OrientationGeneric is an abstract base class for descriptors that compute the angle between a locally extracted direction and a specified reference direction. the Orientation descriptor. More...

#include <orientation_generic.h>

Inheritance diagram for OrientationGeneric:

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List of all members.

Public Member Functions
	OrientationGeneric ()
	Abstract constructor.
virtual	~OrientationGeneric ()=0
Protected Member Functions
virtual void	computeOrientation (const unsigned int interest_sample_idx, std::vector< float > &result) const
	Computes the angle for an interest point/region.
virtual void	doComputation (const sensor_msgs::PointCloud &data, cloud_kdtree::KdTree &data_kdtree, const std::vector< const geometry_msgs::Point32 * > &interest_pts, std::vector< std::vector< float > > &results)
	Computes the angle between the local around each interest point and the reference direction.
virtual void	doComputation (const sensor_msgs::PointCloud &data, cloud_kdtree::KdTree &data_kdtree, const std::vector< const std::vector< int > * > &interest_region_indices, std::vector< std::vector< float > > &results)
	Computes the angle between the local around each interest region and the reference direction.
Protected Attributes
const std::vector< const Eigen3::Vector3d * > *	local_directions_
	Container of the extracted local direction for each interest point/region.
Eigen3::Vector3d	reference_direction_
	The reference direction to compare the local direction against.
Eigen3::Vector3d	reference_direction_flipped_
	The negative of reference_direction_.

Detailed Description

OrientationGeneric is an abstract base class for descriptors that compute the angle between a locally extracted direction and a specified reference direction. the Orientation descriptor.

The computed feature is the cosine of the angle between the two vectors. See the inheriting class for the definition of the extracted local direction.

Definition at line 67 of file orientation_generic.h.

Constructor & Destructor Documentation

OrientationGeneric::OrientationGeneric ( )

Abstract constructor.

Definition at line 42 of file orientation_generic.cpp.

OrientationGeneric::~OrientationGeneric ( ) [pure virtual]

Definition at line 48 of file orientation_generic.cpp.

Member Function Documentation

void OrientationGeneric::computeOrientation	(	const unsigned int	interest_sample_idx,
		std::vector< float > &	result
	)		const `[inline, protected, virtual]`

Computes the angle for an interest point/region.

Parameters:

interest_sample_idx	The interest point/region being processed
result	Container to hold cosine(theta)

Definition at line 92 of file orientation_generic.cpp.

void OrientationGeneric::doComputation	(	const sensor_msgs::PointCloud &	data,
		cloud_kdtree::KdTree &	data_kdtree,
		const std::vector< const geometry_msgs::Point32 * > &	interest_pts,
		std::vector< std::vector< float > > &	results
	)		`[protected, virtual]`

Computes the angle between the local around each interest point and the reference direction.

See also:: Descriptor3D::compute

Implements Descriptor3D.

Definition at line 55 of file orientation_generic.cpp.

void OrientationGeneric::doComputation	(	const sensor_msgs::PointCloud &	data,
		cloud_kdtree::KdTree &	data_kdtree,
		const std::vector< const std::vector< int > * > &	interest_region_indices,
		std::vector< std::vector< float > > &	results
	)		`[protected, virtual]`