Extract features with the Split-and-Merge principle. More...

#include <auextractfeatures.h>

Inheritance diagram for AUExtractFeatures:

Classes
struct	segment_s
	Linked list struct. More...

Public Member Functions
	AUExtractFeatures ()

void	doClusters (double configClusterDiff, double configRangeMin)
	Divide laser scanner data into clusters. More...

void	doDiscard (int configDiscardDots, double configDiscardSize)

void	doFindCircles (int configCircleMinDots, double configCircleMSQ, double configCircleMinR, double configCircleMaxR, double configCircleMinCg, double configCircleMaxCg)
	Tries to make circles out of neighbouring line segments. More...

void	doMerge (double configMergeMSQ)
	Merges segments. More...

int	doSplits (double configSplitMSQ)
	Splits segments if msq > configSplitMSQ. More...

void	extractFeatures (RangeData *data_)
	Extract features from a RangeData dataset. More...

void	extractFeatures (RangeData data_, AUEFReturnStruct res)
	Initiates the feature extraction from a RangeData object. More...

PolarLineFit *	findLongestLine (bool rightwise)

int	findSplit (PolarLineFit *line)
	Find point to split segment. More...

int	getCircleCount ()
	Number of circles extracted. More...

int	getFeatures (AUEFReturnStruct *res)
	Return features to struct. More...

int	getLineCount ()
	Number of lines extracted. More...

int	getParam (int p, char *value)

CircleFit *	getSegmentCircle (int idx)
	get corcle fit structure More...

int	getSegmentCount ()
	Number of segments extracted. More...

PolarLineFit *	getSegmentLine (int idx)
	get line segment More...

int	paramCount ()

const char *	paramName (int p)

virtual const char *	print (const char preString, char buff, int buffCnt)

void	segmentToStringCart (int seg, char *reply)
	XML format of segment. More...

void	segmentToStringPolar (int seg, char *reply)
	XML format of segment. More...

void	setDefaults ()
	Set all configurable vars to default. More...

void	setParam (int p, const char *value)

virtual	~AUExtractFeatures ()

Protected Attributes
double	configCircleMaxCg
	Min coverage for circle. More...

double	configCircleMaxR
	Max allowed radius for circle. More...

double	configCircleMinCg
	Min coverage for circle. More...

int	configCircleMinDots
	Min dots for circle. More...

double	configCircleMinR
	Min allowed radius for circle. More...

double	configCircleMSQ
	Max MSQ for circle. More...

double	configClusterDiff
	Range diff. resulting in cluster split. More...

int	configDiscardDots
	Discard elements exceeding this MSQ. More...

double	configDiscardSize
	Discard segments with length/diameter smaller than this. More...

double	configMergeMSQ
	Max mean square error accepted for merges. More...

int	configMinSegment
	Minimum number of points in segment. More...

char	configMode
	Split and merge configuration. More...

double	configRangeMin
	Dots below range min. are disregarded. More...

double	configSplitMSQ
	Mean square error resulting in split. More...

RangeData *	data
	Laser scanner data. More...

struct AUExtractFeatures::segment_s	segment [SEGMENTS_MAX]

int	segments
	number of segments allocated More...

Private Member Functions
void	addLineSegment (int first, int last)
	Add line segment to list. More...

void	addSegment ()
	Add one segment to list. More...

void	removeSegment (int index)
	Remove segment from list. More...

void	resetSegments ()
	Reset all segments. More...

Detailed Description

Extract features with the Split-and-Merge principle.

Constructor & Destructor Documentation

AUExtractFeatures::AUExtractFeatures ( )

Constructor

AUExtractFeatures::~AUExtractFeatures ( )

virtual

Destructor

Member Function Documentation

void AUExtractFeatures::addLineSegment	(	int	first,
		int	last
	)

private

Add line segment to list.

Parameters

first,last first and last data point in data range for segment.

References data, and SEGMENTS_MAX.

void AUExtractFeatures::addSegment ( )

private

Add one segment to list.

References FIRST_SEGMENT.

void AUExtractFeatures::doClusters	(	double	configClusterDiff,
		double	configRangeMin
	)

Divide laser scanner data into clusters.

References data, and OUT_OF_RANGE.

void AUExtractFeatures::doDiscard	(	int	configDiscardDots,
		double	configDiscardSize
	)

References FIRST_SEGMENT_INDEX.

void AUExtractFeatures::doFindCircles	(	int	configCircleMinDots,
		double	configCircleMSQ,
		double	configCircleMinR,
		double	configCircleMaxR,
		double	configCircleMinCg,
		double	configCircleMaxCg
	)

Tries to make circles out of neighbouring line segments.

References data, FIRST_SEGMENT, CircleFit::fitLines(), CircleFit::getCoverage(), CircleFit::getFirst(), CircleFit::getInverted(), CircleFit::getMSQ(), CircleFit::getRadius(), and LAST_SEGMENT.

void AUExtractFeatures::doMerge ( double configMergeMSQ )

Merges segments.

The merge is completed if a new segment will have less MSQ than the previous segment.
Both lines and circles are handled.

References data, FIRST_SEGMENT, PolarLineFit::fitRange(), PolarLineFit::getFirst(), PolarLineFit::getMSQ(), and LAST_SEGMENT.

int AUExtractFeatures::doSplits ( double configSplitMSQ )

Splits segments if msq > configSplitMSQ.

Not recursive, a segment is maximally split once.

Returns number of splits done

References FIRST_SEGMENT, PolarLineFit::getFirst(), PolarLineFit::getLast(), PolarLineFit::getMSQ(), and LAST_SEGMENT.

void AUExtractFeatures::extractFeatures ( RangeData * data_ )

Extract features from a RangeData dataset.

Initiates the feature extraction from a RangeData object.

Parameters

*data_ Pointer to a RangeData object.

References data, EF_DO_DISCARD, EF_DO_MERGE, EF_DO_SPLIT, EF_NO_LINES, EF_SEE_CIRCLES, and FIRST_SEGMENT_INDEX.

Referenced by UResAuEf::findFeatures(), and simulate().

void AUExtractFeatures::extractFeatures	(	RangeData *	data_,
		AUEFReturnStruct *	res
	)

Initiates the feature extraction from a RangeData object.

Parameters

*data_	Pointer to a RangeData object.
*res	Pointer to a EFReturnStruct.

PolarLineFit * AUExtractFeatures::findLongestLine ( bool rightwise )

References FIRST_SEGMENT_INDEX, and PolarLineFit::getLength().

int AUExtractFeatures::findSplit ( PolarLineFit * line )

Find point to split segment.

Finds the point (extremum) with maximum distance to the line. The point cannot be an end point.

Parameters

*line Pointer to PolarLineFit object

References data, PolarLineFit::distToLine(), PolarLineFit::getFirst(), and PolarLineFit::getLast().

int AUExtractFeatures::getCircleCount ( )

Number of circles extracted.

Returns: Number of circles extracted

References FIRST_SEGMENT_INDEX.

int AUExtractFeatures::getFeatures ( AUEFReturnStruct * res )

Return features to struct.

Interal features extracted via calls to the class are returned.
Both lines and circles are handled.

References AUEFReturnStruct::circles, AUEFReturnStruct::clear(), AUCircle::coverage, AUCircle::cr, AUCircle::cth, AULine::end_th, FIRST_SEGMENT_INDEX, AULine::length, AUEFReturnStruct::lines, AUCircle::msq, AULine::msq, AUEFReturnStruct::noCircles, AUEFReturnStruct::noLines, AUCircle::points, AULine::points, AULine::polarValid, AUCircle::polarValid, AUCircle::r, AULine::r0, AULine::slope, AULine::start_th, and AULine::th0.

int AUExtractFeatures::getLineCount ( )

Number of lines extracted.

Returns: Number of lines extracted

References FIRST_SEGMENT_INDEX.

int AUExtractFeatures::getParam	(	int	p,
		char *	value
	)

References EF_DO_DISCARD, EF_DO_MERGE, EF_DO_SPLIT, EF_NO_LINES, and EF_SEE_CIRCLES.

CircleFit * AUExtractFeatures::getSegmentCircle ( int idx )

get corcle fit structure

Parameters

idx	index to requested line segment, where 0 is the first

Returns: pointer to fitted segment if segment is a circle,; NULL when the segment is not a circle

int AUExtractFeatures::getSegmentCount ( )

Number of segments extracted.

Returns: Number of segments extracted

References FIRST_SEGMENT_INDEX.

Referenced by UResAuEf::findFeatures(), and simulate().

PolarLineFit * AUExtractFeatures::getSegmentLine ( int idx )

get line segment

Parameters

idx	index to requested line segment, where 0 is the first

Returns: pointer to fitted line segment if segment is a line; NULL if segment is not a line.

Referenced by UResAuEf::findFeatures().

int AUExtractFeatures::paramCount ( )

References EF_PCOUNT.

const char * AUExtractFeatures::paramName ( int p )

References pName.

const char * AUExtractFeatures::print	(	const char *	preString,
		char *	buff,
		int	buffCnt
	)

virtual

print status to a string buffer

Reimplemented in UResAuEf.

void AUExtractFeatures::removeSegment ( int index )

private

Remove segment from list.

Parameters

index Index in the linked list to be removed

void AUExtractFeatures::resetSegments ( )

private

Reset all segments.

References FIRST_SEGMENT, FIRST_SEGMENT_INDEX, and LAST_SEGMENT.

void AUExtractFeatures::segmentToStringCart	(	int	seg,
		char *	reply
	)

XML format of segment.

Parameters

seg,*reply seg: segment index.
reply: pointer to string.

Referenced by simulate().

void AUExtractFeatures::segmentToStringPolar	(	int	seg,
		char *	reply
	)

XML format of segment.

Parameters

seg,*reply seg: segment index.
reply: pointer to string.

void AUExtractFeatures::setDefaults ( )

Set all configurable vars to default.

References EF_DO_DISCARD, EF_DO_MERGE, EF_DO_SPLIT, and EF_SEE_CIRCLES.

void AUExtractFeatures::setParam	(	int	p,
		const char *	value
	)

References EF_DO_DISCARD, EF_DO_MERGE, EF_DO_SPLIT, EF_NO_LINES, and EF_SEE_CIRCLES.

Member Data Documentation

double AUExtractFeatures::configCircleMaxCg

protected

Min coverage for circle.

double AUExtractFeatures::configCircleMaxR

protected

Max allowed radius for circle.

double AUExtractFeatures::configCircleMinCg

protected

Min coverage for circle.

int AUExtractFeatures::configCircleMinDots

protected

Min dots for circle.

double AUExtractFeatures::configCircleMinR

protected

Min allowed radius for circle.

double AUExtractFeatures::configCircleMSQ

protected

Max MSQ for circle.

double AUExtractFeatures::configClusterDiff

protected

Range diff. resulting in cluster split.

Referenced by UResAuEf::getParams().

int AUExtractFeatures::configDiscardDots

protected

Discard elements exceeding this MSQ.

Referenced by UResAuEf::getParams().

double AUExtractFeatures::configDiscardSize

protected

Discard segments with length/diameter smaller than this.

Referenced by UResAuEf::getParams().

double AUExtractFeatures::configMergeMSQ

protected

Max mean square error accepted for merges.

Referenced by UResAuEf::getParams().

int AUExtractFeatures::configMinSegment

protected

Minimum number of points in segment.

Referenced by UResAuEf::getParams().

char AUExtractFeatures::configMode

protected

Split and merge configuration.

Referenced by UResAuEf::getParams().

double AUExtractFeatures::configRangeMin

protected

Dots below range min. are disregarded.

double AUExtractFeatures::configSplitMSQ

protected

Mean square error resulting in split.

Referenced by UResAuEf::getParams().

RangeData* AUExtractFeatures::data

protected

Laser scanner data.

struct AUExtractFeatures::segment_s AUExtractFeatures::segment[SEGMENTS_MAX]

protected

int AUExtractFeatures::segments

protected

number of segments allocated

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

Classes

Public Member Functions

Protected Attributes

Private Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation