spin_image_generic.h
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00001 #ifndef __D3D_SPIN_IMAGE_GENERIC_H__
00002 #define __D3D_SPIN_IMAGE_GENERIC_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
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00036 
00037 #include <vector>
00038 
00039 #include <Eigen3/Core>
00040 #include <Eigen3/Geometry>
00041 
00042 #include <opencv/cv.h>
00043 #include <opencv/cxcore.h>
00044 #include <opencv/cvaux.hpp>
00045 #include <opencv/highgui.h>
00046 
00047 #include <ias_descriptors_3d/generic/neighborhood_feature.h>
00048 
00049 // --------------------------------------------------------------
00058 // --------------------------------------------------------------
00059 
00060 // --------------------------------------------------------------
00069 // --------------------------------------------------------------
00070 class SpinImageGeneric: public NeighborhoodFeature
00071 {
00072   public:
00073     // --------------------------------------------------------------
00077     // --------------------------------------------------------------
00078     SpinImageGeneric();
00079 
00080     virtual ~SpinImageGeneric() = 0;
00081 
00082   protected:
00083     // --------------------------------------------------------------
00093     // --------------------------------------------------------------
00094     virtual void
00095     computeNeighborhoodFeature(const sensor_msgs::PointCloud& data,
00096                                const std::vector<int>& neighbor_indices,
00097                                const unsigned int interest_sample_idx,
00098                                std::vector<float>& result) const;
00099 
00100     void display(const std::vector<float>& spin_image) const;
00101 
00103     const std::vector<const Eigen3::Vector3d*>* spin_axes_;
00104 
00106     std::vector<Eigen3::Vector3d> spin_image_centers_;
00107 
00109     double row_res_;
00110 
00112     double col_res_;
00113 
00115     unsigned int nbr_rows_;
00116 
00118     unsigned int nbr_cols_;
00119 };
00120 
00121 #endif


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