jafar::model3d::Grid3D Class Reference

uniform grid 3D it is formed of Grid3DCell we use a Image3D to build the grid we use RansacPlane to fit the plane in each cell More...

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Detailed Description

uniform grid 3D it is formed of Grid3DCell we use a Image3D to build the grid we use RansacPlane to fit the plane in each cell

Definition at line 27 of file grid3D.hpp.

#include <grid3D.hpp>

List of all members.

Public Member Functions
void	build (Image3D &im3d, double dbStep)
	build the grid3D using an Image3D and a step = cube width
void	initialize (int nX, int nY, int nZ, double minX_, double minY_, double minZ_, double stepX_, double stepY_, double stepZ_)
	initialize the data members it is called within build if build if not used, you must explicitly call this function
void	fillGrid (::std::vector< Point3D > *ppoints)
	distribute points onto the cells
void	colorizeImage3D (char *fileName, char *outputIndeces)
void	loadBrutImage (char *fileName)
void	extractFloor (double delta, bool removeInnerPoints)
void	prepareHoughAccumulator (float fRhoMax, float rhoStep, float angleStep, bool withSave=false, char *fileName=NULL)
void	extractBigerHoughPlane3D (int maxRho=25, float rhoStep=0.02, float angleStep=5)
void	extractHoughPlanes3D (int maxRho=25, float rhoStep=0.02, float angleStep=5, float fThresholdOfMaxVote=0.5, float fMinDistanceOfTowPlane=0.10, float fMinCosDihedralAngle=0.975, int nMaxPlaneNumber=30)
void	extractProgProbHoughPlanes3D (int maxRho=25, float rhoStep=0.02, float angleStep=5, float fThresholdOfMaxVote=0.5, float fMinDistanceOfTowPlane=0.10, float fMinCosDihedralAngle=0.025, int nMaxPlaneNumber=30, int minPointNumberThreshold=50, int minFinalVoteThreshold=100, char *planeFileName="plane.txt")
void	savePlanesCornersToFile (char *fileName)
void	savePlanesEquations (std::vector< Plane3D > &vPlane3D, int nMaxPlaneNumber, char *fileName)
Grid3DCell *	operator() (int i, int j, int k)
void	savePlanesToFile (char *fileName)
	wrtie the extracted planes 3D to a file
void	reducePlanesNumber (double distThreshold, double cosDihedralThreshold, int nPower)
void	extractPlaneInCellsMLSE ()
	Extract a Plane in each cell if there is a plane using Min Least Square Error.
void	extractPlaneInCellsEKFI ()
	Extract a Plane in each cell if there is a plane using Extended Kalman Filter (Implicit)
void	bestPlaneMinLeastSquares (std::vector< int > &pointIndex, Plane3D &plane3D)
	extract the best "Min Least Square Error" plane passing throuth the points indexed by the vector
void	bestPlaneEKFI (std::vector< int > &pointIndex, Plane3D &plane3D)
	extract the best plane using EKF
void	planeEKFI (std::vector< int > &pointIndex, double abcE[5], int nPlaneType)
	extract the plane using EKF
void	planeMinLeastSquares (std::vector< int > &pointIndex, double abcE[5], int type)
	extract the best "MinLeast square Error" plane of given type
void	info ()
	print info
RansacPlane *	getRansac ()
	return a pointer to the RansacPlane data member
Public Attributes
std::vector< float >	m_vColor
unsigned char *	pImage_BRUT
int	m_nWidth_BRUT
int	m_nHeight_BRUT
Plane3D	m_plane3dFloor
int ***	m_pAccumulator
int	m_nRho
int	m_nPhi
int	m_nTheta
int	m_nMaxVote
Plane3D	m_BiggerPlane3D
std::vector< Point3D >	vP1
std::vector< Point3D >	vP2
std::vector< Point3D >	vP3
std::vector< Point3D >	vP4
::std::vector< Grid3DCell >	m_vCells
	vector of cells
::std::vector< Point3D > *	m_pPoints
	pointer the a vector containg the point3D
RansacPlane	m_RansacPlane
	RansacPlane object.
int	m_nNX
	number of cells in x, y and z directions
int	m_nNY
int	m_nNZ
double	m_dbStepX
	step in X,Y and Z directions
double	m_dbStepY
double	m_dbStepZ
double	m_dbMinX
	the mimimum value fo X,Y and Z used in filling the grid
double	m_dbMinY
double	m_dbMinZ

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Member Function Documentation

void jafar::model3d::Grid3D::bestPlaneEKFI	(	std::vector< int > &	pointIndex,
		Plane3D &	plane3D
	)

extract the best plane using EKF

void jafar::model3d::Grid3D::bestPlaneMinLeastSquares	(	std::vector< int > &	pointIndex,
		Plane3D &	plane3D
	)

extract the best "Min Least Square Error" plane passing throuth the points indexed by the vector

we call planeMinLeastSquares for the three type and take the best one.

void jafar::model3d::Grid3D::extractPlaneInCellsEKFI

(

)

Extract a Plane in each cell if there is a plane using Extended Kalman Filter (Implicit)

void jafar::model3d::Grid3D::extractPlaneInCellsMLSE

(

)

Extract a Plane in each cell if there is a plane using Min Least Square Error.

void jafar::model3d::Grid3D::info

(

)

print info

Grid3DCell* jafar::model3d::Grid3D::operator()	(	int	i,
		int	j,
		int	k
	)		[inline]

Note:

There is no test on the values of i, j and k, so it is your responsability to ensure that they are within the good ranges.

Definition at line 138 of file grid3D.hpp.

References m_vCells.

void jafar::model3d::Grid3D::planeEKFI	(	std::vector< int > &	pointIndex,
		double	abcE[5],
		int	nPlaneType
	)

extract the plane using EKF

void jafar::model3d::Grid3D::planeMinLeastSquares	(	std::vector< int > &	pointIndex,
		double	abcE[5],
		int	type
	)

extract the best "MinLeast square Error" plane of given type

type = 0 : normal Equation of the plane : general form

w = abcE[0]*u + abcE[1]*v + abcE[2]

| puu puv pu | | abcE[0] | | puw | | puv pvv pv | * | abcE[1] | = | pvw | | pu pv 1 | | abcE[2] | | pw |

<=> A * abcE = B => abcE = A-1 * B

type 0: x = abcE[0]*y + abcE[1]*z + abcE[2] type 1: y = abcE[0]*x + abcE[1]*z + abcE[2] type 2: z = abcE[0]*x + abcE[1]*y + abcE[2]

void jafar::model3d::Grid3D::savePlanesToFile

(

char *

fileName

)

wrtie the extracted planes 3D to a file

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

• modules/model3d/include/model3d/grid3D.hpp