orientation_normal.h
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00001 #ifndef __D3D_ORIENTATION_NORMAL_H__
00002 #define __D3D_ORIENTATION_NORMAL_H__
00003 /*********************************************************************
00004  * Software License Agreement (BSD License)
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00009  *  Redistribution and use in source and binary forms, with or without
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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
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00019  *   * Neither the name of the Willow Garage nor the names of its
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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 
00041 #include <opencv/cv.h>
00042 #include <opencv/cxcore.h>
00043 #include <opencv/cvaux.hpp>
00044 
00045 #include <ias_descriptors_3d/generic/orientation_generic.h>
00046 #include <ias_descriptors_3d/shared/spectral_analysis.h>
00047 
00048 // --------------------------------------------------------------
00055 // --------------------------------------------------------------
00056 
00057 // --------------------------------------------------------------
00068 // --------------------------------------------------------------
00069 class OrientationNormal: public OrientationGeneric
00070 {
00071   public:
00072     // --------------------------------------------------------------
00083     // --------------------------------------------------------------
00084     OrientationNormal(const double ref_x,
00085                       const double ref_y,
00086                       const double ref_z,
00087                       SpectralAnalysis& spectral_information);
00088 
00089     // --------------------------------------------------------------
00093     // --------------------------------------------------------------
00094     virtual void clearShared();
00095 
00096     std::string getName() const;
00097 
00098     
00099   protected:
00100     // --------------------------------------------------------------
00106     // --------------------------------------------------------------
00107     virtual int precompute(const sensor_msgs::PointCloud& data,
00108                            cloud_kdtree::KdTree& data_kdtree,
00109                            const std::vector<const geometry_msgs::Point32*>& interest_pts);
00110 
00111     // --------------------------------------------------------------
00117     // --------------------------------------------------------------
00118     virtual int precompute(const sensor_msgs::PointCloud& data,
00119                            cloud_kdtree::KdTree& data_kdtree,
00120                            const std::vector<const std::vector<int>*>& interest_region_indices);
00121   private:
00122     SpectralAnalysis* spectral_information_;
00123 };
00124 
00125 #endif
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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