shape_spectral.h
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00001 #ifndef __D3D_SHAPE_SPECTRAL_H__
00002 #define __D3D_SHAPE_SPECTRAL_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
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,
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00029  *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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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 // --------------------------------------------------------------
00053 // --------------------------------------------------------------
00054 
00055 // --------------------------------------------------------------
00068 // --------------------------------------------------------------
00069 class ShapeSpectral: public Descriptor3D
00070 {
00071   public:
00072     // --------------------------------------------------------------
00079     // --------------------------------------------------------------
00080     ShapeSpectral(){}
00081     ShapeSpectral(SpectralAnalysis& spectral_information);
00082 
00083     // --------------------------------------------------------------
00087     // --------------------------------------------------------------
00088     virtual void clearShared();
00089 
00090     std::string getName() const;
00091 
00092     
00093   protected:
00094     // --------------------------------------------------------------
00104     // --------------------------------------------------------------
00105     virtual int precompute(const sensor_msgs::PointCloud& data,
00106                            cloud_kdtree::KdTree& data_kdtree,
00107                            const std::vector<const geometry_msgs::Point32*>& interest_pts);
00108 
00109     // --------------------------------------------------------------
00119     // --------------------------------------------------------------
00120     virtual int precompute(const sensor_msgs::PointCloud& data,
00121                            cloud_kdtree::KdTree& data_kdtree,
00122                            const std::vector<const std::vector<int>*>& interest_region_indices);
00123 
00124     // --------------------------------------------------------------
00131     // --------------------------------------------------------------
00132     virtual void doComputation(const sensor_msgs::PointCloud& data,
00133                                cloud_kdtree::KdTree& data_kdtree,
00134                                const std::vector<const geometry_msgs::Point32*>& interest_pts,
00135                                std::vector<std::vector<float> >& results);
00136 
00137     // --------------------------------------------------------------
00144     // --------------------------------------------------------------
00145     virtual void doComputation(const sensor_msgs::PointCloud& data,
00146                                cloud_kdtree::KdTree& data_kdtree,
00147                                const std::vector<const std::vector<int>*>& interest_region_indices,
00148                                std::vector<std::vector<float> >& results);
00149 
00150     // --------------------------------------------------------------
00154     // --------------------------------------------------------------
00155     virtual void computeShapeFeatures(const unsigned int interest_sample_idx,
00156                                       std::vector<float>& result) const;
00157 
00158   private:
00160     const std::vector<const Eigen3::Vector3d*>* eig_vals_;
00161 
00162     SpectralAnalysis* spectral_information_;
00163 };
00164 
00165 #endif


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