A BoundingBoxRaw descriptor to compute the dimensions of the bounding box that encloses a neighborhood of points within a radius of the interest point/region. More...
#include <bounding_box_raw.h>
Public Member Functions | |
| BoundingBoxRaw (double bbox_radius) | |
| Instantiates the bounding box feature with the specified radius to define the neighborhood. | |
| virtual void | clearShared () |
| This descriptor uses no shared precomputation, so this method has no affect. | |
| std::string | getName () const |
| Returns a name that is unique for any given setting of the parameters. | |
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 bounding box information of the given neighborhood. | |
| virtual int | precompute (const sensor_msgs::PointCloud &data, cloud_kdtree::KdTree &data_kdtree, const std::vector< const geometry_msgs::Point32 * > &interest_pts) |
| This descriptor requires no pre-computation, so this method has no affect. | |
| virtual int | precompute (const sensor_msgs::PointCloud &data, cloud_kdtree::KdTree &data_kdtree, const std::vector< const std::vector< int > * > &interest_region_indices) |
| This descriptor requires no pre-computation, so this method has no affect. | |
Detailed Description
A BoundingBoxRaw descriptor to compute the dimensions of the bounding box that encloses a neighborhood of points within a radius of the interest point/region.
The compute features are in order: [dx,dy,dz] where dx is the length along the x dimension, dy is the length along the y dimension, dz is the length along the z dimension.
Definition at line 68 of file bounding_box_raw.h.
Constructor & Destructor Documentation
| BoundingBoxRaw::BoundingBoxRaw | ( | double | bbox_radius | ) |
Instantiates the bounding box feature with the specified radius to define the neighborhood.
When computing the feature for an interest region of points, the bounding box can either be the box that encloses the given region of points (indicated by -negative value), or from the neighboring points within the specified radius from the region's centroid (indicated by positive value).
- Parameters:
-
bbox_radius The radius from the interest point/region to define the neighborhood that defines the bounding box
Definition at line 42 of file bounding_box_raw.cpp.
Member Function Documentation
| void BoundingBoxRaw::clearShared | ( | ) | [virtual] |
This descriptor uses no shared precomputation, so this method has no affect.
Implements Descriptor3D.
Definition at line 56 of file bounding_box_raw.cpp.
| void BoundingBoxRaw::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 bounding box information of the given neighborhood.
- Parameters:
-
data The overall point cloud data neighbor_indices The list of indices in data that constitute the neighborhood interest_sample_idx The index of the interest point/region that is being processed from Descriptor3D::compute() result The vector to hold the computed bounding box dimensions
Implements NeighborhoodFeature.
Definition at line 94 of file bounding_box_raw.cpp.
| std::string BoundingBoxRaw::getName | ( | void | ) | const [virtual] |
Returns a name that is unique for any given setting of the parameters.
Implements Descriptor3D.
Definition at line 63 of file bounding_box_raw.cpp.
| int BoundingBoxRaw::precompute | ( | const sensor_msgs::PointCloud & | data, |
| cloud_kdtree::KdTree & | data_kdtree, | ||
| const std::vector< const geometry_msgs::Point32 * > & | interest_pts | ||
| ) | [protected, virtual] |
This descriptor requires no pre-computation, so this method has no affect.
- Returns:
- 0 always
Implements Descriptor3D.
Definition at line 74 of file bounding_box_raw.cpp.
| int BoundingBoxRaw::precompute | ( | const sensor_msgs::PointCloud & | data, |
| cloud_kdtree::KdTree & | data_kdtree, | ||
| const std::vector< const std::vector< int > * > & | interest_region_indices | ||
| ) | [protected, virtual] |
This descriptor requires no pre-computation, so this method has no affect.
- Returns:
- 0 always
Implements Descriptor3D.
Definition at line 84 of file bounding_box_raw.cpp.
The documentation for this class was generated from the following files: