channel.h
Go to the documentation of this file.
00001 #ifndef __D3D_CHANNEL_H__
00002 #define __D3D_CHANNEL_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 #include <string>
00039 
00040 #include <opencv/cv.h>
00041 #include <opencv/cxcore.h>
00042 #include <opencv/cvaux.hpp>
00043 
00044 #include <sensor_msgs/PointCloud.h>
00045 
00046 #include <point_cloud_mapping/kdtree/kdtree.h>
00047 #include <point_cloud_mapping/geometry/nearest.h>
00048 #include <point_cloud_mapping/geometry/point.h>
00049 #include <point_cloud_mapping/geometry/distances.h>
00050 
00051 #include <ias_descriptors_3d/descriptor_3d.h>
00052 
00053 // --------------------------------------------------------------
00060 // --------------------------------------------------------------
00061 
00062 // --------------------------------------------------------------
00067 // --------------------------------------------------------------
00068 class Channel: public Descriptor3D
00069 {
00070   public:
00071     // --------------------------------------------------------------
00078     // --------------------------------------------------------------
00079     Channel(const std::string& channel_name);
00080 
00081     // --------------------------------------------------------------
00086     // --------------------------------------------------------------
00087     virtual void clearShared();
00088 
00089     std::string getName() const;
00090     
00091   protected:
00092     // --------------------------------------------------------------
00099     // --------------------------------------------------------------
00100     virtual int precompute(const sensor_msgs::PointCloud& data,
00101                            cloud_kdtree::KdTree& data_kdtree,
00102                            const std::vector<const geometry_msgs::Point32*>& interest_pts);
00103 
00104     // --------------------------------------------------------------
00111     // --------------------------------------------------------------
00112     virtual int precompute(const sensor_msgs::PointCloud& data,
00113                            cloud_kdtree::KdTree& data_kdtree,
00114                            const std::vector<const std::vector<int>*>& interest_region_indices);
00115     // --------------------------------------------------------------
00124     // --------------------------------------------------------------
00125     virtual void doComputation(const sensor_msgs::PointCloud& data,
00126                                cloud_kdtree::KdTree& data_kdtree,
00127                                const std::vector<const geometry_msgs::Point32*>& interest_pts,
00128                                std::vector<std::vector<float> >& results);
00129 
00130     // --------------------------------------------------------------
00137     // --------------------------------------------------------------
00138     virtual void doComputation(const sensor_msgs::PointCloud& data,
00139                                cloud_kdtree::KdTree& data_kdtree,
00140                                const std::vector<const std::vector<int>*>& interest_region_indices,
00141                                std::vector<std::vector<float> >& results);
00142 
00143   private:
00145     std::string channel_name_;
00146 };
00147 
00148 #endif


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