orientation_normal.cpp
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00034 
00035 #include <ias_descriptors_3d/orientation_normal.h>
00036 
00037 using namespace std;
00038 
00039 // --------------------------------------------------------------
00040 /* See function definition */
00041 // --------------------------------------------------------------
00042 OrientationNormal::OrientationNormal(const double ref_x,
00043                                      const double ref_y,
00044                                      const double ref_z,
00045                                      SpectralAnalysis& spectral_information)
00046 {
00047   reference_direction_[0] = ref_x;
00048   reference_direction_[1] = ref_y;
00049   reference_direction_[2] = ref_z;
00050   reference_direction_flipped_[0] = -reference_direction_[0];
00051   reference_direction_flipped_[1] = -reference_direction_[1];
00052   reference_direction_flipped_[2] = -reference_direction_[2];
00053 
00054   spectral_information_ = &spectral_information;
00055 }
00056 
00057 // --------------------------------------------------------------
00058 /* See function definition */
00059 // --------------------------------------------------------------
00060 string OrientationNormal::getName() const
00061 {
00062   return string("TODO: Add a name to this feature.");
00063 }
00064 
00065 // --------------------------------------------------------------
00066 /* See function definition */
00067 // --------------------------------------------------------------
00068 void OrientationNormal::clearShared()
00069 {
00070   spectral_information_->clearSpectral();
00071 }
00072 
00073 // --------------------------------------------------------------
00074 /* See function definition */
00075 // --------------------------------------------------------------
00076 int OrientationNormal::precompute(const sensor_msgs::PointCloud& data,
00077                                   cloud_kdtree::KdTree& data_kdtree,
00078                                   const std::vector<const geometry_msgs::Point32*>& interest_pts)
00079 {
00080   // Compute spectral information if not already done
00081   if (spectral_information_->isSpectralComputed() == false)
00082   {
00083     if (spectral_information_->analyzeInterestPoints(data, data_kdtree, interest_pts) < 0)
00084     {
00085       return -1;
00086     }
00087   }
00088 
00089   // Retrieve necessary spectral information this class needs to compute features
00090   local_directions_ = &(spectral_information_->getNormals());
00091 
00092   // verify the normals are for the interest points
00093   if (local_directions_->size() != interest_pts.size())
00094   {
00095     ROS_ERROR("OrientationNormal::precompute() inconsistent number of points and spectral info");
00096     local_directions_ = NULL;
00097     return -1;
00098   }
00099 
00100   return 0;
00101 }
00102 
00103 // --------------------------------------------------------------
00104 /* See function definition */
00105 // --------------------------------------------------------------
00106 int OrientationNormal::precompute(const sensor_msgs::PointCloud& data,
00107                                   cloud_kdtree::KdTree& data_kdtree,
00108                                   const std::vector<const std::vector<int>*>& interest_region_indices)
00109 {
00110   // Compute spectral information if not already done
00111   if (spectral_information_->isSpectralComputed() == false)
00112   {
00113     if (spectral_information_->analyzeInterestRegions(data, data_kdtree, interest_region_indices) < 0)
00114     {
00115       return -1;
00116     }
00117   }
00118 
00119   // Retrieve necessary spectral information this class needs to compute features
00120   local_directions_ = &(spectral_information_->getNormals());
00121 
00122   // verify the normals are for the interest regions
00123   if (local_directions_->size() != interest_region_indices.size())
00124   {
00125     ROS_ERROR("OrientationNormal::precompute() inconsistent number of regions and spectral info");
00126     local_directions_ = NULL;
00127     return -1;
00128   }
00129 
00130   return 0;
00131 }
00132 
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ias_descriptors_3d
Author(s): Daniel Munoz/ dmunoz@willowgarage.com, Dejan Pangercic (patched version)
autogenerated on Thu May 23 2013 14:01:18