spin_image_custom.h
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00001 #ifndef __D3D_SPIN_IMAGE_CUSTOM_H__
00002 #define __D3D_SPIN_IMAGE_CUSTOM_H__
00003 /*********************************************************************
00004  * Software License Agreement (BSD License)
00005  *
00006  *  Copyright (c) 2009, Willow Garage
00007  *  All rights reserved.
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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
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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/generic/spin_image_generic.h>
00046 
00047 // --------------------------------------------------------------
00053 // --------------------------------------------------------------
00054 
00055 // --------------------------------------------------------------
00075 // --------------------------------------------------------------
00076 class SpinImageCustom: public SpinImageGeneric
00077 {
00078   public:
00079     // --------------------------------------------------------------
00096     // --------------------------------------------------------------
00097     SpinImageCustom(const double ref_x,
00098                     const double ref_y,
00099                     const double ref_z,
00100                     const double row_res,
00101                     const double col_res,
00102                     const unsigned int nbr_rows,
00103                     const unsigned int nbr_cols,
00104                     const bool use_interest_regions_only);
00105 
00106     // --------------------------------------------------------------
00111     // --------------------------------------------------------------
00112     virtual void clearShared();
00113 
00114     // --------------------------------------------------------------
00119     // --------------------------------------------------------------
00120     std::string getName() const;
00121 
00122     
00123   protected:
00124     // --------------------------------------------------------------
00134     // --------------------------------------------------------------
00135     virtual int precompute(const sensor_msgs::PointCloud& data,
00136                            cloud_kdtree::KdTree& data_kdtree,
00137                            const std::vector<const geometry_msgs::Point32*>& interest_pts);
00138 
00139     // --------------------------------------------------------------
00149     // --------------------------------------------------------------
00150     virtual int precompute(const sensor_msgs::PointCloud& data,
00151                            cloud_kdtree::KdTree& data_kdtree,
00152                            const std::vector<const std::vector<int>*>& interest_region_indices);
00153 
00154   private:
00156     Eigen3::Vector3d custom_axis_;
00157 
00159     std::vector<const Eigen3::Vector3d*> custom_axis_duplicated_;
00160 };
00161 
00162 #endif


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