bounding_box_spectral.h
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00001 #ifndef __D3D_BOUNDING_BOX_SPECTRAL_H__
00002 #define __D3D_BOUNDING_BOX_SPECTRAL_H__
00003 /*********************************************************************
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00009  *  Redistribution and use in source and binary forms, with or without
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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
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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 <ias_descriptors_3d/generic/neighborhood_feature.h>
00046 #include <ias_descriptors_3d/shared/spectral_analysis.h>
00047 
00048 // --------------------------------------------------------------
00056 // --------------------------------------------------------------
00057 
00058 // --------------------------------------------------------------
00069 // --------------------------------------------------------------
00070 class BoundingBoxSpectral: public NeighborhoodFeature
00071 {
00072   public:
00073     // --------------------------------------------------------------
00089     // --------------------------------------------------------------
00090     BoundingBoxSpectral(double bbox_radius, SpectralAnalysis& spectral_information);
00091 
00092     // --------------------------------------------------------------
00096     // --------------------------------------------------------------
00097     virtual void clearShared();
00098 
00099     // --------------------------------------------------------------
00104     // --------------------------------------------------------------
00105     std::string getName() const;
00106 
00107   protected:
00108     // --------------------------------------------------------------
00119     // --------------------------------------------------------------
00120     virtual int precompute(const sensor_msgs::PointCloud& data,
00121                            cloud_kdtree::KdTree& data_kdtree,
00122                            const std::vector<const geometry_msgs::Point32*>& interest_pts);
00123 
00124     // --------------------------------------------------------------
00135     // --------------------------------------------------------------
00136     virtual int precompute(const sensor_msgs::PointCloud& data,
00137                            cloud_kdtree::KdTree& data_kdtree,
00138                            const std::vector<const std::vector<int>*>& interest_region_indices);
00139 
00140     // --------------------------------------------------------------
00151     // --------------------------------------------------------------
00152     virtual void
00153     computeNeighborhoodFeature(const sensor_msgs::PointCloud& data,
00154                                const std::vector<int>& neighbor_indices,
00155                                const unsigned int interest_sample_idx,
00156                                std::vector<float>& result) const;
00157 
00158   private:
00160     const std::vector<const Eigen3::Vector3d*>* eig_vecs_min_;
00161 
00163     const std::vector<const Eigen3::Vector3d*>* eig_vecs_mid_;
00164 
00166     const std::vector<const Eigen3::Vector3d*>* eig_vecs_max_;
00167 
00169     SpectralAnalysis* spectral_information_;
00170 };
00171 
00172 #endif


ias_descriptors_3d
Author(s): Daniel Munoz/ dmunoz@willowgarage.com, Dejan Pangercic (patched version)
autogenerated on Mon Oct 6 2014 08:48:26