orientation_tangent.cpp

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#include <ias_descriptors_3d/orientation_tangent.h>

using namespace std;

// --------------------------------------------------------------
/* See function definition */
// --------------------------------------------------------------
OrientationTangent::OrientationTangent(const double ref_x,
                                       const double ref_y,
                                       const double ref_z,
                                       SpectralAnalysis& spectral_information)
{
  reference_direction_[0] = ref_x;
  reference_direction_[1] = ref_y;
  reference_direction_[2] = ref_z;
  reference_direction_flipped_[0] = -reference_direction_[0];
  reference_direction_flipped_[1] = -reference_direction_[1];
  reference_direction_flipped_[2] = -reference_direction_[2];

  spectral_information_ = &spectral_information;
}

// --------------------------------------------------------------
/* See function definition */
// --------------------------------------------------------------
string OrientationTangent::getName() const
{
  return string("TODO: Add a name to this feature.");
}

// --------------------------------------------------------------
/* See function definition */
// --------------------------------------------------------------
void OrientationTangent::clearShared()
{
  spectral_information_->clearSpectral();
}

// --------------------------------------------------------------
/* See function definition */
// --------------------------------------------------------------
int OrientationTangent::precompute(const sensor_msgs::PointCloud& data,
                                   cloud_kdtree::KdTree& data_kdtree,
                                   const std::vector<const geometry_msgs::Point32*>& interest_pts)
{
  // Compute spectral information if not already done
  if (spectral_information_->isSpectralComputed() == false)
  {
    if (spectral_information_->analyzeInterestPoints(data, data_kdtree, interest_pts) < 0)
    {
      return -1;
    }
  }

  // Retrieve necessary spectral information this class needs to compute features
  local_directions_ = &(spectral_information_->getTangents());

  // verify the normals are for the interest points
  if (local_directions_->size() != interest_pts.size())
  {
    ROS_ERROR("OrientationTangent::precompute() inconsistent number of points and spectral info");
    local_directions_ = NULL;
    return -1;
  }

  return 0;
}

// --------------------------------------------------------------
/* See function definition */
// --------------------------------------------------------------
int OrientationTangent::precompute(const sensor_msgs::PointCloud& data,
                                   cloud_kdtree::KdTree& data_kdtree,
                                   const std::vector<const std::vector<int>*>& interest_region_indices)
{
  // Compute spectral information if not already done
  if (spectral_information_->isSpectralComputed() == false)
  {
    if (spectral_information_->analyzeInterestRegions(data, data_kdtree, interest_region_indices) < 0)
    {
      return -1;
    }
  }

  // Retrieve necessary spectral information this class needs to compute features
  local_directions_ = &(spectral_information_->getTangents());

  // verify the normals are for the interest regions
  if (local_directions_->size() != interest_region_indices.size())
  {
    ROS_ERROR("OrientationTangent::precompute() inconsistent number of regions and spectral info");
    local_directions_ = NULL;
    return -1;
  }

  return 0;
}