00001 #ifndef __D3D_NEIGHBORHOOD_FEATURE_H__ 00002 #define __D3D_NEIGHBORHOOD_FEATURE_H__ 00003 /********************************************************************* 00004 * Software License Agreement (BSD License) 00005 * 00006 * Copyright (c) 2009, Willow Garage 00007 * All rights reserved. 00008 * 00009 * Redistribution and use in source and binary forms, with or without 00010 * modification, are permitted provided that the following conditions 00011 * are met: 00012 * 00013 * * Redistributions of source code must retain the above copyright 00014 * notice, this list of conditions and the following disclaimer. 00015 * * Redistributions in binary form must reproduce the above 00016 * copyright notice, this list of conditions and the following 00017 * disclaimer in the documentation and/or other materials provided 00018 * with the distribution. 00019 * * Neither the name of the Willow Garage nor the names of its 00020 * contributors may be used to endorse or promote products derived 00021 * from this software without specific prior written permission. 00022 * 00023 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00024 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00025 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00026 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00027 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00028 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00029 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00030 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00031 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00032 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00033 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00034 * POSSIBILITY OF SUCH DAMAGE. 00035 *********************************************************************/ 00036 00037 #include <vector> 00038 00039 #include <Eigen3/Core> 00040 00041 #include <opencv/cv.h> 00042 #include <opencv/cxcore.h> 00043 #include <opencv/cvaux.hpp> 00044 00045 #include <sensor_msgs/PointCloud.h> 00046 00047 #include <point_cloud_mapping/geometry/nearest.h> 00048 #include <point_cloud_mapping/kdtree/kdtree.h> 00049 00050 #include <ias_descriptors_3d/descriptor_3d.h> 00051 00052 // -------------------------------------------------------------- 00059 // -------------------------------------------------------------- 00060 00061 // -------------------------------------------------------------- 00068 // -------------------------------------------------------------- 00069 class NeighborhoodFeature: public Descriptor3D 00070 { 00071 public: 00072 // -------------------------------------------------------------- 00076 // -------------------------------------------------------------- 00077 NeighborhoodFeature(); 00078 00079 virtual ~NeighborhoodFeature() = 0; 00080 00081 protected: 00082 // -------------------------------------------------------------- 00089 // -------------------------------------------------------------- 00090 virtual void doComputation(const sensor_msgs::PointCloud& data, 00091 cloud_kdtree::KdTree& data_kdtree, 00092 const std::vector<const geometry_msgs::Point32*>& interest_pts, 00093 std::vector<std::vector<float> >& results); 00094 00095 // -------------------------------------------------------------- 00102 // -------------------------------------------------------------- 00103 virtual void doComputation(const sensor_msgs::PointCloud& data, 00104 cloud_kdtree::KdTree& data_kdtree, 00105 const std::vector<const std::vector<int>*>& interest_region_indices, 00106 std::vector<std::vector<float> >& results); 00107 00108 // -------------------------------------------------------------- 00118 // -------------------------------------------------------------- 00119 virtual void 00120 computeNeighborhoodFeature(const sensor_msgs::PointCloud& data, 00121 const std::vector<int>& neighbor_indices, 00122 const unsigned int interest_sample_idx, 00123 std::vector<float>& result) const = 0; 00124 00126 float neighborhood_radius_; 00127 00129 bool neighborhood_radius_defined_; 00130 }; 00131 00132 #endif
