spectral_analysis.h
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00001 #ifndef __D3D_SPECTRAL_ANALYSIS_H__
00002 #define __D3D_SPECTRAL_ANALYSIS_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
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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 <ros/console.h>
00046 
00047 #include <sensor_msgs/PointCloud.h>
00048 
00049 #include <point_cloud_mapping/kdtree/kdtree.h>
00050 #include <point_cloud_mapping/geometry/nearest.h>
00051 
00052 // --------------------------------------------------------------
00059 // --------------------------------------------------------------
00060 
00061 // --------------------------------------------------------------
00072 // --------------------------------------------------------------
00073 class SpectralAnalysis
00074 {
00075   public:
00076     // --------------------------------------------------------------
00092     // --------------------------------------------------------------
00093     SpectralAnalysis(){}
00094     SpectralAnalysis(double support_radius);
00095 
00096     ~SpectralAnalysis();
00097 
00098     // --------------------------------------------------------------
00105     // --------------------------------------------------------------
00106     void clearSpectral();
00107 
00108     // ===================================================================
00110     // ===================================================================
00112     // --------------------------------------------------------------
00116     // --------------------------------------------------------------
00117     inline bool isSpectralComputed() const
00118     {
00119       return spectral_computed_;
00120     }
00121 
00122     // --------------------------------------------------------------
00127     // --------------------------------------------------------------
00128     inline const std::vector<const Eigen3::Vector3d*>& getNormals() const
00129     {
00130       return normals_;
00131     }
00132 
00133     // --------------------------------------------------------------
00137     // --------------------------------------------------------------
00138     inline double getRadius() const
00139     {
00140       return support_radius_;
00141     }
00142 
00143     // --------------------------------------------------------------
00148     // --------------------------------------------------------------
00149     inline const std::vector<const Eigen3::Vector3d*>& getTangents() const
00150     {
00151       return tangents_;
00152     }
00153 
00154     // --------------------------------------------------------------
00159     // --------------------------------------------------------------
00160     inline const std::vector<const Eigen3::Vector3d*>& getMiddleEigenVectors() const
00161     {
00162       return middle_eig_vecs_;
00163     }
00164 
00165     // --------------------------------------------------------------
00170     // --------------------------------------------------------------
00171     inline const std::vector<const Eigen3::Vector3d*>& getEigenValues() const
00172     {
00173       return eigenvalues_;
00174     }
00176 
00177     // --------------------------------------------------------------
00185     // --------------------------------------------------------------
00186     int analyzeInterestPoints(const sensor_msgs::PointCloud& data,
00187                               cloud_kdtree::KdTree& data_kdtree,
00188                               const std::vector<const geometry_msgs::Point32*>& interest_pts);
00189 
00190     // --------------------------------------------------------------
00198     // --------------------------------------------------------------
00199     int analyzeInterestRegions(const sensor_msgs::PointCloud& data,
00200                                cloud_kdtree::KdTree& data_kdtree,
00201                                const std::vector<const std::vector<int>*>& interest_region_indices);
00202 
00203   private:
00204     // --------------------------------------------------------------
00209     // --------------------------------------------------------------
00210     void computeSpectralInfo(const sensor_msgs::PointCloud& data,
00211                              const std::vector<int>& curr_region_indices,
00212                              const size_t idx);
00213 
00215     double support_radius_;
00216 
00218     bool spectral_computed_;
00219 
00221     std::vector<const Eigen3::Vector3d*> normals_;
00222 
00224     std::vector<const Eigen3::Vector3d*> tangents_;
00225 
00227     std::vector<const Eigen3::Vector3d*> middle_eig_vecs_;
00228 
00230     std::vector<const Eigen3::Vector3d*> eigenvalues_;
00231 };
00232 
00233 #endif


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