spin_image_tangent.h
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00001 #ifndef __D3D_SPIN_IMAGE_TANGENT_H__
00002 #define __D3D_SPIN_IMAGE_TANGENT_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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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
00017  *     disclaimer in the documentation and/or other materials provided
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00021  *     from this software without specific prior written permission.
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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/spin_image_generic.h>
00046 #include <ias_descriptors_3d/shared/spectral_analysis.h>
00047 
00048 // --------------------------------------------------------------
00055 // --------------------------------------------------------------
00056 
00057 // --------------------------------------------------------------
00077 // --------------------------------------------------------------
00078 class SpinImageTangent: public SpinImageGeneric
00079 {
00080   public:
00081     // --------------------------------------------------------------
00097     // --------------------------------------------------------------
00098     SpinImageTangent(const double row_res,
00099                      const double col_res,
00100                      const unsigned int nbr_rows,
00101                      const unsigned int nbr_cols,
00102                      const bool use_interest_regions_only,
00103                      SpectralAnalysis& spectral_information);
00104 
00105     // --------------------------------------------------------------
00109     // --------------------------------------------------------------
00110     virtual void clearShared();
00111 
00112     std::string getName() const;
00113     
00114   protected:
00115     // --------------------------------------------------------------
00125     // --------------------------------------------------------------
00126     virtual int precompute(const sensor_msgs::PointCloud& data,
00127                            cloud_kdtree::KdTree& data_kdtree,
00128                            const std::vector<const geometry_msgs::Point32*>& interest_pts);
00129 
00130     // --------------------------------------------------------------
00140     // --------------------------------------------------------------
00141     virtual int precompute(const sensor_msgs::PointCloud& data,
00142                            cloud_kdtree::KdTree& data_kdtree,
00143                            const std::vector<const std::vector<int>*>& interest_region_indices);
00144   private:
00145     SpectralAnalysis* spectral_information_;
00146 };
00147 
00148 #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