Main MRPT website > C++ reference for MRPT 1.9.9
List of all members | Public Member Functions | Private Member Functions | Private Attributes | Friends
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 48 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
 
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 370 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 191 of file SemanticClustering.h.

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

Referenced by evalPartition().

◆ buildCoVisibilityMatrix()

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

◆ buildProximityMatrix()

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

Build the proximity matrix

Definition at line 69 of file SemanticClustering.h.

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

Referenced by evalPartition().

◆ evalPartition()

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

Friends And Related Function Documentation

◆ PbMapMaker

friend class PbMapMaker
friend

Definition at line 367 of file SemanticClustering.h.

Member Data Documentation

◆ connectivity_matrix

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

◆ currentSemanticGroup

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

◆ groups

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

◆ mPbMap

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

◆ neighborGroups

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

◆ planesVicinity_order

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

◆ vicinity

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



Page generated by Doxygen 1.8.14 for MRPT 1.9.9 Git: ad3a9d8ae Tue May 1 23:10:22 2018 -0700 at lun oct 28 00:14:14 CET 2019