog.h /home/tipaldi/src/flirt-release/src/sensorstream/LogSensorStream.h
/home/tipaldi/src/flirt-release/src/feature/MultiScaleDetector.h /home/tipaldi/src/flirt-release/src/sensorstream/CarmenLog.cpp /home/tipaldi/src/flirt-release/src/sensorstream/LogSensorStream.cpp
/home/tipaldi/src/flirt-release/src/feature/NormalDetector.h /home/tipaldi/src/flirt-release/src/feature/MultiScaleDetector.cpp /home/tipaldi/src/flirt-release/src/feature/RangeDetector.h
/home/tipaldi/src/flirt-release/src/feature/CurvatureDetector.h /home/tipaldi/src/flirt-release/src/feature/NormalEdgeDetector.h /home/tipaldi/src/flirt-release/src/feature/NormalDetector.cpp /home/tipaldi/src/flirt-release/src/feature/NormalBlobDetector.h /home/tipaldi/src/flirt-release/src/feature/RangeDetector.cpp /home/tipaldi/src/flirt-release/src/feature/BetaGrid.h /home/tipaldi/src/flirt-release/src/feature/ShapeContext.h
/home/tipaldi/src/flirt-release/src/feature/CurvatureDetector.cpp /home/tipaldi/src/flirt-release/src/feature/NormalEdgeDetector.cpp /home/tipaldi/src/flirt-release/src/feature/NormalBlobDetector.cpp /home/tipaldi/src/flirt-release/src/feature/RansacLoopClosureTest.cpp /home/tipaldi/src/flirt-release/src/feature/RansacLoopClosureDrawMovie.cpp /home/tipaldi/src/flirt-release/src/feature/BetaGrid.cpp /home/tipaldi/src/flirt-release/src/feature/ShapeContext.cpp
Classes
• class AbstractReading
Representation of an abstract sensor measurement.
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8.34 /home/tipaldi/src/flirt-release/src/sensors/LaserReading.cpp
File Reference
#include "LaserReading.h"
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8.35 /home/tipaldi/src/flirt-release/src/sensors/LaserReading.h File
Reference
#include
#include
#include
#include
#include
Include dependency graph for LaserReading.h:
/home/tipaldi/src/flirt-release/src/sensors/LaserReading.h
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/home/tipaldi/src/flirt-release/src/sensors/LaserReading.h
/home/tipaldi/src/flirt-release/src/feature/Detector.h /home/tipaldi/src/flirt-release/src/sensors/LaserReading.cpp
/home/tipaldi/src/flirt-release/src/feature/MultiScaleDetector.h
/home/tipaldi/src/flirt-release/src/feature/NormalDetector.h /home/tipaldi/src/flirt-release/src/feature/MultiScaleDetector.cpp /home/tipaldi/src/flirt-release/src/feature/RangeDetector.h
/home/tipaldi/src/flirt-release/src/feature/BetaGrid.h /home/tipaldi/src/flirt-release/src/feature/NormalEdgeDetector.h /home/tipaldi/src/flirt-release/src/feature/NormalBlobDetector.h /home/tipaldi/src/flirt-release/src/feature/NormalDetector.cpp /home/tipaldi/src/flirt-release/src/feature/RangeDetector.cpp /home/tipaldi/src/flirt-release/src/feature/CurvatureDetector.h /home/tipaldi/src/flirt-release/src/feature/ShapeContext.h /home/tipaldi/src/flirt-release/src/sensorstream/CarmenLog.h
/home/tipaldi/src/flirt-release/src/feature/BetaGrid.cpp /home/tipaldi/src/flirt-release/src/feature/NormalEdgeDetector.cpp /home/tipaldi/src/flirt-release/src/feature/NormalBlobDetector.cpp /home/tipaldi/src/flirt-release/src/feature/RansacLoopClosureDrawMovie.cpp /home/tipaldi/src/flirt-release/src/feature/RansacLoopClosureTest.cpp /home/tipaldi/src/flirt-release/src/feature/CurvatureDetector.cpp /home/tipaldi/src/flirt-release/src/feature/ShapeContext.cpp /home/tipaldi/src/flirt-release/src/sensorstream/CarmenLog.cpp
Classes
• class LaserReading
Representation of a laser measurement.
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8.36 /home/tipaldi/src/flirt-release/src/sensorstream/CarmenLog.cpp File Reference 221
8.36 /home/tipaldi/src/flirt-release/src/sensorstream/CarmenLog.cpp
File Reference
#include "CarmenLog.h"
#include
#include
Include dependency graph for CarmenLog.cpp:
/home/tipaldi/src/flirt-release/src/sensorstream/CarmenLog.cpp
CarmenLog.h boost/algorithm/string/predicate.hpp math.h
sensorstream/LogWriter.h sensorstream/LogReader.h sensors/LaserReading.h sstream
sensors/AbstractReading.h vector geometry/point.h
string iostream cmath
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222 File Documentation
8.37 /home/tipaldi/src/flirt-release/src/sensorstream/CarmenLog.h
File Reference
#include
#include
#include
#include
#include
#include
#include
#include
#include
Include dependency graph for CarmenLog.h:
/home/tipaldi/src/flirt-release/src/sensorstream/CarmenLog.h
sensorstream/LogWriter.h sensorstream/LogReader.h sensors/LaserReading.h sstream
sensors/AbstractReading.h vector geometry/point.h
string iostream cmath
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/home/tipaldi/src/flirt-release/src/sensorstream/CarmenLog.h
/home/tipaldi/src/flirt-release/src/feature/RansacLoopClosureDrawMovie.cpp /home/tipaldi/src/flirt-release/src/feature/RansacLoopClosureTest.cpp /home/tipaldi/src/flirt-release/src/sensorstream/CarmenLog.cpp
Classes
• class CarmenLogReader
Representation of a CARMEN log reader.
• class CarmenLogWriter
Representation of a CARMEN log writer.
Defines
• #define MAX_LINE_SIZE 8192
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8.37 /home/tipaldi/src/flirt-release/src/sensorstream/CarmenLog.h File Reference 223
8.37.1 Define Documentation
8.37.1.1 #define MAX_LINE_SIZE 8192
Definition at line 16 of file CarmenLog.h.
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8.38 /home/tipaldi/src/flirt-release/src/sensorstream/LogReader.h
File Reference
#include
#include
#include
Include dependency graph for LogReader.h:
/home/tipaldi/src/flirt-release/src/sensorstream/LogReader.h
sensors/AbstractReading.h iostream vector
string
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/home/tipaldi/src/flirt-release/src/sensorstream/LogReader.h
/home/tipaldi/src/flirt-release/src/sensorstream/LogSensorStream.h /home/tipaldi/src/flirt-release/src/sensorstream/CarmenLog.h
/home/tipaldi/src/flirt-release/src/sensorstream/LogSensorStream.cpp /home/tipaldi/src/flirt-release/src/feature/RansacLoopClosureDrawMovie.cpp /home/tipaldi/src/flirt-release/src/feature/RansacLoopClosureTest.cpp /home/tipaldi/src/flirt-release/src/sensorstream/CarmenLog.cpp
Classes
• class LogReader
Representation of an abstract log reader.
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8.39 /home/tipaldi/src/flirt-release/src/sensorstream/LogSensorStream.cpp File Reference 225
8.39 /home/tipaldi/src/flirt-release/src/sensorstream/LogSensorStream.cpp
File Reference
#include "LogSensorStream.h"
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LogSensorStream.h
sensorstream/SensorStream.h sensorstream/LogReader.h sensorstream/LogWriter.h fstream
sensors/AbstractReading.h iostream vector
string
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8.40 /home/tipaldi/src/flirt-release/src/sensorstream/LogSensorStream.h
File Reference
#include
#include
#include
#include
#include
#include
#include
#include
Include dependency graph for LogSensorStream.h:
/home/tipaldi/src/flirt-release/src/sensorstream/LogSensorStream.h
sensorstream/SensorStream.h sensorstream/LogReader.h sensorstream/LogWriter.h fstream
sensors/AbstractReading.h iostream vector
string
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Classes
• class LogSensorStream
Representation of log file as a stream of sensor readings.
Defines
• #define AVG_SIZE_LOG 1000
8.40.1 Define Documentation
8.40.1.1 #define AVG_SIZE_LOG 1000
Definition at line 16 of file LogSensorStream.h.
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8.41 /home/tipaldi/src/flirt-release/src/sensorstream/LogWriter.h
File Reference
#include
#include
#include
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/home/tipaldi/src/flirt-release/src/sensorstream/LogWriter.h
sensors/AbstractReading.h iostream vector
string
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/home/tipaldi/src/flirt-release/src/sensorstream/LogSensorStream.h /home/tipaldi/src/flirt-release/src/sensorstream/CarmenLog.h
/home/tipaldi/src/flirt-release/src/sensorstream/LogSensorStream.cpp /home/tipaldi/src/flirt-release/src/feature/RansacLoopClosureDrawMovie.cpp /home/tipaldi/src/flirt-release/src/feature/RansacLoopClosureTest.cpp /home/tipaldi/src/flirt-release/src/sensorstream/CarmenLog.cpp
Classes
• class LogWriter
Representation of an abstract log writer.
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228 File Documentation
8.42 /home/tipaldi/src/flirt-release/src/sensorstream/SensorStream.h
File Reference
#include
Include dependency graph for SensorStream.h:
/home/tipaldi/src/flirt-release/src/sensorstream/SensorStream.h
sensors/AbstractReading.h
string
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/home/tipaldi/src/flirt-release/src/sensorstream/LogSensorStream.h
/home/tipaldi/src/flirt-release/src/feature/RansacLoopClosureDrawMovie.cpp /home/tipaldi/src/flirt-release/src/sensorstream/LogSensorStream.cpp /home/tipaldi/src/flirt-release/src/feature/RansacLoopClosureTest.cpp
Classes
• class SensorStream
Representation of an abstract stream of sensor readings.
Enumerations
• enum SensorStreamOffset { END, BEGIN }
The offset from where to seek, values are END or BEGIN.
8.42.1 Enumeration Type Documentation
8.42.1.1 enum SensorStreamOffset
The offset from where to seek, values are END or BEGIN.
Author:
Gian Diego Tipaldi
Enumerator:
END
BEGIN
Definition at line 12 of file SensorStream.h.
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8.43 /home/tipaldi/src/flirt-release/src/utils/Convolution.h File Reference 229
8.43 /home/tipaldi/src/flirt-release/src/utils/Convolution.h File Ref-
erence
#include
#include
#include
#include
#include
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vector cmath boost/math/special_functions/bessel.hpp iostream utils/Convolution.hpp
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/home/tipaldi/src/flirt-release/src/feature/MultiScaleDetector.h
/home/tipaldi/src/flirt-release/src/feature/NormalDetector.h /home/tipaldi/src/flirt-release/src/feature/MultiScaleDetector.cpp /home/tipaldi/src/flirt-release/src/feature/RangeDetector.h
/home/tipaldi/src/flirt-release/src/feature/NormalDetector.cpp /home/tipaldi/src/flirt-release/src/feature/NormalBlobDetector.h /home/tipaldi/src/flirt-release/src/feature/NormalEdgeDetector.h /home/tipaldi/src/flirt-release/src/feature/RangeDetector.cpp /home/tipaldi/src/flirt-release/src/feature/CurvatureDetector.h
/home/tipaldi/src/flirt-release/src/feature/NormalBlobDetector.cpp /home/tipaldi/src/flirt-release/src/feature/NormalEdgeDetector.cpp /home/tipaldi/src/flirt-release/src/feature/RansacLoopClosureTest.cpp /home/tipaldi/src/flirt-release/src/feature/RansacLoopClosureDrawMovie.cpp /home/tipaldi/src/flirt-release/src/feature/CurvatureDetector.cpp
Enumerations
• enum ConvolutionPadding { ZERO, SPECULAR, CIRCULAR }
Simple functions for performing convolution on discrete signals.
• enum ConvolutionResult { SAME, FULL }
The size of the convolution result.
Functions
• template
std::vector convolve1D (const std::vector &source, const std::vector &kernel, int offset=0, ConvolutionPadding padding=SPECULAR, ConvolutionResult
resultType=SAME)
Convolve the kernel over the source, if the size of the source is bigger than the size of the kernel, the opposite
otherwise.
• template
std::vector besselKernel1D (Numeric sigma, unsigned int kernelSize)
Compute the Bessel kernel for smoothing.
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• template
std::vector gaussianKernel1D (Numeric sigma, unsigned int kernelSize)
Compute the Gaussian kernel for smoothing.
• template
std::ostream & operator &vector)
Print the signal to a stream.
8.43.1 Enumeration Type Documentation
8.43.1.1 enum ConvolutionPadding
Simple functions for performing convolution on discrete signals.
Author:
Gian Diego Tipaldi The padding strategy for the convolution operation.
Enumerator:
ZERO The zero padding strategy. The original signal is augmented with zeros at the borders.
SPECULAR The specular padding strategy. The original signal is replicated in a specular way at the
borders.
CIRCULAR The circular padding strategy. It implements the circular convolution.
Definition at line 19 of file Convolution.h.
8.43.1.2 enum ConvolutionResult
The size of the convolution result.
Enumerator:
SAME The convolution result has the same size of the original signal.
FULL The convolution result has the full size.
Definition at line 29 of file Convolution.h.
8.43.2 Function Documentation
8.43.2.1 template std::vector besselKernel1D (Numeric sigma,
unsigned int kernelSize) [inline]
Compute the Bessel kernel for smoothing.
Parameters:
sigma The standard deviation of the kernel.
kernelSize The size of the kernel.
Definition at line 76 of file Convolution.hpp.
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8.43.2.2 template std::vector convolve1D (const std::vector & source, const std::vector & kernel, int offset = 0,
ConvolutionPadding padding = SPECULAR, ConvolutionResult resultType = SAME)
[inline]
Convolve the kernel over the source, if the size of the source is bigger than the size of the kernel, the
opposite otherwise. The padding is defined according to padding and can be ZERO, SPECULAR or CIR-
CULAR. The size of the result is defined by resultType and can be FULL or SAME. The parameter offset
define the offset of the kernel with respect to the source.
Parameters:
source The signal to convolve.
kernel The convolution kernel. If the kernel is bigger than the source kernel and source are inverted.
offset The offset of the convolution. It is useful to shifting the signal to the left or right.
padding The type of padding. See the ConvolutionPadding enum.
resultType The size of the convolution result. See the ConvolutionResult enum.
Definition at line 11 of file Convolution.hpp.
8.43.2.3 template std::vector gaussianKernel1D (Numeric sigma,
unsigned int kernelSize) [inline]
Compute the Gaussian kernel for smoothing.
Parameters:
sigma The standard deviation of the kernel.
kernelSize The size of the kernel.
Definition at line 94 of file Convolution.hpp.
8.43.2.4 template std::ostream& operator & vector) [inline]
Print the signal to a stream.
Definition at line 3 of file Convolution.hpp.
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Reference
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/home/tipaldi/src/flirt-release/src/utils/Convolution.h
/home/tipaldi/src/flirt-release/src/feature/MultiScaleDetector.h
/home/tipaldi/src/flirt-release/src/feature/NormalDetector.h /home/tipaldi/src/flirt-release/src/feature/MultiScaleDetector.cpp /home/tipaldi/src/flirt-release/src/feature/RangeDetector.h
/home/tipaldi/src/flirt-release/src/feature/NormalDetector.cpp /home/tipaldi/src/flirt-release/src/feature/NormalBlobDetector.h /home/tipaldi/src/flirt-release/src/feature/NormalEdgeDetector.h /home/tipaldi/src/flirt-release/src/feature/RangeDetector.cpp /home/tipaldi/src/flirt-release/src/feature/CurvatureDetector.h
/home/tipaldi/src/flirt-release/src/feature/NormalBlobDetector.cpp /home/tipaldi/src/flirt-release/src/feature/NormalEdgeDetector.cpp /home/tipaldi/src/flirt-release/src/feature/RansacLoopClosureTest.cpp /home/tipaldi/src/flirt-release/src/feature/RansacLoopClosureDrawMovie.cpp /home/tipaldi/src/flirt-release/src/feature/CurvatureDetector.cpp
Functions
• template
std::ostream & operator &vector)
Print the signal to a stream.
• template
std::vector convolve1D (const std::vector &_source, const std::vector &_kernel, int _offset, ConvolutionPadding _padding, ConvolutionResult _resultType)
Convolve the kernel over the source, if the size of the source is bigger than the size of the kernel, the opposite
otherwise.
• template
std::vector besselKernel1D (Numeric _sigma, unsigned int _kernelSize)
Compute the Bessel kernel for smoothing.
• template
std::vector gaussianKernel1D (Numeric sigma, unsigned int _kernelSize)
Compute the Gaussian kernel for smoothing.
8.44.1 Function Documentation
8.44.1.1 template std::vector besselKernel1D (Numeric sigma,
unsigned int kernelSize) [inline]
Compute the Bessel kernel for smoothing.
Parameters:
sigma The standard deviation of the kernel.
kernelSize The size of the kernel.
Definition at line 76 of file Convolution.hpp.
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8.44 /home/tipaldi/src/flirt-release/src/utils/Convolution.hpp File Reference 233
8.44.1.2 template std::vector convolve1D (const std::vector & source, const std::vector & kernel, int offset = 0,
ConvolutionPadding padding = SPECULAR, ConvolutionResult resultType = SAME)
[inline]
Convolve the kernel over the source, if the size of the source is bigger than the size of the kernel, the
opposite otherwise. The padding is defined according to padding and can be ZERO, SPECULAR or CIR-
CULAR. The size of the result is defined by resultType and can be FULL or SAME. The parameter offset
define the offset of the kernel with respect to the source.
Parameters:
source The signal to convolve.
kernel The convolution kernel. If the kernel is bigger than the source kernel and source are inverted.
offset The offset of the convolution. It is useful to shifting the signal to the left or right.
padding The type of padding. See the ConvolutionPadding enum.
resultType The size of the convolution result. See the ConvolutionResult enum.
Definition at line 11 of file Convolution.hpp.
8.44.1.3 template std::vector gaussianKernel1D (Numeric sigma,
unsigned int kernelSize) [inline]
Compute the Gaussian kernel for smoothing.
Parameters:
sigma The standard deviation of the kernel.
kernelSize The size of the kernel.
Definition at line 94 of file Convolution.hpp.
8.44.1.4 template std::ostream& operator & vector) [inline]
Print the signal to a stream.
Definition at line 3 of file Convolution.hpp.
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8.45 /home/tipaldi/src/flirt-release/src/utils/HistogramDistances.h
File Reference
#include
#include
#include
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/home/tipaldi/src/flirt-release/src/utils/HistogramDistances.h
vector cmath utils/HistogramDistances.hpp
iostream
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/home/tipaldi/src/flirt-release/src/feature/BetaGrid.h /home/tipaldi/src/flirt-release/src/feature/ShapeContext.h
/home/tipaldi/src/flirt-release/src/feature/BetaGrid.cpp /home/tipaldi/src/flirt-release/src/feature/RansacLoopClosureDrawMovie.cpp /home/tipaldi/src/flirt-release/src/feature/RansacLoopClosureTest.cpp /home/tipaldi/src/flirt-release/src/feature/ShapeContext.cpp
Classes
• class HistogramDistance
Representation of an abstract distance function between histograms.
• class EuclideanDistance
Representation of the Euclidean distance function between histograms.
• class Chi2Distance
Representation of the χ2 distance function between histograms.
• class SymmetricChi2Distance
Representation of the symmetric χ2 distance function between histograms.
• class BatthacharyyaDistance
Representation of the Batthacharyya distance function between histograms.
• class KullbackLeiblerDistance
Representation of the Kullback Leibler divergence between histograms.
• class JensenShannonDistance
Representation of the Jensen Shannon divergence between histograms.
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8.46 /home/tipaldi/src/flirt-release/src/utils/HistogramDistances.hpp File Reference 235
8.46 /home/tipaldi/src/flirt-release/src/utils/HistogramDistances.hpp
File Reference
#include
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iostream
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/home/tipaldi/src/flirt-release/src/feature/BetaGrid.h /home/tipaldi/src/flirt-release/src/feature/ShapeContext.h
/home/tipaldi/src/flirt-release/src/feature/BetaGrid.cpp /home/tipaldi/src/flirt-release/src/feature/RansacLoopClosureDrawMovie.cpp /home/tipaldi/src/flirt-release/src/feature/RansacLoopClosureTest.cpp /home/tipaldi/src/flirt-release/src/feature/ShapeContext.cpp
Defines
• #define PSEUDOZERO 0.0000001
8.46.1 Define Documentation
8.46.1.1 #define PSEUDOZERO 0.0000001
Definition at line 1 of file HistogramDistances.hpp.
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8.47 /home/tipaldi/src/flirt-release/src/utils/PeakFinder.h File Refer-
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#include
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vector
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/home/tipaldi/src/flirt-release/src/feature/NormalDetector.h /home/tipaldi/src/flirt-release/src/feature/MultiScaleDetector.cpp /home/tipaldi/src/flirt-release/src/feature/RangeDetector.h /home/tipaldi/src/flirt-release/src/utils/SimplePeakFinder.h
/home/tipaldi/src/flirt-release/src/feature/CurvatureDetector.h /home/tipaldi/src/flirt-release/src/feature/NormalDetector.cpp /home/tipaldi/src/flirt-release/src/feature/NormalEdgeDetector.h /home/tipaldi/src/flirt-release/src/feature/NormalBlobDetector.h /home/tipaldi/src/flirt-release/src/feature/RangeDetector.cpp /home/tipaldi/src/flirt-release/src/utils/SimplePeakFinder.cpp /home/tipaldi/src/flirt-release/src/utils/SimpleMinMaxPeakFinder.h
/home/tipaldi/src/flirt-release/src/feature/CurvatureDetector.cpp /home/tipaldi/src/flirt-release/src/feature/NormalEdgeDetector.cpp /home/tipaldi/src/flirt-release/src/feature/RansacLoopClosureDrawMovie.cpp /home/tipaldi/src/flirt-release/src/feature/NormalBlobDetector.cpp /home/tipaldi/src/flirt-release/src/feature/RansacLoopClosureTest.cpp /home/tipaldi/src/flirt-release/src/utils/SimpleMinMaxPeakFinder.cpp
Classes
• class PeakFinder
Representation of an abstract algorithm for peak finding.
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8.48 /home/tipaldi/src/flirt-release/src/utils/PoseEstimation.cpp File Reference 237
8.48 /home/tipaldi/src/flirt-release/src/utils/PoseEstimation.cpp File
Reference
#include "PoseEstimation.h"
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PoseEstimation.h
geometry/point.h vector utility
cmath iostream
Functions
• double compute2DPose (const std::vector > &correspondences,
OrientedPoint2D &transformation)
Function to compute the Euclidean transformation between two set of points.
8.48.1 Function Documentation
8.48.1.1 double compute2DPose (const std::vector > &
correspondences, OrientedPoint2D & transformation)
Function to compute the Euclidean transformation between two set of points. The transformation is com-
puted in closed form minimizing the squared residual reprojection error.
Definition at line 3 of file PoseEstimation.cpp.
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8.49 /home/tipaldi/src/flirt-release/src/utils/PoseEstimation.h File
Reference
#include
#include
#include
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/home/tipaldi/src/flirt-release/src/utils/PoseEstimation.h
geometry/point.h vector utility
cmath iostream
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/home/tipaldi/src/flirt-release/src/feature/RansacFeatureSetMatcher.h /home/tipaldi/src/flirt-release/src/utils/PoseEstimation.cpp
/home/tipaldi/src/flirt-release/src/feature/RansacFeatureSetMatcher.cpp /home/tipaldi/src/flirt-release/src/feature/RansacLoopClosureDrawMovie.cpp /home/tipaldi/src/flirt-release/src/feature/RansacLoopClosureTest.cpp /home/tipaldi/src/flirt-release/src/feature/RansacMultiFeatureSetMatcher.h
/home/tipaldi/src/flirt-release/src/feature/RansacMultiFeatureSetMatcher.cpp
Functions
• double compute2DPose (const std::vector > &correspondences,
OrientedPoint2D &transformation)
Function to compute the Euclidean transformation between two set of points.
8.49.1 Function Documentation
8.49.1.1 double compute2DPose (const std::vector > &
correspondences, OrientedPoint2D & transformation)
Function to compute the Euclidean transformation between two set of points. The transformation is com-
puted in closed form minimizing the squared residual reprojection error.
Definition at line 3 of file PoseEstimation.cpp.
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8.50 /home/tipaldi/src/flirt-release/src/utils/Regression.cpp File Reference 239
8.50 /home/tipaldi/src/flirt-release/src/utils/Regression.cpp File Ref-
erence
#include "Regression.h"
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Regression.h
vector geometry/point.h
cmath iostream
Functions
• LineParameters computeNormals (const std::vector &_points, const std::vector &_weights)
Fits a line in the weighted least squares sense to the points, in cartesian coordinates, with the corresponding
weights, minimizing the weighted perpendicular errors from the points to the line.
• LineParameters computeNormals (const std::vector &_points)
Fits a line in the weighted least squares sense to the points, in cartesian coordinates, minimizing the per-
pendicular errors from the points to the line.
8.50.1 Function Documentation
8.50.1.1 LineParameters computeNormals (const std::vector & _points)
Fits a line in the weighted least squares sense to the points, in cartesian coordinates, minimizing the per-
pendicular errors from the points to the line.
Definition at line 41 of file Regression.cpp.
8.50.1.2 LineParameters computeNormals (const std::vector & _points, const
std::vector & _weights)
Fits a line in the weighted least squares sense to the points, in cartesian coordinates, with the corresponding
weights, minimizing the weighted perpendicular errors from the points to the line.
Definition at line 3 of file Regression.cpp.
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8.51 /home/tipaldi/src/flirt-release/src/utils/Regression.h File Refer-
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#include
#include
#include
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/home/tipaldi/src/flirt-release/src/utils/Regression.h
/home/tipaldi/src/flirt-release/src/feature/NormalDetector.h /home/tipaldi/src/flirt-release/src/feature/RangeDetector.cpp /home/tipaldi/src/flirt-release/src/utils/Regression.cpp
/home/tipaldi/src/flirt-release/src/feature/NormalBlobDetector.h /home/tipaldi/src/flirt-release/src/feature/NormalEdgeDetector.h /home/tipaldi/src/flirt-release/src/feature/NormalDetector.cpp
/home/tipaldi/src/flirt-release/src/feature/NormalBlobDetector.cpp /home/tipaldi/src/flirt-release/src/feature/RansacLoopClosureDrawMovie.cpp /home/tipaldi/src/flirt-release/src/feature/RansacLoopClosureTest.cpp /home/tipaldi/src/flirt-release/src/feature/NormalEdgeDetector.cpp
Classes
• struct LineParameters
Simple functions to perform line fitting.
Functions
• LineParameters computeNormals (const std::vector &points, const std::vector &weights)
Fits a line in the weighted least squares sense to the points, in cartesian coordinates, with the corresponding
weights, minimizing the weighted perpendicular errors from the points to the line.
• LineParameters computeNormals (const std::vector &points)
Fits a line in the weighted least squares sense to the points, in cartesian coordinates, minimizing the per-
pendicular errors from the points to the line.
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8.51 /home/tipaldi/src/flirt-release/src/utils/Regression.h File Reference 241
8.51.1 Function Documentation
8.51.1.1 LineParameters computeNormals (const std::vector & points)
Fits a line in the weighted least squares sense to the points, in cartesian coordinates, minimizing the per-
pendicular errors from the points to the line.
Definition at line 41 of file Regression.cpp.
8.51.1.2 LineParameters computeNormals (const std::vector & points, const
std::vector & weights)
Fits a line in the weighted least squares sense to the points, in cartesian coordinates, with the corresponding
weights, minimizing the weighted perpendicular errors from the points to the line.
Definition at line 3 of file Regression.cpp.
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242 File Documentation
8.52 /home/tipaldi/src/flirt-release/src/utils/SimpleMinMaxPeakFinder.cpp
File Reference
#include "SimpleMinMaxPeakFinder.h"
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8.53 /home/tipaldi/src/flirt-release/src/utils/SimpleMinMaxPeakFinder.h File Reference 243
8.53 /home/tipaldi/src/flirt-release/src/utils/SimpleMinMaxPeakFinder.h
File Reference
#include
#include
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This graph shows which files directly or indirectly include this file:
/home/tipaldi/src/flirt-release/src/utils/SimpleMinMaxPeakFinder.h
/home/tipaldi/src/flirt-release/src/feature/RansacLoopClosureDrawMovie.cpp /home/tipaldi/src/flirt-release/src/feature/RansacLoopClosureTest.cpp /home/tipaldi/src/flirt-release/src/utils/SimpleMinMaxPeakFinder.cpp
Classes
• class SimpleMinMaxPeakFinder
Representation of a simple algorithm for peak finding.
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244 File Documentation
8.54 /home/tipaldi/src/flirt-release/src/utils/SimplePeakFinder.cpp
File Reference
#include "SimplePeakFinder.h"
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8.55 /home/tipaldi/src/flirt-release/src/utils/SimplePeakFinder.h File
Reference
#include
#include
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/home/tipaldi/src/flirt-release/src/utils/SimplePeakFinder.h
/home/tipaldi/src/flirt-release/src/utils/SimpleMinMaxPeakFinder.h /home/tipaldi/src/flirt-release/src/utils/SimplePeakFinder.cpp
/home/tipaldi/src/flirt-release/src/feature/RansacLoopClosureDrawMovie.cpp /home/tipaldi/src/flirt-release/src/feature/RansacLoopClosureTest.cpp /home/tipaldi/src/flirt-release/src/utils/SimpleMinMaxPeakFinder.cpp
Classes
• class SimplePeakFinder
Representation of a simple algorithm for peak finding.
Generated on Mon Apr 19 16:57:44 2010 for Fast Laser Interesting Region Transform (FLIRT) by Doxygen