jafar::rtslam::DataManagerOnePointRansac< RawSpec, SensorSpec, FeatureSpec, RoiSpec, FeatureManagerSpec, DetectorSpec, MatcherSpec > Class Template Reference

This class implements the one-point-Ransac ActiveSearch strategy. More...

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Detailed Description

template<class RawSpec, class SensorSpec, class FeatureSpec, class RoiSpec, class FeatureManagerSpec, class DetectorSpec, class MatcherSpec>
class jafar::rtslam::DataManagerOnePointRansac< RawSpec, SensorSpec, FeatureSpec, RoiSpec, FeatureManagerSpec, DetectorSpec, MatcherSpec >

This class implements the one-point-Ransac ActiveSearch strategy.

Definition at line 77 of file dataManagerOnePointRansac.hpp.

#include <dataManagerOnePointRansac.hpp>

Inheritance diagram for jafar::rtslam::DataManagerOnePointRansac< RawSpec, SensorSpec, FeatureSpec, RoiSpec, FeatureManagerSpec, DetectorSpec, MatcherSpec >:

List of all members.

Classes
struct	alg_params_t
struct	Counters
Public Member Functions
	ENABLE_LINK_TO_SPECIFIC_PARENT (SensorExteroAbstract, SensorSpec, SensorSpec, DataManagerAbstract)
	ENABLE_ACCESS_TO_SPECIFIC_PARENT (SensorSpec, sensorSpec)
	DataManagerOnePointRansac (const boost::shared_ptr< DetectorSpec > &_detector, const boost::shared_ptr< MatcherSpec > &_matcher, const boost::shared_ptr< FeatureManagerSpec > _featMan, int n_updates_total, int n_updates_ransac, int n_tries, int n_init, int n_recomp_gains, bool multi_hyps=false, kernel::LoggerTask *loggerTask=NULL)
void	processKnown (raw_ptr_t data, double date_limit=-1.)
void	detectNew (raw_ptr_t data)
void	dump (raw_ptr_t data)
Protected Types
typedef map< double, ObsList::iterator >	ObservationListSorted
Protected Member Functions
void	clearCounters ()
void	projectAndCollectVisibleObs ()
void	updateVisibleObs ()
void	getOneMatchedBaseObs (observation_ptr_t &obsBasePtr, boost::shared_ptr< RawSpec > rawData)
observation_ptr_t	selectOneRandomObs ()
vec	updateMean (const observation_ptr_t &obsPtr)
void	projectFromMean (vec &exp, const observation_ptr_t &obsPtr, const vec &x)
bool	isLowInnovationInlier (const observation_ptr_t &obsPtr, const vec &exp, double lowInnTh)
bool	matchWithExpectedInnovation (boost::shared_ptr< RawSpec > rawData, observation_ptr_t obsPtr, bool lowInnov=false)
virtual void	writeLogHeader (kernel::DataLogger &log) const
	Implements this method calling repeatidly log methods.
virtual void	writeLogData (kernel::DataLogger &log) const
	Implements this method calling repeatidly log methods.
Protected Attributes
boost::shared_ptr< DetectorSpec >	detector
boost::shared_ptr< MatcherSpec >	matcher
boost::shared_ptr < FeatureManagerSpec >	featMan
ObservationListSorted	obsListSorted
ObsList	obsVisibleList
unsigned	remainingObsCount
ObsList	obsBaseList
ObsList	obsFailedList
RansacSetList	ransacSetList
kernel::LoggerTask *	loggerTask
jblas::vec	ransac_exp
bool	multi_hyps_
double	prev_average_ransac_update_time
double	prev_average_as_update_time
struct jafar::rtslam::DataManagerOnePointRansac::Counters	counters
struct jafar::rtslam::DataManagerOnePointRansac::alg_params_t	algorithmParams

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Member Function Documentation

template<class RawSpec , class SensorSpec , class FeatureSpec , class RoiSpec , class FeatureManagerSpec , class DetectorSpec , class MatcherSpec >

void jafar::rtslam::DataManagerOnePointRansac< RawSpec, SensorSpec, FeatureSpec, RoiSpec, FeatureManagerSpec, DetectorSpec, MatcherSpec >::writeLogData

(

kernel::DataLogger &

log

)

const [protected, virtual]

Implements this method calling repeatidly log methods.

You should use writeData() or writeDataVector().

Implements jafar::kernel::DataLoggable.

Definition at line 838 of file dataManagerOnePointRansac.impl.hpp.

References jafar::kernel::DataLogger::writeData().

template<class RawSpec , class SensorSpec , class FeatureSpec , class RoiSpec , class FeatureManagerSpec , class DetectorSpec , class MatcherSpec >

void jafar::rtslam::DataManagerOnePointRansac< RawSpec, SensorSpec, FeatureSpec, RoiSpec, FeatureManagerSpec, DetectorSpec, MatcherSpec >::writeLogHeader

(

kernel::DataLogger &

log

)

const [protected, virtual]

Implements this method calling repeatidly log methods.

You should use writeComment(), writeLegend() or writeLegendTokens().

Implements jafar::kernel::DataLoggable.

Definition at line 830 of file dataManagerOnePointRansac.impl.hpp.

References jafar::kernel::DataLogger::writeComment(), and jafar::kernel::DataLogger::writeLegendTokens().

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

• modules/rtslam/include/rtslam/dataManagerOnePointRansac.hpp
• modules/rtslam/include/rtslam/dataManagerOnePointRansac.impl.hpp