OrientationNormal Class Reference

An OrientationNormal descriptor uses extracted local normals around each interest point/region to use as the local directions. More...

#include <orientation_normal.h>

Inheritance diagram for OrientationNormal:

List of all members.

Public Member Functions
virtual void	clearShared ()
	Clears any already-computed spectral information.
std::string	getName () const
	Returns a string that is unique for the current param settings.
	OrientationNormal (const double ref_x, const double ref_y, const double ref_z, SpectralAnalysis &spectral_information)
	Instantiates the orientation descriptor with given reference direction information and spectral information.
Protected Member Functions
virtual int	precompute (const sensor_msgs::PointCloud &data, cloud_kdtree::KdTree &data_kdtree, const std::vector< const geometry_msgs::Point32 * > &interest_pts)
	Extracts the normals around each interest point.
virtual int	precompute (const sensor_msgs::PointCloud &data, cloud_kdtree::KdTree &data_kdtree, const std::vector< const std::vector< int > * > &interest_region_indices)
	Extracts the normals around each interest region.
Private Attributes
SpectralAnalysis *	spectral_information_

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Detailed Description

An OrientationNormal descriptor uses extracted local normals around each interest point/region to use as the local directions.

Warning:

This descriptor ignores the sign of the extracted normal and the computed feature is always between 0 and 1

TODO: use sensor location so the extracted directions have meaningful signs

Definition at line 69 of file orientation_normal.h.

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Constructor & Destructor Documentation

OrientationNormal::OrientationNormal	(	const double	ref_x,
		const double	ref_y,
		const double	ref_z,
		SpectralAnalysis &	spectral_information
	)

Instantiates the orientation descriptor with given reference direction information and spectral information.

Parameters:

ref_x	The x dimension of the reference direction
ref_y	The y dimension of the reference direction
ref_z	The z dimension of the reference direction
spectral_information	The class to retrieve the normals from for each interest point/region

Definition at line 42 of file orientation_normal.cpp.

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Member Function Documentation

void OrientationNormal::clearShared

(

)

[virtual]

Clears any already-computed spectral information.

Implements Descriptor3D.

Definition at line 68 of file orientation_normal.cpp.

string OrientationNormal::getName

(

)

const [virtual]

Returns a string that is unique for the current param settings.

Returns:

the name of this feature.

Implements Descriptor3D.

Definition at line 60 of file orientation_normal.cpp.

int OrientationNormal::precompute	(	const sensor_msgs::PointCloud &	data,
		cloud_kdtree::KdTree &	data_kdtree,
		const std::vector< const geometry_msgs::Point32 * > &	interest_pts
	)		[protected, virtual]

Extracts the normals around each interest point.

See also:

Descriptor3D::precompute()

Implements Descriptor3D.

Definition at line 76 of file orientation_normal.cpp.

int OrientationNormal::precompute	(	const sensor_msgs::PointCloud &	data,
		cloud_kdtree::KdTree &	data_kdtree,
		const std::vector< const std::vector< int > * > &	interest_region_indices
	)		[protected, virtual]

Extracts the normals around each interest region.

See also:

Descriptor3D::precompute()

Implements Descriptor3D.

Definition at line 106 of file orientation_normal.cpp.

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Member Data Documentation

SpectralAnalysis* OrientationNormal::spectral_information_ [private]

Definition at line 122 of file orientation_normal.h.

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

• orientation_normal.h
• orientation_normal.cpp