orientation_generic.h
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00001 #ifndef __D3D_ORIENTATION_GENERIC_H__
00002 #define __D3D_ORIENTATION_GENERIC_H__
00003 /*********************************************************************
00004  * Software License Agreement (BSD License)
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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
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00019  *   * Neither the name of the Willow Garage nor the names of its
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00021  *     from this software without specific prior written permission.
00022  *
00023  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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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/descriptor_3d.h>
00046 
00047 // --------------------------------------------------------------
00054 // --------------------------------------------------------------
00055 
00056 // --------------------------------------------------------------
00066 // --------------------------------------------------------------
00067 class OrientationGeneric: public Descriptor3D
00068 {
00069   public:
00070     // --------------------------------------------------------------
00074     // --------------------------------------------------------------
00075     OrientationGeneric();
00076 
00077     virtual ~OrientationGeneric() = 0;
00078 
00079   protected:
00080     // --------------------------------------------------------------
00087     // --------------------------------------------------------------
00088     virtual void doComputation(const sensor_msgs::PointCloud& data,
00089                                cloud_kdtree::KdTree& data_kdtree,
00090                                const std::vector<const geometry_msgs::Point32*>& interest_pts,
00091                                std::vector<std::vector<float> >& results);
00092 
00093     // --------------------------------------------------------------
00100     // --------------------------------------------------------------
00101     virtual void doComputation(const sensor_msgs::PointCloud& data,
00102                                cloud_kdtree::KdTree& data_kdtree,
00103                                const std::vector<const std::vector<int>*>& interest_region_indices,
00104                                std::vector<std::vector<float> >& results);
00105 
00106     // --------------------------------------------------------------
00113     // --------------------------------------------------------------
00114     virtual void computeOrientation(const unsigned int interest_sample_idx,
00115                                     std::vector<float>& result) const;
00116 
00118     const std::vector<const Eigen3::Vector3d*>* local_directions_;
00119 
00121     Eigen3::Vector3d reference_direction_;
00122 
00124     Eigen3::Vector3d reference_direction_flipped_;
00125 };
00126 
00127 #endif


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