BrickData Class Reference

#include <BrickData.h>

Inheritance diagram for BrickData:

Detailed Description

Definition at line 22 of file BrickData.h.

Public Member Functions
	BrickData (ShapeSpace &_space, const EndPoint &GFL, const EndPoint &GBL, const EndPoint &GFR, const EndPoint &GBR, const EndPoint &TFL, const EndPoint &TBL, const EndPoint &TFR, const EndPoint &TBR)
	Constructor, with points.
	BrickData (ShapeSpace &_space, const fmat::SubVector< 3, const fmat::fmatReal > &_centroid, fmat::Column< 3 > extents, const fmat::SubMatrix< 3, 3, const fmat::fmatReal > &o)
	Constructor, with center, half-extents, and orientation.
	DATASTUFF_H (BrickData)
Point	getCentroid () const
	Centroid. (Virtual in BaseData.).
EndPoint	getGFL () const
EndPoint	getGFR () const
EndPoint	getGBL () const
EndPoint	getGBR () const
EndPoint	getTFL () const
EndPoint	getTFR () const
EndPoint	getTBL () const
EndPoint	getTBR () const
virtual bool	isMatchFor (const ShapeRoot &other) const
	Match bricks based on their parameters. (Virtual in BaseData.).
virtual void	mergeWith (const ShapeRoot &other)
virtual bool	isAdmissible () const
	Combine two shapes by taking weighted average depending on confidence level.
virtual bool	updateParams (const ShapeRoot &other, bool force=false)
	Update shape parameters after matching to another shape.
virtual void	printParams () const
	Print information about this shape. (Virtual in BaseData.).
void	applyTransform (const fmat::Transform &Tmat, const ReferenceFrameType_t newref=unspecified)
	Transformations. (Virtual in BaseData.).
virtual void	projectToGround (const fmat::Transform &camToBase, const PlaneEquation &groundplane)
	Project to ground.
virtual unsigned short	getDimension () const
Static Public Member Functions
static ShapeType_t	getStaticType ()
	Copy constructor.
static std::vector< Shape < BrickData > >	findBricks (ShapeSpace &ShS, std::vector< Shape< LineData > > lines)
	Extraction.
static std::vector< Shape < BrickData > >	findBricksFromBlobs (ShapeSpace &ShS, std::vector< Shape< BlobData > > blobs1, std::vector< Shape< BlobData > > blobs2, std::vector< Shape< BlobData > > blobs3)
static Shape< BrickData >	extractBrick (ShapeSpace &space, std::vector< Shape< BlobData > > &blobs)
static std::vector< Point >	findOrthogonalBoundingBox (ShapeSpace &space, Shape< BlobData > blob, Point centroid, Shape< LineData > parallel)
Private Member Functions
Sketch< bool > *	render () const
	Render into a sketch space and return reference. (Private.).
BrickData &	operator= (const BrickData &)
	don't call
Static Private Member Functions
static int	addBrickWithTwoSides (ShapeSpace &ShS, std::vector< Point > &corners1, std::vector< Point > &corners2, std::vector< std::vector< Point > > &blobs3, std::vector< Shape< BrickData > > &result, float distanceThresh)
Private Attributes
EndPoint	GFL
EndPoint	GFR
EndPoint	GBL
EndPoint	GBR
EndPoint	TFL
EndPoint	TFR
EndPoint	TBL
EndPoint	TBR
Point	centroid

Constructor & Destructor Documentation

BrickData	(	ShapeSpace &	_space,
		const EndPoint &	GFL,
		const EndPoint &	GBL,
		const EndPoint &	GFR,
		const EndPoint &	GBR,
		const EndPoint &	TFL,
		const EndPoint &	TBL,
		const EndPoint &	TFR,
		const EndPoint &	TBR
	)

Constructor, with points.

Definition at line 26 of file BrickData.cc.

Referenced by BrickData::extractBrick().

BrickData	(	ShapeSpace &	_space,
		const fmat::SubVector< 3, const fmat::fmatReal > &	_centroid,
		fmat::Column< 3 >	extents,
		const fmat::SubMatrix< 3, 3, const fmat::fmatReal > &	o
	)

Constructor, with center, half-extents, and orientation.

Definition at line 38 of file BrickData.cc.

Member Function Documentation

int addBrickWithTwoSides	(	ShapeSpace &	ShS,
		std::vector< Point > &	corners1,
		std::vector< Point > &	corners2,
		std::vector< std::vector< Point > > &	blobs3,
		std::vector< Shape< BrickData > > &	result,
		float	distanceThresh
	)			`[static, private]`

Definition at line 437 of file BrickData.cc.

Referenced by BrickData::findBricksFromBlobs().

void applyTransform	(	const fmat::Transform &	Tmat,
		const ReferenceFrameType_t	newref = `unspecified`
	)			`[virtual]`

Transformations. (Virtual in BaseData.).

Implements BaseData.

Definition at line 124 of file BrickData.cc.

DATASTUFF_H ( BrickData )

Shape< BrickData > extractBrick	(	ShapeSpace &	space,
		std::vector< Shape< BlobData > > &	blobs
	)			`[static]`

Definition at line 634 of file BrickData.cc.

std::vector< Shape< BrickData > > findBricks	(	ShapeSpace &	ShS,
		std::vector< Shape< LineData > >	lines
	)			`[static]`

Extraction.

Definition at line 197 of file BrickData.cc.

std::vector< Shape< BrickData > > findBricksFromBlobs	(	ShapeSpace &	ShS,
		std::vector< Shape< BlobData > >	blobs1,
		std::vector< Shape< BlobData > >	blobs2,
		std::vector< Shape< BlobData > >	blobs3
	)			`[static]`

Definition at line 344 of file BrickData.cc.

vector< Point > findOrthogonalBoundingBox	(	ShapeSpace &	space,
		Shape< BlobData >	blob,
		Point	centroid,
		Shape< LineData >	parallel
	)			`[static]`

Definition at line 1122 of file BrickData.cc.

Referenced by BrickData::extractBrick().

Point getCentroid ( ) const [virtual]

Centroid. (Virtual in BaseData.).

Implements BaseData.

Definition at line 56 of file BrickData.h.

Referenced by BrickData::extractBrick().

virtual unsigned short getDimension ( ) const [virtual]

Implements BaseData.

Definition at line 85 of file BrickData.h.

EndPoint getGBL ( ) const

Definition at line 60 of file BrickData.h.

EndPoint getGBR ( ) const

Definition at line 61 of file BrickData.h.

EndPoint getGFL ( ) const

Definition at line 58 of file BrickData.h.

EndPoint getGFR ( ) const

Definition at line 59 of file BrickData.h.

static ShapeType_t getStaticType ( ) [static]

Copy constructor.

Definition at line 52 of file BrickData.h.

EndPoint getTBL ( ) const

Definition at line 64 of file BrickData.h.

EndPoint getTBR ( ) const

Definition at line 65 of file BrickData.h.

EndPoint getTFL ( ) const

Definition at line 62 of file BrickData.h.

EndPoint getTFR ( ) const

Definition at line 63 of file BrickData.h.

virtual bool isAdmissible ( ) const [virtual]

Combine two shapes by taking weighted average depending on confidence level.

Shapes are admissible to the local map if they're large enough not to be noise.

Reimplemented from BaseData.

Definition at line 72 of file BrickData.h.

bool isMatchFor ( const ShapeRoot & other ) const [virtual]

Match bricks based on their parameters. (Virtual in BaseData.).

Implements BaseData.

Definition at line 65 of file BrickData.cc.

void mergeWith ( const ShapeRoot & other ) [virtual]

Definition at line 74 of file BrickData.cc.

BrickData& operator= ( const BrickData & ) [private]

don't call

void printParams ( ) const [virtual]

Print information about this shape. (Virtual in BaseData.).

Implements BaseData.

Definition at line 101 of file BrickData.cc.

void projectToGround	(	const fmat::Transform &	camToBase,
		const PlaneEquation &	groundplane
	)			`[virtual]`

Project to ground.

Implements BaseData.

Definition at line 135 of file BrickData.cc.

Sketch< bool > * render ( ) const [private, virtual]

Render into a sketch space and return reference. (Private.).

Brick extraction.

Render into a sketch space and return reference. (Private.)

Implements BaseData.

Definition at line 170 of file BrickData.cc.

bool updateParams	(	const ShapeRoot &	other,
		bool	forceUpdate = `false`
	)			`[virtual]`

Update shape parameters after matching to another shape.

Implements BaseData.

Definition at line 84 of file BrickData.cc.

Member Data Documentation

Point centroid [private]

Definition at line 34 of file BrickData.h.

Referenced by BrickData::getCentroid(), and BrickData::projectToGround().

EndPoint GBL [private]

Definition at line 27 of file BrickData.h.

Referenced by BrickData::addBrickWithTwoSides(), BrickData::applyTransform(), BrickData::BrickData(), BrickData::findBricksFromBlobs(), BrickData::getGBL(), BrickData::projectToGround(), BrickData::render(), and BrickData::updateParams().

EndPoint GBR [private]

Definition at line 28 of file BrickData.h.

Referenced by BrickData::addBrickWithTwoSides(), BrickData::applyTransform(), BrickData::BrickData(), BrickData::findBricksFromBlobs(), BrickData::getGBR(), BrickData::projectToGround(), BrickData::render(), and BrickData::updateParams().

EndPoint GFL [private]

Definition at line 25 of file BrickData.h.

Referenced by BrickData::addBrickWithTwoSides(), BrickData::applyTransform(), BrickData::BrickData(), BrickData::findBricksFromBlobs(), BrickData::getGFL(), BrickData::projectToGround(), BrickData::render(), and BrickData::updateParams().

EndPoint GFR [private]

Definition at line 26 of file BrickData.h.

Referenced by BrickData::addBrickWithTwoSides(), BrickData::applyTransform(), BrickData::BrickData(), BrickData::findBricksFromBlobs(), BrickData::getGFR(), BrickData::projectToGround(), BrickData::render(), and BrickData::updateParams().

EndPoint TBL [private]

Definition at line 31 of file BrickData.h.

Referenced by BrickData::addBrickWithTwoSides(), BrickData::applyTransform(), BrickData::BrickData(), BrickData::findBricksFromBlobs(), BrickData::getTBL(), BrickData::projectToGround(), and BrickData::updateParams().

EndPoint TBR [private]

Definition at line 32 of file BrickData.h.

Referenced by BrickData::addBrickWithTwoSides(), BrickData::applyTransform(), BrickData::BrickData(), BrickData::findBricksFromBlobs(), BrickData::getTBR(), BrickData::projectToGround(), and BrickData::updateParams().

EndPoint TFL [private]

Definition at line 29 of file BrickData.h.

Referenced by BrickData::addBrickWithTwoSides(), BrickData::applyTransform(), BrickData::BrickData(), BrickData::findBricksFromBlobs(), BrickData::getTFL(), BrickData::projectToGround(), and BrickData::updateParams().

EndPoint TFR [private]

Definition at line 30 of file BrickData.h.

Referenced by BrickData::addBrickWithTwoSides(), BrickData::applyTransform(), BrickData::BrickData(), BrickData::findBricksFromBlobs(), BrickData::getTFR(), BrickData::projectToGround(), and BrickData::updateParams().

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

BrickData Class Reference

Detailed Description

Public Member Functions

Static Public Member Functions

Private Member Functions

Static Private Member Functions

Private Attributes

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation