descriptor_3d.h
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00001 #ifndef __D3D_DESCRIPTORS_3D_H__
00002 #define __D3D_DESCRIPTORS_3D_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
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00029  *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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00034  *  POSSIBILITY OF SUCH DAMAGE.
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00036 
00037 #include <vector>
00038 #include <set>
00039 
00040 #include <boost/shared_array.hpp>
00041 
00042 #include <opencv/cxcore.h>
00043 #include <opencv/cv.h>
00044 #include <opencv/cvaux.hpp>
00045 
00046 #include <ros/console.h>
00047 
00048 #include <sensor_msgs/PointCloud.h>
00049 
00050 #include <point_cloud_mapping/kdtree/kdtree.h>
00051 
00052 // --------------------------------------------------------------
00059 // --------------------------------------------------------------
00060 
00061 // --------------------------------------------------------------
00071 // --------------------------------------------------------------
00072 class Descriptor3D
00073 {
00074   public:
00075     // --------------------------------------------------------------
00079     // --------------------------------------------------------------
00080     Descriptor3D();
00081 
00082     virtual ~Descriptor3D() = 0;
00083 
00084     // --------------------------------------------------------------
00090     // --------------------------------------------------------------
00091     virtual void clearShared() = 0;
00092 
00093     // --------------------------------------------------------------
00107     // --------------------------------------------------------------
00108     void compute(const sensor_msgs::PointCloud& data,
00109                  cloud_kdtree::KdTree& data_kdtree,
00110                  const std::vector<const geometry_msgs::Point32*>& interest_pts,
00111                  std::vector<std::vector<float> >& results);
00112 
00113     // --------------------------------------------------------------
00127     // --------------------------------------------------------------
00128     void compute(const sensor_msgs::PointCloud& data,
00129                  cloud_kdtree::KdTree& data_kdtree,
00130                  const std::vector<const std::vector<int>*>& interest_region_indices,
00131                  std::vector<std::vector<float> >& results);
00132 
00133     // --------------------------------------------------------------
00139     // --------------------------------------------------------------
00140     inline unsigned int getResultSize() const
00141     {
00142       return result_size_;
00143     }
00144     
00145     // --------------------------------------------------------------
00151     // --------------------------------------------------------------
00152     virtual std::string getName() const = 0;
00153     
00154     // ===================================================================
00156     // ===================================================================
00158     // --------------------------------------------------------------
00176     // --------------------------------------------------------------
00177     static unsigned int
00178     computeAndConcatFeatures(const sensor_msgs::PointCloud& data,
00179                              cloud_kdtree::KdTree& data_kdtree,
00180                              const std::vector<const geometry_msgs::Point32*>& interest_pts,
00181                              std::vector<Descriptor3D*>& descriptors_3d,
00182                              std::vector<boost::shared_array<const float> >& concatenated_features);
00183     // --------------------------------------------------------------
00201     // --------------------------------------------------------------
00202     static unsigned int
00203     computeAndConcatFeatures(const sensor_msgs::PointCloud& data,
00204                              cloud_kdtree::KdTree& data_kdtree,
00205                              const std::vector<const std::vector<int>*>& interest_region_indices,
00206                              std::vector<Descriptor3D*>& descriptors_3d,
00207                              std::vector<boost::shared_array<const float> >& concatenated_features);
00209 
00211     bool debug_;
00212   protected:
00213     // --------------------------------------------------------------
00224     // --------------------------------------------------------------
00225     virtual int precompute(const sensor_msgs::PointCloud& data,
00226                            cloud_kdtree::KdTree& data_kdtree,
00227                            const std::vector<const geometry_msgs::Point32*>& interest_pts) = 0;
00228 
00229     // --------------------------------------------------------------
00242     // --------------------------------------------------------------
00243     virtual int precompute(const sensor_msgs::PointCloud& data,
00244                            cloud_kdtree::KdTree& data_kdtree,
00245                            const std::vector<const std::vector<int>*>& interest_region_indices) = 0;
00246 
00247     // --------------------------------------------------------------
00253     // --------------------------------------------------------------
00254     virtual void doComputation(const sensor_msgs::PointCloud& data,
00255                                cloud_kdtree::KdTree& data_kdtree,
00256                                const std::vector<const geometry_msgs::Point32*>& interest_pts,
00257                                std::vector<std::vector<float> >& results) = 0;
00258 
00259     // --------------------------------------------------------------
00265     // --------------------------------------------------------------
00266     virtual void doComputation(const sensor_msgs::PointCloud& data,
00267                                cloud_kdtree::KdTree& data_kdtree,
00268                                const std::vector<const std::vector<int>*>& interest_region_indices,
00269                                std::vector<std::vector<float> >& results) = 0;
00270 
00272     unsigned int result_size_;
00273 
00275     bool result_size_defined_;
00276 
00277   private:
00278     // --------------------------------------------------------------
00289     // --------------------------------------------------------------
00290     static void
00291     concatenateFeatures(const std::vector<std::vector<std::vector<float> > >& all_descriptor_results,
00292                         const unsigned int nbr_samples,
00293                         const unsigned int nbr_concatenated_vals,
00294                         std::vector<boost::shared_array<const float> >& concatenated_features);
00295 };
00296 
00297 #endif


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