feature generator for surfaces based on fourier transformation (rotation/translation invariant) More...

#include <invariant_surface_feature.h>

Classes
struct	Triangle
struct	VectorWithParams
Public Types
enum	EINVARAINCE { INVARAINCE_X = 1, INVARAINCE_Y = 2, INVARAINCE_Z = 4, INVARAINCE_INCLINATION = 8, INVARAINCE_AZIMUTH = 16, INVARAINCE_ALL = 0x1f }
typedef boost::shared_ptr< Result >	PResult
typedef boost::shared_ptr < const Result >	PResultConst
typedef boost::shared_ptr < TSurfaceList >	PTSurfaceList
typedef std::vector< Signature < Real > >	Result
typedef std::vector< TSurface >	TSurfaceList
typedef Eigen::Matrix< Scalar, 3, 1 >	TVector
Public Member Functions
void	addRadius (const float r)
void	compute ()
void	dbg_keypoints (std::vector< TVector > &keypoints) const
pcl::PolygonMesh::Ptr	dbg_Mesh_of_Map () const
void	dbg_mesh_of_subsamp (const TVector &at, const Scalar radius, std::vector< TVector > &pts, std::vector< int > &inds) const
const EINVARAINCE &	getInvarianceSettings () const
const std::vector< float > &	getRadii () const
PResultConst	getResult () const
const TAffine &	getTransformation () const
	InvariantSurfaceFeature (const int num_radius, const int num_angle)
void	setInput (PTSurfaceList surfs)
void	setInvarianceSettings (const EINVARAINCE &t)
void	setTransformation (const TAffine &t)
void	test_addOffset (const Scalar off_x, const Scalar off_y, const Scalar off_z)
void	test_rotate (const Scalar angle)
bool	test_singleTriangle (const int num) const
pcl::PolygonMesh::Ptr	test_subsampling_of_Map (const int num, const Scalar r2)
virtual	~InvariantSurfaceFeature ()
Protected Member Functions
pcl::PolygonMesh::Ptr	dbg_triangles2mesh (const std::vector< Triangle > &res) const
void	generateKeypoints (std::vector< TVector > &keypoints) const
void	subsample (const TVector &at, const Scalar r2, std::vector< Triangle > &res) const
Protected Attributes
PTSurfaceList	input_
EINVARAINCE	invariance_
std::vector< float >	radii_
PResult	result_
TAffine	transform_
std::vector< Triangle >	triangulated_input_
Private Types
typedef Sampler< Real, Scalar >	S
Private Attributes
const int	num_angle_
const int	num_radius_
S::Samples	samples_
S	sr_

Detailed Description

template<typename TSurface, typename Scalar = double, typename Real = float, typename TAffine = Eigen::Affine3f>
class cob_3d_features::InvariantSurfaceFeature< TSurface, Scalar, Real, TAffine >

feature generator for surfaces based on fourier transformation (rotation/translation invariant)

Definition at line 73 of file invariant_surface_feature.h.

Member Typedef Documentation

template<typename TSurface , typename Scalar = double, typename Real = float, typename TAffine = Eigen::Affine3f>

typedef boost::shared_ptr<Result> cob_3d_features::InvariantSurfaceFeature< TSurface, Scalar, Real, TAffine >::PResult

Definition at line 87 of file invariant_surface_feature.h.

template<typename TSurface , typename Scalar = double, typename Real = float, typename TAffine = Eigen::Affine3f>

typedef boost::shared_ptr<const Result> cob_3d_features::InvariantSurfaceFeature< TSurface, Scalar, Real, TAffine >::PResultConst

Definition at line 88 of file invariant_surface_feature.h.

template<typename TSurface , typename Scalar = double, typename Real = float, typename TAffine = Eigen::Affine3f>

typedef boost::shared_ptr<TSurfaceList> cob_3d_features::InvariantSurfaceFeature< TSurface, Scalar, Real, TAffine >::PTSurfaceList

Definition at line 84 of file invariant_surface_feature.h.

template<typename TSurface , typename Scalar = double, typename Real = float, typename TAffine = Eigen::Affine3f>

typedef std::vector<Signature< Real > > cob_3d_features::InvariantSurfaceFeature< TSurface, Scalar, Real, TAffine >::Result

Definition at line 86 of file invariant_surface_feature.h.

template<typename TSurface , typename Scalar = double, typename Real = float, typename TAffine = Eigen::Affine3f>

typedef Sampler<Real, Scalar> cob_3d_features::InvariantSurfaceFeature< TSurface, Scalar, Real, TAffine >::S [private]

Definition at line 75 of file invariant_surface_feature.h.

template<typename TSurface , typename Scalar = double, typename Real = float, typename TAffine = Eigen::Affine3f>

typedef std::vector<TSurface> cob_3d_features::InvariantSurfaceFeature< TSurface, Scalar, Real, TAffine >::TSurfaceList

Definition at line 83 of file invariant_surface_feature.h.

template<typename TSurface , typename Scalar = double, typename Real = float, typename TAffine = Eigen::Affine3f>

typedef Eigen::Matrix<Scalar, 3, 1> cob_3d_features::InvariantSurfaceFeature< TSurface, Scalar, Real, TAffine >::TVector

Definition at line 82 of file invariant_surface_feature.h.

Member Enumeration Documentation

template<typename TSurface , typename Scalar = double, typename Real = float, typename TAffine = Eigen::Affine3f>

enum cob_3d_features::InvariantSurfaceFeature::EINVARAINCE

Enumerator:

INVARAINCE_X
INVARAINCE_Y
INVARAINCE_Z
INVARAINCE_INCLINATION
INVARAINCE_AZIMUTH
INVARAINCE_ALL

Definition at line 113 of file invariant_surface_feature.h.

Constructor & Destructor Documentation

template<typename TSurface , typename Scalar = double, typename Real = float, typename TAffine = Eigen::Affine3f>

cob_3d_features::InvariantSurfaceFeature< TSurface, Scalar, Real, TAffine >::InvariantSurfaceFeature	(	const int	num_radius,
		const int	num_angle
	)		`[inline]`

constructor

Definition at line 120 of file invariant_surface_feature.h.

template<typename TSurface , typename Scalar = double, typename Real = float, typename TAffine = Eigen::Affine3f>

virtual cob_3d_features::InvariantSurfaceFeature< TSurface, Scalar, Real, TAffine >::~InvariantSurfaceFeature ( ) [inline, virtual]

destructor

Definition at line 130 of file invariant_surface_feature.h.

Member Function Documentation

template<typename TSurface , typename Scalar = double, typename Real = float, typename TAffine = Eigen::Affine3f>

void cob_3d_features::InvariantSurfaceFeature< TSurface, Scalar, Real, TAffine >::addRadius ( const float r ) [inline]

Definition at line 145 of file invariant_surface_feature.h.

template<typename TSurface , typename Scalar , typename Real , typename TAffine >

void cob_3d_features::InvariantSurfaceFeature< TSurface, Scalar, Real, TAffine >::compute ( )

Definition at line 61 of file invariant_surface_feature.hpp.

template<typename TSurface , typename Scalar = double, typename Real = float, typename TAffine = Eigen::Affine3f>

void cob_3d_features::InvariantSurfaceFeature< TSurface, Scalar, Real, TAffine >::dbg_keypoints ( std::vector< TVector > & keypoints ) const [inline]

Definition at line 165 of file invariant_surface_feature.h.

template<typename TSurface , typename Scalar = double, typename Real = float, typename TAffine = Eigen::Affine3f>

pcl::PolygonMesh::Ptr cob_3d_features::InvariantSurfaceFeature< TSurface, Scalar, Real, TAffine >::dbg_Mesh_of_Map ( ) const [inline]

Definition at line 166 of file invariant_surface_feature.h.

template<typename TSurface , typename Scalar , typename Real , typename TAffine >

void cob_3d_features::InvariantSurfaceFeature< TSurface, Scalar, Real, TAffine >::dbg_mesh_of_subsamp	(	const TVector &	at,
		const Scalar	radius,
		std::vector< TVector > &	pts,
		std::vector< int > &	inds
	)		const

Definition at line 57 of file invariant_surface_feature_debug.hpp.

template<typename TSurface , typename Scalar , typename Real , typename TAffine >

pcl::PolygonMesh::Ptr cob_3d_features::InvariantSurfaceFeature< TSurface, Scalar, Real, TAffine >::dbg_triangles2mesh ( const std::vector< Triangle > & res ) const [protected]

Definition at line 70 of file invariant_surface_feature_debug.hpp.

template<typename TSurface , typename Scalar , typename Real , typename TAffine >

void cob_3d_features::InvariantSurfaceFeature< TSurface, Scalar, Real, TAffine >::generateKeypoints ( std::vector< TVector > & keypoints ) const [protected]

Definition at line 123 of file invariant_surface_feature.hpp.

template<typename TSurface , typename Scalar = double, typename Real = float, typename TAffine = Eigen::Affine3f>

const EINVARAINCE& cob_3d_features::InvariantSurfaceFeature< TSurface, Scalar, Real, TAffine >::getInvarianceSettings ( ) const [inline]

Definition at line 141 of file invariant_surface_feature.h.

template<typename TSurface , typename Scalar = double, typename Real = float, typename TAffine = Eigen::Affine3f>

const std::vector<float>& cob_3d_features::InvariantSurfaceFeature< TSurface, Scalar, Real, TAffine >::getRadii ( ) const [inline]

Definition at line 144 of file invariant_surface_feature.h.

template<typename TSurface , typename Scalar = double, typename Real = float, typename TAffine = Eigen::Affine3f>

PResultConst cob_3d_features::InvariantSurfaceFeature< TSurface, Scalar, Real, TAffine >::getResult ( ) const [inline]

Definition at line 136 of file invariant_surface_feature.h.

template<typename TSurface , typename Scalar = double, typename Real = float, typename TAffine = Eigen::Affine3f>

const TAffine& cob_3d_features::InvariantSurfaceFeature< TSurface, Scalar, Real, TAffine >::getTransformation ( ) const [inline]

Definition at line 138 of file invariant_surface_feature.h.

template<typename TSurface , typename Scalar , typename Real , typename TAffine >

void cob_3d_features::InvariantSurfaceFeature< TSurface, Scalar, Real, TAffine >::setInput ( PTSurfaceList surfs )

Definition at line 236 of file invariant_surface_feature.hpp.

template<typename TSurface , typename Scalar = double, typename Real = float, typename TAffine = Eigen::Affine3f>

void cob_3d_features::InvariantSurfaceFeature< TSurface, Scalar, Real, TAffine >::setInvarianceSettings ( const EINVARAINCE & t ) [inline]

Definition at line 142 of file invariant_surface_feature.h.

template<typename TSurface , typename Scalar = double, typename Real = float, typename TAffine = Eigen::Affine3f>

void cob_3d_features::InvariantSurfaceFeature< TSurface, Scalar, Real, TAffine >::setTransformation ( const TAffine & t ) [inline]

Definition at line 139 of file invariant_surface_feature.h.

template<typename TSurface , typename Scalar , typename Real , typename TAffine >

void cob_3d_features::InvariantSurfaceFeature< TSurface, Scalar, Real, TAffine >::subsample	(	const TVector &	at,
		const Scalar	r2,
		std::vector< Triangle > &	res
	)		const `[protected]`

Definition at line 229 of file invariant_surface_feature.hpp.

template<const int num_radius_, const int num_angle_, typename TSurface , typename Scalar , typename TAffine >

void cob_3d_features::InvariantSurfaceFeature< num_radius_, num_angle_, TSurface, Scalar, TAffine >::test_addOffset	(	const Scalar	off_x,
		const Scalar	off_y,
		const Scalar	off_z
	)

Definition at line 61 of file invariant_surface_feature_unit_tests.hpp.

template<const int num_radius_, const int num_angle_, typename TSurface , typename Scalar , typename TAffine >

void cob_3d_features::InvariantSurfaceFeature< num_radius_, num_angle_, TSurface, Scalar, TAffine >::test_rotate ( const Scalar angle )

Definition at line 81 of file invariant_surface_feature_unit_tests.hpp.

template<const int num_radius_, const int num_angle_, typename TSurface , typename Scalar , typename TAffine >

bool cob_3d_features::InvariantSurfaceFeature< num_radius_, num_angle_, TSurface, Scalar, TAffine >::test_singleTriangle ( const int num ) const

Definition at line 160 of file invariant_surface_feature_unit_tests.hpp.

template<const int num_radius_, const int num_angle_, typename TSurface , typename Scalar , typename TAffine >

pcl::PolygonMesh::Ptr cob_3d_features::InvariantSurfaceFeature< num_radius_, num_angle_, TSurface, Scalar, TAffine >::test_subsampling_of_Map	(	const int	num,
		const Scalar	r2
	)

Definition at line 127 of file invariant_surface_feature_unit_tests.hpp.

Member Data Documentation

template<typename TSurface , typename Scalar = double, typename Real = float, typename TAffine = Eigen::Affine3f>

PTSurfaceList cob_3d_features::InvariantSurfaceFeature< TSurface, Scalar, Real, TAffine >::input_ [protected]

Definition at line 235 of file invariant_surface_feature.h.

template<typename TSurface , typename Scalar = double, typename Real = float, typename TAffine = Eigen::Affine3f>

EINVARAINCE cob_3d_features::InvariantSurfaceFeature< TSurface, Scalar, Real, TAffine >::invariance_ [protected]

Definition at line 239 of file invariant_surface_feature.h.

template<typename TSurface , typename Scalar = double, typename Real = float, typename TAffine = Eigen::Affine3f>

const int cob_3d_features::InvariantSurfaceFeature< TSurface, Scalar, Real, TAffine >::num_angle_ [private]

Definition at line 77 of file invariant_surface_feature.h.

template<typename TSurface , typename Scalar = double, typename Real = float, typename TAffine = Eigen::Affine3f>

const int cob_3d_features::InvariantSurfaceFeature< TSurface, Scalar, Real, TAffine >::num_radius_ [private]

Definition at line 77 of file invariant_surface_feature.h.

template<typename TSurface , typename Scalar = double, typename Real = float, typename TAffine = Eigen::Affine3f>

std::vector<float> cob_3d_features::InvariantSurfaceFeature< TSurface, Scalar, Real, TAffine >::radii_ [protected]

Definition at line 240 of file invariant_surface_feature.h.

template<typename TSurface , typename Scalar = double, typename Real = float, typename TAffine = Eigen::Affine3f>

PResult cob_3d_features::InvariantSurfaceFeature< TSurface, Scalar, Real, TAffine >::result_ [protected]

Definition at line 241 of file invariant_surface_feature.h.

template<typename TSurface , typename Scalar = double, typename Real = float, typename TAffine = Eigen::Affine3f>

S::Samples cob_3d_features::InvariantSurfaceFeature< TSurface, Scalar, Real, TAffine >::samples_ [private]

Definition at line 79 of file invariant_surface_feature.h.

template<typename TSurface , typename Scalar = double, typename Real = float, typename TAffine = Eigen::Affine3f>

S cob_3d_features::InvariantSurfaceFeature< TSurface, Scalar, Real, TAffine >::sr_ [private]

Definition at line 78 of file invariant_surface_feature.h.

template<typename TSurface , typename Scalar = double, typename Real = float, typename TAffine = Eigen::Affine3f>

TAffine cob_3d_features::InvariantSurfaceFeature< TSurface, Scalar, Real, TAffine >::transform_ [protected]

Definition at line 238 of file invariant_surface_feature.h.

template<typename TSurface , typename Scalar = double, typename Real = float, typename TAffine = Eigen::Affine3f>

std::vector<Triangle> cob_3d_features::InvariantSurfaceFeature< TSurface, Scalar, Real, TAffine >::triangulated_input_ [protected]

Definition at line 236 of file invariant_surface_feature.h.

The documentation for this class was generated from the following files:

Classes

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Private Types

Private Attributes

Detailed Description

template<typename TSurface, typename Scalar = double, typename Real = float, typename TAffine = Eigen::Affine3f> class cob_3d_features::InvariantSurfaceFeature< TSurface, Scalar, Real, TAffine >

Member Typedef Documentation

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<typename TSurface, typename Scalar = double, typename Real = float, typename TAffine = Eigen::Affine3f>
class cob_3d_features::InvariantSurfaceFeature< TSurface, Scalar, Real, TAffine >