SpinImageGeneric is the base class for descriptors that compute spin images as described in:
Johnson and Hebert, "Using Spin-Images for Efficient Object Recognition in Cluttered 3-D Scenes", PAMI 1999. More...

#include <spin_image_generic.h>

Inheritance diagram for SpinImageGeneric:

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List of all members.

Public Member Functions
	SpinImageGeneric ()
	Abstract constructor.
virtual	~SpinImageGeneric ()=0
Protected Member Functions
virtual void	computeNeighborhoodFeature (const sensor_msgs::PointCloud &data, const std::vector< int > &neighbor_indices, const unsigned int interest_sample_idx, std::vector< float > &result) const
	Computes the spin image descriptor for the given neighborhood of points.
void	display (const std::vector< float > &spin_image) const
Protected Attributes
double	col_res_
	The cell resolution along the alpha axis.
unsigned int	nbr_cols_
	The number of cells along the alpha axis.
unsigned int	nbr_rows_
	The number of cells along the beta axis.
double	row_res_
	The cell resolution along the beta axis.
const std::vector< const Eigen3::Vector3d * > *	spin_axes_
	The spinning (beta) axis for each interest point/region.
std::vector< Eigen3::Vector3d >	spin_image_centers_
	The point that the image is spinning around.

Detailed Description

SpinImageGeneric is the base class for descriptors that compute spin images as described in:
Johnson and Hebert, "Using Spin-Images for Efficient Object Recognition in Cluttered 3-D Scenes", PAMI 1999.

See the inheriting class' descriptions

Definition at line 70 of file spin_image_generic.h.

Constructor & Destructor Documentation

SpinImageGeneric::SpinImageGeneric ( )

Abstract constructor.

Definition at line 42 of file spin_image_generic.cpp.

SpinImageGeneric::~SpinImageGeneric ( ) [pure virtual]

Definition at line 50 of file spin_image_generic.cpp.

Member Function Documentation

void SpinImageGeneric::computeNeighborhoodFeature	(	const sensor_msgs::PointCloud &	data,
		const std::vector< int > &	neighbor_indices,
		const unsigned int	interest_sample_idx,
		std::vector< float > &	result
	)		const `[protected, virtual]`

Computes the spin image descriptor for the given neighborhood of points.

Parameters:

data	The overall point cloud data
neighbor_indices	List of indices in data that constitute the neighborhood
interest_sample_idx	The interest point/region that is being processed.
result	The vector to hold the resulting spin image feature vector

Implements NeighborhoodFeature.

Definition at line 91 of file spin_image_generic.cpp.

void SpinImageGeneric::display ( const std::vector< float > & spin_image ) const [protected]