mi_object_instance Class Reference
[Public interface]

Hypothesis specifying a micro-object having been found in the scene. More...

#include <mi_object_instance.hh>

Inheritance diagram for mi_object_instance:

[legend]Collaboration diagram for mi_object_instance:

[legend]List of all members.

Public Member Functions
	mi_object_instance (const std::string &_type, int _nr, double _timestamp, mi_pose _pose, vision_type type, instance_data_ptr _data)
	Constructor.
std::string	get_type (void) const
	Get class of recognised object.
int	get_id (void) const
	Get number of instance for discerning several objects of same class.
double	get_timestamp (void) const
	Get timestamp of recognition.
const mi_pose &	get_pose (void) const
	Get external pose of micro-object.
instance_data_ptr	data (vision_type type)
	Internal data for vision-algorithms.
Protected Attributes
std::pair< std::string, int >	id
	Unique identification of the micro-object.
double	timestamp
	Timestamp of recognition.
mi_pose	pose
	External pose of micro-object.
std::map< vision_type, instance_data_ptr >	internal_data
	Internal data for vision-algorithms.

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Detailed Description

Hypothesis specifying a micro-object having been found in the scene.

This object represents a recognition result for a single instance of a class of micro-object.

In contrast to match, this is the result after filtering out unlikely hypotheses.

This class is part of the public interface.

Author:

Jan Wedekind (j.wedekind@shu.ac.uk)

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Constructor & Destructor Documentation

mi_object_instance::mi_object_instance (  const std::string &  _type, int  _nr, double  _timestamp, mi_pose  _pose, vision_type  type, instance_data_ptr  _data )  [inline]

Constructor. Parameters: _type  Class of recognised object. _nr  Number of instance for discerning several objects of same class. _timestamp  Timestamp of image, on which the recognition was performed. _pose  External pose (customized coordinate-system). type  Vision-method, which was employed. _data  Internal data of vision-method.

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Member Function Documentation

int mi_object_instance::get_id (  void   )  const [inline]

Get number of instance for discerning several objects of same class. Returns: Number of instance.

const mi_pose& mi_object_instance::get_pose (  void   )  const [inline]

Get external pose of micro-object. The pose is specifying the transform from the micro-object's coordinate-system to the camera's coordinate-system. The relation between the object and its coordinate-system is customizable with the xml-configuration-file. Returns: Pose of object.

double mi_object_instance::get_timestamp (  void   )  const [inline]

Get timestamp of recognition. The timestamp of the image, on which the recognition was done, is returned. It indicates the time, where the micro-object was at this pose. Returns: Timestamp

std::string mi_object_instance::get_type (  void   )  const [inline]

Get class of recognised object. The string must match one of the identifiers in the database of micro-objects. Returns: String classifying the micro-object. See also: database

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

• mi_object_instance.hh

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