curvature.h
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00001 #ifndef __D3D_CURVATURE_H__
00002 #define __D3D_CURVATURE_H__
00003 /*********************************************************************
00004  * Software License Agreement (BSD License)
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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
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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.
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00023  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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00025  *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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00036 
00037 #include <vector>
00038 
00039 #include <opencv/cv.h>
00040 #include <opencv/cxcore.h>
00041 #include <opencv/cvaux.hpp>
00042 
00043 #include <ias_descriptors_3d/generic/neighborhood_feature.h>
00044 #include <ias_descriptors_3d/shared/spectral_analysis.h>
00045 
00046 // --------------------------------------------------------------
00052 // --------------------------------------------------------------
00053 
00054 // --------------------------------------------------------------
00063 // --------------------------------------------------------------
00064 class Curvature: public Descriptor3D
00065 {
00066   public:
00067     // --------------------------------------------------------------
00074     // --------------------------------------------------------------
00075     Curvature(SpectralAnalysis& spectral_information);
00076 
00077     // --------------------------------------------------------------
00081     // --------------------------------------------------------------
00082     virtual void clearShared();
00083 
00084     std::string getName() const;
00085     
00086   protected:
00087     // --------------------------------------------------------------
00097     // --------------------------------------------------------------
00098     virtual int precompute(const sensor_msgs::PointCloud& data,
00099                            cloud_kdtree::KdTree& data_kdtree,
00100                            const std::vector<const geometry_msgs::Point32*>& interest_pts);
00101 
00102     // --------------------------------------------------------------
00112     // --------------------------------------------------------------
00113     virtual int precompute(const sensor_msgs::PointCloud& data,
00114                            cloud_kdtree::KdTree& data_kdtree,
00115                            const std::vector<const std::vector<int>*>& interest_region_indices);
00116 
00117     // --------------------------------------------------------------
00123     // --------------------------------------------------------------
00124     virtual void doComputation(const sensor_msgs::PointCloud& data,
00125                                cloud_kdtree::KdTree& data_kdtree,
00126                                const std::vector<const geometry_msgs::Point32*>& interest_pts,
00127                                std::vector<std::vector<float> >& results);
00128 
00129     // --------------------------------------------------------------
00135     // --------------------------------------------------------------
00136     virtual void doComputation(const sensor_msgs::PointCloud& data,
00137                                cloud_kdtree::KdTree& data_kdtree,
00138                                const std::vector<const std::vector<int>*>& interest_region_indices,
00139                                std::vector<std::vector<float> >& results);
00140 
00141     // --------------------------------------------------------------
00145     // --------------------------------------------------------------
00146     virtual void
00147     computeCurvature(const unsigned int interest_sample_idx, std::vector<float>& result) const;
00148 
00149   private:
00151     const std::vector<const Eigen3::Vector3d*>* eig_vals_;
00152 
00153     SpectralAnalysis* spectral_information_;
00154 };
00155 
00156 #endif


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