[Personalrobots-commit] SF.net SVN: personalrobots:[20338] pkg/trunk/sandbox/functional_m3n

[<da...@us...>]

Revision: 20338
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=20338&view=rev
Author:   danmuno
Date:     2009-07-31 23:44:31 +0000 (Fri, 31 Jul 2009)

Log Message:
-----------
made rf creator return boost shared_ptr to random field

Modified Paths:
--------------
    pkg/trunk/sandbox/functional_m3n/examples/classify_m3n.cpp
    pkg/trunk/sandbox/functional_m3n/examples/train_m3n.cpp
    pkg/trunk/sandbox/functional_m3n/include/functional_m3n/example/pt_cloud_rf_creator.h
    pkg/trunk/sandbox/functional_m3n/src/example/pt_cloud_rf_creator.cpp

Modified: pkg/trunk/sandbox/functional_m3n/examples/classify_m3n.cpp
===================================================================
--- pkg/trunk/sandbox/functional_m3n/examples/classify_m3n.cpp	2009-07-31 23:43:02 UTC (rev 20337)
+++ pkg/trunk/sandbox/functional_m3n/examples/classify_m3n.cpp	2009-07-31 23:44:31 UTC (rev 20338)
@@ -5,6 +5,8 @@
  *      Author: dmunoz
  */
 
+#include <boost/shared_ptr.hpp>
+
 #include <robot_msgs/PointCloud.h>
 
 #include <functional_m3n/example/pt_cloud_rf_creator.h>
@@ -85,7 +87,7 @@
   // ----------------------------------------------------------
   // Create random field
   PtCloudRFCreator rf_creator;
-  RandomField* testing_rf = rf_creator.createRandomField(pt_cloud);
+  boost::shared_ptr<RandomField> testing_rf = rf_creator.createRandomField(pt_cloud);
 
   // ----------------------------------------------------------
   // Load M3N model

Modified: pkg/trunk/sandbox/functional_m3n/examples/train_m3n.cpp
===================================================================
--- pkg/trunk/sandbox/functional_m3n/examples/train_m3n.cpp	2009-07-31 23:43:02 UTC (rev 20337)
+++ pkg/trunk/sandbox/functional_m3n/examples/train_m3n.cpp	2009-07-31 23:44:31 UTC (rev 20338)
@@ -5,6 +5,8 @@
  *      Author: dmunoz
  */
 
+#include <boost/shared_ptr.hpp>
+
 #include <robot_msgs/PointCloud.h>
 
 #include <functional_m3n/example/pt_cloud_rf_creator.h>
@@ -76,7 +78,7 @@
   // ----------------------------------------------------------
   // Create random field
   PtCloudRFCreator rf_creator;
-  const RandomField* training_rf = rf_creator.createRandomField(pt_cloud, labels);
+  const boost::shared_ptr<RandomField> training_rf = rf_creator.createRandomField(pt_cloud, labels);
   training_rf->saveNodeFeatures("tempo/train_node_unknown.txt");
   training_rf->saveCliqueFeatures("tempo/train_rf_unknown");
 
@@ -95,7 +97,7 @@
   // Train M3N model
   ROS_INFO("Starting to train...");
   M3NModel m3n_model;
-  vector<const RandomField*> training_rfs(1, training_rf);
+  vector<const RandomField*> training_rfs(1, training_rf.get());
   if (m3n_model.train(training_rfs, m3n_learning_params) < 0)
   {
     ROS_ERROR("Failed to train M3N model");

Modified: pkg/trunk/sandbox/functional_m3n/include/functional_m3n/example/pt_cloud_rf_creator.h
===================================================================
--- pkg/trunk/sandbox/functional_m3n/include/functional_m3n/example/pt_cloud_rf_creator.h	2009-07-31 23:43:02 UTC (rev 20337)
+++ pkg/trunk/sandbox/functional_m3n/include/functional_m3n/example/pt_cloud_rf_creator.h	2009-07-31 23:44:31 UTC (rev 20338)
@@ -36,6 +36,8 @@
 
 #include <vector>
 
+#include <boost/shared_ptr.hpp>
+
 #include <robot_msgs/PointCloud.h>
 
 #include <point_cloud_clustering/kmeans.h>
@@ -56,13 +58,10 @@
       nbr_clique_sets_ = 2;
     }
 
-    RandomField* createRandomField(const robot_msgs::PointCloud& pt_cloud)
-    {
-      std::vector<float> labels;
-      return createRandomField(pt_cloud, labels);
-    }
+    boost::shared_ptr<RandomField> createRandomField(const robot_msgs::PointCloud& pt_cloud);
 
-    RandomField* createRandomField(const robot_msgs::PointCloud& pt_cloud, const std::vector<float>& labels);
+    boost::shared_ptr<RandomField> createRandomField(const robot_msgs::PointCloud& pt_cloud,
+                                                     const std::vector<float>& labels);
 
   private:
     void createDescriptors();

Modified: pkg/trunk/sandbox/functional_m3n/src/example/pt_cloud_rf_creator.cpp
===================================================================
--- pkg/trunk/sandbox/functional_m3n/src/example/pt_cloud_rf_creator.cpp	2009-07-31 23:43:02 UTC (rev 20337)
+++ pkg/trunk/sandbox/functional_m3n/src/example/pt_cloud_rf_creator.cpp	2009-07-31 23:44:31 UTC (rev 20338)
@@ -477,14 +477,14 @@
 // --------------------------------------------------------------
 /*! See function definition */
 // --------------------------------------------------------------
-RandomField* PtCloudRFCreator::createRandomField(const robot_msgs::PointCloud& pt_cloud,
+boost::shared_ptr<RandomField> PtCloudRFCreator::createRandomField(const robot_msgs::PointCloud& pt_cloud,
                                                  const vector<float>& labels)
 {
   createDescriptors();
   unsigned int nbr_clique_sets = clique_set_clusterings_.size();
 
   cloud_kdtree::KdTreeANN pt_cloud_kdtree(pt_cloud);
-  RandomField* rf = new RandomField(nbr_clique_sets);
+  boost::shared_ptr<RandomField> rf = boost::shared_ptr<RandomField>(new RandomField(nbr_clique_sets));
 
   ROS_INFO("=============== CREATING RANDOM FIELD =================");
 
@@ -512,3 +512,9 @@
   ROS_INFO("=============== FINISHED RANDOM FIELD =================\n");
   return rf;
 }
+
+boost::shared_ptr<RandomField> PtCloudRFCreator::createRandomField(const robot_msgs::PointCloud& pt_cloud)
+{
+  std::vector<float> labels;
+  return createRandomField(pt_cloud, labels);
+}


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