Feature extraction on Scan
[Algorithms]

Collection of feature extraction algorithms on 2D Scan. More...


Files
file	EdgeExtr.h
	This file contains all definitions to perform a edge extraction on a Scan looking for edges.
Classes
class	MipAlgorithms::PosiEdgeExtrPar
	parameters of the PosiEdgeExtr algorithm More...
class	MipAlgorithms::PosiEdgeExtrVar
class	MipAlgorithms::PosiEdgeExtr
	algorithm: perform a edgeure extraction on a Scan looking for small protrusions More...
class	MipAlgorithms::ProtrusionsExtrPar
	Parameters of the ProtrusionsExtr algorithm. More...
class	MipAlgorithms::ProtrusionsExtr
	Algorithm: performs a feature extraction on a Scan looking for small protrusions. More...
Functions
void	MipAlgorithms::PosiEdgeExtrPar::setDiscThreshold (Decimal value)
	sets Minimum Discontinuity Threshold
void	MipAlgorithms::PosiEdgeExtrPar::setMinRobWidth (Decimal value)
	sets Minimum Robot Width
void	MipAlgorithms::PosiEdgeExtrPar::setMaxRobWidth (Decimal value)
	sets Max Robot Width
void	MipAlgorithms::PosiEdgeExtrPar::setOffset (Decimal value)
	sets Offset
void	MipAlgorithms::PosiEdgeExtrPar::setSameEdgeThreshold (Decimal value)
	sets Same Edgeure Threshold
	MipAlgorithms::PosiEdgeExtrPar::PosiEdgeExtrPar ()
	MipAlgorithms::PosiEdgeExtrPar::PosiEdgeExtrPar (Decimal discThreshold, Decimal minRobWidth, Decimal maxRobWidth, Decimal offset, Decimal sameEdgeThreshold)
	MipAlgorithms::PosiEdgeExtrPar::PosiEdgeExtrPar (const PosiEdgeExtrPar &s)
PosiEdgeExtrPar &	MipAlgorithms::PosiEdgeExtrPar::operator= (const PosiEdgeExtrPar &s)
Decimal	MipAlgorithms::PosiEdgeExtrPar::discThreshold ()
Decimal	MipAlgorithms::PosiEdgeExtrPar::minRobWidth ()
Decimal	MipAlgorithms::PosiEdgeExtrPar::maxRobWidth ()
Decimal	MipAlgorithms::PosiEdgeExtrPar::offset ()
Decimal	MipAlgorithms::PosiEdgeExtrPar::sameEdgeThreshold ()
string	MipAlgorithms::PosiEdgeExtrPar::print ()
	MipAlgorithms::PosiEdgeExtrVar::PosiEdgeExtrVar ()
	MipAlgorithms::PosiEdgeExtr::PosiEdgeExtr (const PosiEdgeExtrPar &par)
	MipAlgorithms::PosiEdgeExtr::~PosiEdgeExtr ()
PosiFeatures	MipAlgorithms::PosiEdgeExtr::extract (Scan scan, Decimal rangeMax)
void	MipAlgorithms::ProtrusionsExtrPar::setDiscThreshold (Decimal value)
	Sets Minimum Discontinuity Threshold.
void	MipAlgorithms::ProtrusionsExtrPar::setMinRobWidth (Decimal value)
	Sets Minimum Robot Width.
void	MipAlgorithms::ProtrusionsExtrPar::setMaxRobWidth (Decimal value)
	Sets Max Robot Width.
void	MipAlgorithms::ProtrusionsExtrPar::setOffset (Decimal value)
	Sets Offset.
void	MipAlgorithms::ProtrusionsExtrPar::setSameFeatThreshold (Decimal value)
	Sets Same Feature Threshold.
void	MipAlgorithms::ProtrusionsExtrPar::setAdditiveNoiseRangeCov (Decimal value)
	Sets the covariance of the additive noise on the range.
void	MipAlgorithms::ProtrusionsExtrPar::setAdditiveNoiseBeariCov (Decimal value)
	Sets the covariance of the additive noise on the range.
	MipAlgorithms::ProtrusionsExtrPar::ProtrusionsExtrPar ()
	Default constructor.
	MipAlgorithms::ProtrusionsExtrPar::ProtrusionsExtrPar (Decimal discThreshold, Decimal minRobWidth, Decimal maxRobWidth, Decimal offset, Decimal sameFeatThreshold, Decimal addNoiseRange=0.0, Decimal addNoiseBear=0.0)
	Parametrical constructor.
	MipAlgorithms::ProtrusionsExtrPar::ProtrusionsExtrPar (const ProtrusionsExtrPar &s)
	Copy constructor.
ProtrusionsExtrPar &	MipAlgorithms::ProtrusionsExtrPar::operator= (const ProtrusionsExtrPar &s)
	Assigment operator =.
Decimal	MipAlgorithms::ProtrusionsExtrPar::discThreshold ()
	Gets parameter _discThreshold.
Decimal	MipAlgorithms::ProtrusionsExtrPar::minRobWidth ()
	Gets parameter _minRobWidth.
Decimal	MipAlgorithms::ProtrusionsExtrPar::maxRobWidth ()
	Gets parameter _maxRobWidth.
Decimal	MipAlgorithms::ProtrusionsExtrPar::offset ()
	Gets parameter _offset.
Decimal	MipAlgorithms::ProtrusionsExtrPar::sameFeatThreshold ()
	Gets parameter _sameFeatThreshold.
Decimal	MipAlgorithms::ProtrusionsExtrPar::additiveNoiseRangeCov ()
	Gets parameter _additiveNoiseRangeCov.
Decimal	MipAlgorithms::ProtrusionsExtrPar::additiveNoiseBeariCov ()
	Gets parameter _additiveNoiseBeariCov.
string	MipAlgorithms::ProtrusionsExtrPar::print ()
	Prints the parameters par.
	MipAlgorithms::ProtrusionsExtr::ProtrusionsExtr ()
	Default constructor.
	MipAlgorithms::ProtrusionsExtr::ProtrusionsExtr (ProtrusionsExtrPar par)
	Constructor with parameters.
	MipAlgorithms::ProtrusionsExtr::~ProtrusionsExtr ()
	Destructor.
PosiFeatures	MipAlgorithms::ProtrusionsExtr::extract (Scan scan)
	Performs the feature extraction.
Variables
Decimal	MipAlgorithms::PosiEdgeExtrVar::_prevReading

Detailed Description

Collection of feature extraction algorithms on 2D Scan.

Function Documentation

Decimal MipAlgorithms::ProtrusionsExtrPar::additiveNoiseBeariCov ( ) [inline, inherited]

Gets parameter _additiveNoiseBeariCov.

Decimal MipAlgorithms::ProtrusionsExtrPar::additiveNoiseRangeCov ( ) [inline, inherited]

Gets parameter _additiveNoiseRangeCov.

Decimal MipAlgorithms::ProtrusionsExtrPar::discThreshold ( ) [inline, inherited]

Gets parameter _discThreshold.

Decimal MipAlgorithms::PosiEdgeExtrPar::discThreshold ( ) [inline, inherited]

get parameter _discThreshold

PosiFeatures MipAlgorithms::ProtrusionsExtr::extract ( Scan scan ) [inherited]

Performs the feature extraction.

Returns:: A sequence of detected protrusions in a PosiFeatures.

Parameters:

[in] scan The Scan on which the protrusion extraction is performed.

PosiFeatures MipAlgorithms::PosiEdgeExtr::extract	(	Scan	scan,
		Decimal	rangeMax
	)			`[inherited]`

Decimal MipAlgorithms::ProtrusionsExtrPar::maxRobWidth ( ) [inline, inherited]

Gets parameter _maxRobWidth.

Decimal MipAlgorithms::PosiEdgeExtrPar::maxRobWidth ( ) [inline, inherited]

get parameter _maxRobWidth

Decimal MipAlgorithms::ProtrusionsExtrPar::minRobWidth ( ) [inline, inherited]

Gets parameter _minRobWidth.

Decimal MipAlgorithms::PosiEdgeExtrPar::minRobWidth ( ) [inline, inherited]

get parameter _minRobWidth

Decimal MipAlgorithms::ProtrusionsExtrPar::offset ( ) [inline, inherited]

Gets parameter _offset.

Decimal MipAlgorithms::PosiEdgeExtrPar::offset ( ) [inline, inherited]

get parameter _offset

ProtrusionsExtrPar & MipAlgorithms::ProtrusionsExtrPar::operator= ( const ProtrusionsExtrPar & s ) [inherited]

Assigment operator =.

PosiEdgeExtrPar& MipAlgorithms::PosiEdgeExtrPar::operator= ( const PosiEdgeExtrPar & s ) [inline, inherited]

assigment operator =

MipAlgorithms::PosiEdgeExtr::PosiEdgeExtr ( const PosiEdgeExtrPar & par ) [inline, inherited]

default constructor constructor with par

MipAlgorithms::PosiEdgeExtrPar::PosiEdgeExtrPar ( const PosiEdgeExtrPar & s ) [inline, inherited]

copy constructor

MipAlgorithms::PosiEdgeExtrPar::PosiEdgeExtrPar	(	Decimal	discThreshold,
		Decimal	minRobWidth,
		Decimal	maxRobWidth,
		Decimal	offset,
		Decimal	sameEdgeThreshold
	)			`[inline, inherited]`

parametrical constructor, takes as arguments the parameters

Parameters:

	discThreshold	minimum discontinuity threshold
	minRobWidth	min width of a protrusion to be recognised as edgeure
	maxRobWidth	max width of a protrusion to be recognised as edgeure
	offset	offset that must be added to the distance of a edgeure
	sameEdgeThreshold	min distance between two edgeures to be recognised as different

MipAlgorithms::PosiEdgeExtrPar::PosiEdgeExtrPar ( ) [inline, inherited]

default constructor

MipAlgorithms::PosiEdgeExtrVar::PosiEdgeExtrVar ( ) [inline, inherited]

string MipAlgorithms::ProtrusionsExtrPar::print ( ) [inline, inherited]

Prints the parameters par.

string MipAlgorithms::PosiEdgeExtrPar::print ( ) [inline, inherited]

print par

MipAlgorithms::ProtrusionsExtr::ProtrusionsExtr ( ProtrusionsExtrPar par ) [inherited]

Constructor with parameters.

Parameters:

[in] par Parameters to be used.

MipAlgorithms::ProtrusionsExtr::ProtrusionsExtr ( ) [inherited]

Default constructor.

Uses default parameters of ProtrusionsExtrPar.

MipAlgorithms::ProtrusionsExtrPar::ProtrusionsExtrPar ( const ProtrusionsExtrPar & s ) [inherited]

Copy constructor.

MipAlgorithms::ProtrusionsExtrPar::ProtrusionsExtrPar	(	Decimal	discThreshold,
		Decimal	minRobWidth,
		Decimal	maxRobWidth,
		Decimal	offset,
		Decimal	sameFeatThreshold,
		Decimal	addNoiseRange = `0.0`,
		Decimal	addNoiseBear = `0.0`
	)			`[inherited]`

Parametrical constructor.

Takes as arguments the parameters.

Parameters:

`[in]`	discThreshold	Minimum discontinuity threshold.
`[in]`	minRobWidth	Minimum width of a protrusion to be recognised as feature.
`[in]`	maxRobWidth	Maximum width of a protrusion to be recognised as feature.
`[in]`	offset	Offset that must be added to the distance of a feature.
`[in]`	sameFeatThreshold	Minimum distance between two features to be recognised as different.

MipAlgorithms::ProtrusionsExtrPar::ProtrusionsExtrPar ( ) [inherited]

Default constructor.

Sets to 0.0 all parameters.

Decimal MipAlgorithms::PosiEdgeExtrPar::sameEdgeThreshold ( ) [inline, inherited]

get parameter _sameEdgeThreshold

Decimal MipAlgorithms::ProtrusionsExtrPar::sameFeatThreshold ( ) [inline, inherited]

Gets parameter _sameFeatThreshold.

void MipAlgorithms::ProtrusionsExtrPar::setAdditiveNoiseBeariCov ( Decimal value ) [inline, protected, inherited]

Sets the covariance of the additive noise on the range.

Parameters:

[in] value Value to be set.

void MipAlgorithms::ProtrusionsExtrPar::setAdditiveNoiseRangeCov ( Decimal value ) [inline, protected, inherited]

Sets the covariance of the additive noise on the range.

Parameters:

[in] value Value to be set.

void MipAlgorithms::ProtrusionsExtrPar::setDiscThreshold ( Decimal value ) [inline, protected, inherited]

Sets Minimum Discontinuity Threshold.

Parameters:

[in] value Value to be set.

void MipAlgorithms::PosiEdgeExtrPar::setDiscThreshold ( Decimal value ) [inline, protected, inherited]

sets Minimum Discontinuity Threshold

void MipAlgorithms::ProtrusionsExtrPar::setMaxRobWidth ( Decimal value ) [inline, protected, inherited]

Sets Max Robot Width.

Parameters:

[in] value Value to be set.

void MipAlgorithms::PosiEdgeExtrPar::setMaxRobWidth ( Decimal value ) [inline, protected, inherited]

sets Max Robot Width

Parameters:

value

void MipAlgorithms::ProtrusionsExtrPar::setMinRobWidth ( Decimal value ) [inline, protected, inherited]

Sets Minimum Robot Width.

Parameters:

[in] value Value to be set.

void MipAlgorithms::PosiEdgeExtrPar::setMinRobWidth ( Decimal value ) [inline, protected, inherited]

sets Minimum Robot Width

void MipAlgorithms::ProtrusionsExtrPar::setOffset ( Decimal value ) [inline, protected, inherited]

Sets Offset.

Parameters:

[in] value Value to be set.

void MipAlgorithms::PosiEdgeExtrPar::setOffset ( Decimal value ) [inline, protected, inherited]

sets Offset

void MipAlgorithms::PosiEdgeExtrPar::setSameEdgeThreshold ( Decimal value ) [inline, protected, inherited]

sets Same Edgeure Threshold

void MipAlgorithms::ProtrusionsExtrPar::setSameFeatThreshold ( Decimal value ) [inline, protected, inherited]

Sets Same Feature Threshold.

Parameters:

[in] value Value to be set.

MipAlgorithms::PosiEdgeExtr::~PosiEdgeExtr ( ) [inline, inherited]

destructor

MipAlgorithms::ProtrusionsExtr::~ProtrusionsExtr ( ) [inherited]

Destructor.

Variable Documentation

Decimal MipAlgorithms::PosiEdgeExtrVar::_prevReading [inherited]

Feature extraction on Scan [Algorithms]

Files

Classes

Functions

Variables

Detailed Description

Function Documentation

Variable Documentation

Feature extraction on Scan
[Algorithms]