position.h
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00001 #ifndef __D3D_POSITION_H__
00002 #define __D3D_POSITION_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;
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00036 
00037 #include <opencv/cv.h>
00038 #include <opencv/cxcore.h>
00039 #include <opencv/cvaux.hpp>
00040 
00041 #include <sensor_msgs/PointCloud.h>
00042 
00043 #include <point_cloud_mapping/kdtree/kdtree.h>
00044 #include <point_cloud_mapping/geometry/nearest.h>
00045 
00046 #include <ias_descriptors_3d/descriptor_3d.h>
00047 
00048 // --------------------------------------------------------------
00055 // --------------------------------------------------------------
00056 
00057 // --------------------------------------------------------------
00064 // --------------------------------------------------------------
00065 class Position: public Descriptor3D
00066 {
00067   public:
00068     // --------------------------------------------------------------
00074     // --------------------------------------------------------------
00075     Position();
00076 
00077     // --------------------------------------------------------------
00082     // --------------------------------------------------------------
00083     virtual void clearShared();
00084 
00085     // --------------------------------------------------------------
00090     // --------------------------------------------------------------
00091 
00092     std::string getName() const;
00093     
00094     // --------------------------------------------------------------
00102     // --------------------------------------------------------------
00103     Position(float ref_z);
00104 
00105   protected:
00106     // --------------------------------------------------------------
00113     // --------------------------------------------------------------
00114     virtual int precompute(const sensor_msgs::PointCloud& data,
00115                            cloud_kdtree::KdTree& data_kdtree,
00116                            const std::vector<const geometry_msgs::Point32*>& interest_pts);
00117 
00118     // --------------------------------------------------------------
00125     // --------------------------------------------------------------
00126     virtual int precompute(const sensor_msgs::PointCloud& data,
00127                            cloud_kdtree::KdTree& data_kdtree,
00128                            const std::vector<const std::vector<int>*>& interest_region_indices);
00129     // --------------------------------------------------------------
00135     // --------------------------------------------------------------
00136     virtual void doComputation(const sensor_msgs::PointCloud& data,
00137                                cloud_kdtree::KdTree& data_kdtree,
00138                                const std::vector<const geometry_msgs::Point32*>& interest_pts,
00139                                std::vector<std::vector<float> >& results);
00140 
00141     // --------------------------------------------------------------
00147     // --------------------------------------------------------------
00148     virtual void doComputation(const sensor_msgs::PointCloud& data,
00149                                cloud_kdtree::KdTree& data_kdtree,
00150                                const std::vector<const std::vector<int>*>& interest_region_indices,
00151                                std::vector<std::vector<float> >& results);
00152 
00153   private:
00154     float ref_z_;
00155 };
00156 
00157 #endif


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