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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 44 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< mrpt::vector_uint > &parts)
 

Private Attributes

unsigned currentSemanticGroup
 
PbMapmPbMap
 
std::vector< unsigned > neighborGroups
 
std::map< unsigned, std::vector< unsigned > > groups
 
std::map< unsigned, std::vector< unsigned > > vicinity
 
mrpt::math::CMatrix connectivity_matrix
 
std::vector< unsigned > planesVicinity_order
 

Friends

class PbMapMaker
 

Constructor & Destructor Documentation

◆ SemanticClustering()

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

Definition at line 315 of file SemanticClustering.h.

References DEFAULT_VECTOR_U.

Member Function Documentation

◆ arrangeNewGroups()

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

Arrange the semantic groups

Definition at line 175 of file SemanticClustering.h.

References DEFAULT_VECTOR_U, and mrpt::pbmap::PbMap::vPlanes.

◆ buildCoVisibilityMatrix()

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

Build the co-visibility matrix

Definition at line 118 of file SemanticClustering.h.

References min, and mrpt::pbmap::PbMap::vPlanes.

◆ buildProximityMatrix()

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

Build the proximity matrix

Definition at line 65 of file SemanticClustering.h.

References mrpt::pbmap::PbMap::vPlanes.

◆ 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 325 of file SemanticClustering.h.

References mrpt::graphs::CGraphPartitioner< GRAPH_MATRIX, num_t >::RecursiveSpectralPartition(), and mrpt::pbmap::PbMap::vPlanes.

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

Friends And Related Function Documentation

◆ PbMapMaker

friend class PbMapMaker
friend

Definition at line 312 of file SemanticClustering.h.

Member Data Documentation

◆ connectivity_matrix

mrpt::math::CMatrix mrpt::pbmap::SemanticClustering::connectivity_matrix
private

Definition at line 58 of file SemanticClustering.h.

◆ currentSemanticGroup

unsigned mrpt::pbmap::SemanticClustering::currentSemanticGroup
private

Definition at line 48 of file SemanticClustering.h.

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

◆ groups

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

Definition at line 54 of file SemanticClustering.h.

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

◆ mPbMap

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

Definition at line 50 of file SemanticClustering.h.

◆ neighborGroups

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

Definition at line 52 of file SemanticClustering.h.

◆ planesVicinity_order

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

Definition at line 60 of file SemanticClustering.h.

◆ vicinity

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

Definition at line 56 of file SemanticClustering.h.




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