mrpt::pbmap::SemanticClustering Class Reference

Detailed Description

This class arranges the planes of a PbMap into groups according to a co-visibility measure The groups are divided using graph minimum normaized-cut (minNcut). The resulting groups can be used to represent semantic groups corresponding human identifiable structures such as rooms, or environments as an office. These groups of closely related planes can be used also for relocalization.

Definition at line 45 of file SemanticClustering.h.

#include <mrpt/pbmap/SemanticClustering.h>

Public Member Functions
	SemanticClustering (PbMap &mPbM)
int	evalPartition (std::set< unsigned > &observedPlanes)

Private Member Functions
void	buildProximityMatrix ()
void	buildCoVisibilityMatrix ()
void	arrangeNewGroups (std::vector< std::vector< uint32_t >> &parts)

Private Attributes
unsigned	currentSemanticGroup
PbMap &	mPbMap
std::vector< unsigned >	neighborGroups
std::map< unsigned, std::vector< unsigned > >	groups
std::map< unsigned, std::vector< unsigned > >	vicinity
mrpt::math::CMatrixF	connectivity_matrix
std::vector< unsigned >	planesVicinity_order

Friends
class	PbMapMaker

Constructor & Destructor Documentation

SemanticClustering()

mrpt::pbmap::SemanticClustering::SemanticClustering ( PbMap &  mPbM )

inline

Definition at line 331 of file SemanticClustering.h.

References DEFAULT_VECTOR_U, and vicinity.

Member Function Documentation

arrangeNewGroups()

void mrpt::pbmap::SemanticClustering::arrangeNewGroups ( std::vector< std::vector< uint32_t >> &  parts )

inlineprivate

Arrange the semantic groups

Definition at line 166 of file SemanticClustering.h.

References DEFAULT_VECTOR_U, groups, mPbMap, neighborGroups, planesVicinity_order, vicinity, and mrpt::pbmap::PbMap::vPlanes.

Referenced by evalPartition().

Here is the caller graph for this function:

buildCoVisibilityMatrix()

void mrpt::pbmap::SemanticClustering::buildCoVisibilityMatrix ( )

inlineprivate

Build the co-visibility matrix

Definition at line 123 of file SemanticClustering.h.

References connectivity_matrix, currentSemanticGroup, groups, min, mPbMap, neighborGroups, planesVicinity_order, mrpt::math::CMatrixDynamic< T >::resize(), mrpt::math::MatrixVectorBase< Scalar, Derived >::setZero(), vicinity, and mrpt::pbmap::PbMap::vPlanes.

Here is the call graph for this function:

buildProximityMatrix()

void mrpt::pbmap::SemanticClustering::buildProximityMatrix ( )

inlineprivate

Build the proximity matrix

Definition at line 66 of file SemanticClustering.h.

References connectivity_matrix, currentSemanticGroup, groups, mPbMap, neighborGroups, planesVicinity_order, mrpt::math::CMatrixDynamic< T >::resize(), mrpt::math::MatrixVectorBase< Scalar, Derived >::setZero(), vicinity, and mrpt::pbmap::PbMap::vPlanes.

Referenced by evalPartition().

Here is the call graph for this function:

Here is the caller graph for this function:

evalPartition()

int mrpt::pbmap::SemanticClustering::evalPartition ( std::set< unsigned > &  observedPlanes )

inline

Evaluate the partition of the current semantic groups into new ones with minNcut

Definition at line 340 of file SemanticClustering.h.

References arrangeNewGroups(), buildProximityMatrix(), connectivity_matrix, currentSemanticGroup, groups, mPbMap, neighborGroups, mrpt::graphs::CGraphPartitioner< GRAPH_MATRIX, num_t >::RecursiveSpectralPartition(), and mrpt::pbmap::PbMap::vPlanes.

Referenced by mrpt::pbmap::PbMapMaker::run().

Here is the call graph for this function:

Here is the caller graph for this function:

Friends And Related Function Documentation

PbMapMaker

friend class PbMapMaker

friend

Definition at line 328 of file SemanticClustering.h.

Member Data Documentation

connectivity_matrix

mrpt::math::CMatrixF mrpt::pbmap::SemanticClustering::connectivity_matrix

private

Definition at line 59 of file SemanticClustering.h.

Referenced by buildCoVisibilityMatrix(), buildProximityMatrix(), and evalPartition().

currentSemanticGroup

unsigned mrpt::pbmap::SemanticClustering::currentSemanticGroup

private

Definition at line 48 of file SemanticClustering.h.

Referenced by buildCoVisibilityMatrix(), buildProximityMatrix(), mrpt::pbmap::PbMapMaker::detectPlanesCloud(), and evalPartition().

groups

std::map<unsigned, std::vector<unsigned> > mrpt::pbmap::SemanticClustering::groups

private

Definition at line 54 of file SemanticClustering.h.

Referenced by arrangeNewGroups(), buildCoVisibilityMatrix(), buildProximityMatrix(), mrpt::pbmap::PbMapMaker::detectPlanesCloud(), and evalPartition().

mPbMap

PbMap& mrpt::pbmap::SemanticClustering::mPbMap

private

Definition at line 50 of file SemanticClustering.h.

Referenced by arrangeNewGroups(), buildCoVisibilityMatrix(), buildProximityMatrix(), and evalPartition().

neighborGroups

std::vector<unsigned> mrpt::pbmap::SemanticClustering::neighborGroups

private

Definition at line 52 of file SemanticClustering.h.

Referenced by arrangeNewGroups(), buildCoVisibilityMatrix(), buildProximityMatrix(), and evalPartition().

planesVicinity_order

std::vector<unsigned> mrpt::pbmap::SemanticClustering::planesVicinity_order

private

Definition at line 61 of file SemanticClustering.h.

Referenced by arrangeNewGroups(), buildCoVisibilityMatrix(), and buildProximityMatrix().

vicinity

std::map<unsigned, std::vector<unsigned> > mrpt::pbmap::SemanticClustering::vicinity

private

Definition at line 57 of file SemanticClustering.h.

Referenced by arrangeNewGroups(), buildCoVisibilityMatrix(), buildProximityMatrix(), and SemanticClustering().