nuklei Namespace Reference

Public namespace. More...

Namespaces
	kernel
	Namespace containing kernel definitions.
	la
	Namespace containing linear algebra functions (and some other functions).

Classes
struct	assoc_storage
class	BadStrNumConversion
class	BoxROI
class	BuiltinVTKObservation
class	BuiltinVTKReader
class	Color
class	ColorDescriptor
class	ColorPairDescriptor
class	CoViS3DObservation
class	CoViS3DReader
class	CoViS3DWandererReader
class	CoViS3DXMLReader
class	CoViS3DXMLWriter
class	CrdObservation
class	CrdReader
class	CrdWriter
struct	CustomIntegrandFactor
	Allows to use an external integrand factor, or test reachability. More...
struct	decoration
class	Descriptor
struct	dist
struct	dist< groupS::r3, FunctionImpl, squaredS::no >
struct	dist< groupS::r3, FunctionImpl, squaredS::yes >
struct	dist< groupS::s2, func_implS::approx, squaredS::no >
struct	dist< groupS::s2, func_implS::exact, squaredS::no >
struct	dist< groupS::s2p, func_implS::approx, squaredS::no >
struct	dist< groupS::s2p, func_implS::exact, squaredS::no >
struct	dist< groupS::so3, func_implS::approx, squaredS::no >
struct	dist< groupS::so3, func_implS::exact, squaredS::no >
class	Error
	Nuklei-related errors. More...
struct	FlexiblePoint
class	GeometricDescriptor
class	GraspDescriptor
class	HSVColor
class	HSVConeColor
class	IisObservation
class	IisReader
class	IisWriter
class	Indenter
class	KernelCollection
	This class acts as a vector-like container for kernels. It also provides methods related to kernel density estimation. More...
struct	KernelLogisticRegressor
	Implements kernel logistic regression. More...
class	KernelReader
class	KernelWriter
class	Log
class	Match
class	MatchError
struct	member_clone_ptr
class	NukleiObservation
class	NukleiReader
class	NukleiWriter
struct	nullable
	Obsolete – use boost::optional and boost::none instead. More...
class	Observation
class	ObservationIOError
class	ObservationReader
	Base class for kernel reader and point reader classes. More...
class	ObservationWriter
	Base class for kernel writer and point writer classes. More...
class	OffObservation
class	OffReader
class	OffWriter
class	OsuTxtObservation
class	OsuTxtReader
struct	parallelizer
class	PCDObservation
class	PCDReader
class	PCDWriter
class	PlaneDescriptor
struct	PlaneProjection
class	Plotter
class	PLYObservation
class	PLYReader
class	PLYWriter
struct	PoseEstimator
class	ProgressIndicator
class	Random
	Implements random variate generators for various distributions. More...
struct	random_element
struct	random_element< groupS::s2 >
struct	random_element< groupS::s2p >
struct	random_element< groupS::so3 >
class	RegionOfInterest
class	RGBColor
class	RIFObservation
class	RIFReader
struct	sampler
struct	sampler< unnormalized_shape_dist_kernel< groupS::r3, Shape, FunctionImpl > >
struct	sampler< unnormalized_shape_dist_kernel< groupS::r3, shapeS::gauss, FunctionImpl > >
struct	sampler< unnormalized_shape_dist_kernel< groupS::s2, Shape, FunctionImpl > >
struct	sampler< unnormalized_shape_dist_kernel< groupS::s2p, Shape, FunctionImpl > >
struct	sampler< unnormalized_shape_dist_kernel< groupS::so3, Shape, FunctionImpl > >
struct	sampler< von_mises_fisher_kernel< Group, ValueScale, FunctionImpl, HScale > >
struct	sampler< watson_kernel< ValueScale, FunctionImpl > >
struct	Serial
class	SerialError
class	SerializedKernelObservation
struct	shape_function
struct	shape_function< shapeS::box, FunctionImpl, squaredS::no >
struct	shape_function< shapeS::gauss, func_implS::approx, squaredS::no >
struct	shape_function< shapeS::gauss, func_implS::exact, squaredS::no >
struct	shape_function< shapeS::triangle, FunctionImpl, squaredS::no >
struct	shape_function< shapeS::triangle, FunctionImpl, squaredS::yes >
class	shared_container_iterator
struct	simple_map
class	SphereROI
struct	StereoPlaneProjection
class	Stopwatch
class	TwoFingerDescriptor
class	TxtObservation
class	TxtReader
class	TxtWriter
struct	undefined
struct	unnormalized_shape_dist_kernel
struct	unnormalized_shape_dist_kernel< groupS::r3, shapeS::triangle, FunctionImpl >
class	VerificationFailure
class	VisualDescriptor
struct	von_mises_fisher_kernel
struct	watson_kernel

Typedefs
typedef double	coord_t
	Type for point coordinates.
typedef std::pair< coord_t, coord_t >	coord_pair
	Pair of coord_t.
typedef double	appear_t
	Type for appearance-related values (e.g., color)
typedef double	weight_t
	Type for particle weights.
typedef unsigned int	bitfield_t
	Type for bitfield.
typedef unsigned int	id_t
	Type for identifier label.
typedef nuklei_wmf::Vector2< coord_t >	Vector2
typedef nuklei_wmf::Vector3< coord_t >	Vector3
typedef nuklei_wmf::GVector< coord_t >	GVector
typedef nuklei_wmf::Quaternion< coord_t >	Quaternion
typedef nuklei_wmf::Matrix3< coord_t >	Matrix3
typedef nuklei_wmf::GMatrix< coord_t >	GMatrix
typedef nuklei_wmf::Plane3< coord_t >	Plane3
typedef std::vector< std::pair< Vector3, std::vector< int > > >	viewcache_t
typedef KernelLogisticRegressor	KernelLogisticRegression
	Obsolete. See KernelLogisticRegressor instead.

Functions
template<typename T >
static T	initConst (const char *envVar, T def)
	defConst (bool, KDTREE_DENSITY_EVAL, true)
	defConst (bool, KDTREE_NANOFLANN, true)
	defConst (unsigned int, KDE_KTH_NEAREST_NEIGHBOR, 8)
	defConst (appear_t, HSV_METRIC_VALUE_WEIGHT,.6)
	defConst (std::string, SERIALIZATION_DEFAULT_OUTPUT_TYPE, "serial")
	defConst (std::string, SERIALIZATION_DEFAULT_BOOST_ARCHIVE, "bbinc")
	defConst (unsigned, IMAGE_PROJECTION_RADIUS, 3)
	defConst (std::string, PARALLELIZATION, "openmp")
	defConst (bool, ENABLE_CONSOLE_BACKSPACE, true)
	defConst (unsigned, LOG_LEVEL, 0)
bool	hasOpenMP ()
std::ostream &	operator<< (std::ostream &out, const GMatrix &m)
std::istream &	operator>> (std::istream &in, GMatrix &m)
double	confluentHypergeometric1F1 (const double a, const double b, const double x)
double	besselI1 (const double x)
bool	rfe (const double a, const double b, double tol)
Color *	new_clone (const Color &d)
template<class T >
T const &	as_const (T const &t)
	Provides a const reference to an object.
template<typename T >
std::string	stringify (const T &x, int precision=-1, int width=0)
	Converts an object to a std::string using operator<<.
std::istream &	operator>> (std::istream &in, Vector3 &l)
std::istream &	operator>> (std::istream &in, Quaternion &q)
std::ostream &	operator<< (std::ostream &out, const Quaternion &q)
std::ostream &	operator<< (std::ostream &out, const Matrix3 &m)
std::istream &	operator>> (std::istream &in, Matrix3 &m)
template<typename ForwardIterator >
std::string	stringifyRange (ForwardIterator first, ForwardIterator last, int precision=-1, int width=0)
	Converts a range to a std::string using operator<< on elements.
template<typename T >
T	numify (const std::string &s, bool failIfLeftoverChars=true)
	Converts a string to an object using operator>>.
std::string &	cleanLine (std::string &line)
void	copy_file (const std::string &input, const std::string &output)
Descriptor *	new_clone (const Descriptor &d)
template<class T >
std::ostream &	operator<< (Indenter &idt, const T &t)
coord_t	multivariateGaussian (const GVector &x, const GVector &m, const GMatrix &cov, const weight_t w=1)
std::istream &	operator>> (std::istream &in, const Match &match)
template<typename T >
T	ACos (T fValue)
template<typename T >
T	FastACos (T fValue)
template<typename T >
T	ASin (T fValue)
template<typename T >
T	FastNegExp (T fValue)
coord_t	trivariateGaussian (const Vector3 &x, const Vector3 &m, const Matrix3 &cov, const weight_t w=1)
coord_t	trivariateGaussianDistance (const Vector3 &x, const Vector3 &m, const Matrix3 &cov, const weight_t w=1)
bool	afe (const double a, const double b, double tol=1e-6)
template<typename T >
T	angularDistance (T a, T b)
template<class T >
std::string	catTypeNames ()
	Cats all type names into a string. More...
template<class T >
std::vector< std::string >	listTypeNames ()
	Fills a std::vector with all type names.
template<class T >
std::string	defaultTypeName ()
	Returns the default type name.
template<class T >
T::Type	defaultType ()
	Returns the default type.
template<class T >
std::string	nameFromType (int t)
	Returns the name of type t.
template<class T >
T::Type	typeFromName (std::string s)
	Returns the type whose name is s.
static int	nuklei_thread_num ()
static int	nuklei_max_threads ()
BoxFace	make_boxface (const int a, const int b, const int c, const int d)
template void	Serial::readObject< kernel::se3 > (kernel::se3 &object, const std::string &filename, const std::string &typeName)
template void	Serial::writeObject< kernel::se3 > (const kernel::se3 &object, const std::string &filename, const std::string &typeName, const int precision)
std::istream &	operator>> (std::istream &in, KernelCollection &v)
std::ostream &	operator<< (std::ostream &out, const FlexiblePoint &p)
template<class Kernel >
Kernel::group_t::element_t	importance_sampling_uniform_proposal (typename Kernel::group_t::element_t mean, coord_t h)
template<class Kernel >
Kernel::group_t::element_t	importance_sampling_similar_proposal (typename Kernel::group_t::element_t mean, coord_t h_target, coord_t h_proposal)
std::ostream &	operator<< (std::ostream &out, const ObservationReader::Counter &c)
void	readObservations (ObservationReader &r, KernelCollection &kc)
	Reads the data available from the reader r and stores it into kc.
void	readObservations (const std::string &s, KernelCollection &kc)
	Reads the file s (with automatic type detection) and stores the read data into kc.
void	readObservations (const std::string &s, KernelCollection &kc, Observation::Type &t)
	Reads the file s (with automatic type detection) and stores the read data into kc. More...
void	readObservationsWithSpecificFormat (const std::string &s, KernelCollection &kc, const Observation::Type &t)
	Reads the file s (no automatic type detection) and stores the read data into kc. More...
kernel::base::ptr	readSingleObservation (const std::string &s)
	Reads a single observation from file s (with automatic type detection), and returns it. More...
kernel::base::ptr	readSingleObservation (const std::string &s, Observation::Type &t)
	Reads a single observation from file s (with automatic type detection), and returns it. More...
kernel::base::ptr	readSingleObservationWithSpecificFormat (const std::string &s, const Observation::Type &t)
	Reads a single observation from file s (no automatic type detection), and returns it. More...
void	writeObservations (ObservationWriter &w, const KernelCollection &kc)
	Writes the content of kc using the provided writer w.
void	writeObservations (const std::string &s, const KernelCollection &kc, const Observation::Type &t=Observation::NUKLEI)
	Writes the content of kc to file s, using file format t.
void	writeSingleObservation (const std::string &s, const kernel::base &k, const Observation::Type &t=Observation::NUKLEI)
	Writes k to file s, using file format t.
static tt::XMLElement *	append (tt::XMLElement *parent, const std::string &value)

Variables
const std::string	INFOSTRING
const coord_t	FLOATTOL = 1e-12
const int	PRECISION = std::numeric_limits<double>::digits10 + 2
const int	NICEINC = std::numeric_limits<int>::max()
bool	LAST_OUTPUT_LINE_IS_PROGRESS = false
const bool	INTERACTIVE_SHELL
const bool	KDTREE_DENSITY_EVAL
const bool	KDTREE_NANOFLANN
const unsigned int	KDE_KTH_NEAREST_NEIGHBOR
const appear_t	HSV_METRIC_VALUE_WEIGHT
const std::string	SERIALIZATION_DEFAULT_OUTPUT_TYPE
const std::string	SERIALIZATION_DEFAULT_BOOST_ARCHIVE
const unsigned	IMAGE_PROJECTION_RADIUS
const std::string	PARALLELIZATION
const bool	ENABLE_CONSOLE_BACKSPACE
const unsigned	LOG_LEVEL
static std::vector< boost::mt19937 > *	bRandGens
static std::vector< gsl_rng * > *	gRandGens
static std::vector< boost::shared_ptr< boost::mutex > > *	mutexes
const bool	WEIGHTED_SUM_EVIDENCE_EVAL = false
const double	WHITE_NOISE_POWER = 1e-4

Detailed Description

Public namespace.

Function Documentation

readObservations()

void nuklei::readObservations	(	const std::string &	s,
		KernelCollection &	kc,
		Observation::Type &	t
	)

Reads the file s (with automatic type detection) and stores the read data into kc.

t is set to the format of the file s.

Definition at line 408 of file ObservationIO.cpp.

readObservationsWithSpecificFormat()

void nuklei::readObservationsWithSpecificFormat	(	const std::string &	s,
		KernelCollection &	kc,
		const Observation::Type &	t
	)

Reads the file s (no automatic type detection) and stores the read data into kc.

t is the format in which the data is stored.

Definition at line 417 of file ObservationIO.cpp.

Referenced by readSingleObservationWithSpecificFormat().

readSingleObservation() [1/2]

kernel::base::ptr nuklei::readSingleObservation

(

const std::string &

s

)

Reads a single observation from file s (with automatic type detection), and returns it.

This method check that the file s contains a single observation. If it is not the case, an exception is thrown.

Definition at line 427 of file ObservationIO.cpp.

readSingleObservation() [2/2]

kernel::base::ptr nuklei::readSingleObservation	(	const std::string &	s,
		Observation::Type &	t
	)

Reads a single observation from file s (with automatic type detection), and returns it.

t is set to the format of the file s.

This method check that the file s contains a single observation. If it is not the case, an exception is thrown.

Definition at line 433 of file ObservationIO.cpp.

References nuklei::KernelCollection::front(), NUKLEI_THROW, and nuklei::KernelCollection::size().

readSingleObservationWithSpecificFormat()

kernel::base::ptr nuklei::readSingleObservationWithSpecificFormat	(	const std::string &	s,
		const Observation::Type &	t
	)

Reads a single observation from file s (no automatic type detection), and returns it.

t is the format in which the data is stored.

This method check that the file s contains a single observation. If it is not the case, an exception is thrown.

Definition at line 444 of file ObservationIO.cpp.

References nuklei::KernelCollection::front(), NUKLEI_THROW, readObservationsWithSpecificFormat(), and nuklei::KernelCollection::size().

Variable Documentation

INFOSTRING

const std::string nuklei::INFOSTRING

Initial value:

= 
  std::string("Built on " __DATE__ " at " __TIME__) +
  " with `" + NUKLEI_BUILDTYPE + "' flags.\n"
  "This application is part of Nuklei http://renaud-detry.net/nuklei\n"
  "To contact the author, see email at http://renaud-detry.net\n"

Definition at line 18 of file Definitions.cpp.

INTERACTIVE_SHELL

const bool nuklei::INTERACTIVE_SHELL

Initial value:

=
    isatty(STDIN_FILENO) && isatty(STDOUT_FILENO) && isatty(STDERR_FILENO) &&
    (getenv("TERM") != NULL) &&
    (std::string(getenv("TERM")) != "dumb")

Definition at line 82 of file Definitions.cpp.